Add unit tests for conversion to euler angles

apps/components_tests/CMakeLists.txt

@@ -21,11 +21,12 @@ file(GLOB UNITTEST_SRC_FILES
 
     lua/test_ui_content.cpp
 
-    misc/test_stringops.cpp
+    misc/compression.cpp
+    misc/progressreporter.cpp
     misc/test_endianness.cpp
     misc/test_resourcehelpers.cpp
-    misc/progressreporter.cpp
+    misc/test_stringops.cpp
-    misc/compression.cpp
+    misc/testmathutil.cpp
 
     nifloader/testbulletnifloader.cpp
 

apps/components_tests/misc/testmathutil.cpp

@@ -0,0 +1,194 @@
+#include <components/misc/mathutil.hpp>
+
+#include <osg/io_utils>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+#include <iomanip>
+#include <limits>
+
+MATCHER_P2(Vec3fEq, other, precision, "")
+{
+    return std::abs(arg.x() - other.x()) < precision && std::abs(arg.y() - other.y()) < precision
+        && std::abs(arg.z() - other.z()) < precision;
+}
+
+namespace testing
+{
+    template <>
+    inline testing::Message& Message::operator<<(const osg::Vec3f& value)
+    {
+        return (*this) << std::setprecision(std::numeric_limits<float>::max_exponent10) << "osg::Vec3f(" << value.x()
+                       << ", " << value.y() << ", " << value.z() << ')';
+    }
+
+    template <>
+    inline testing::Message& Message::operator<<(const osg::Quat& value)
+    {
+        return (*this) << std::setprecision(std::numeric_limits<float>::max_exponent10) << "osg::Quat(" << value.x()
+                       << ", " << value.y() << ", " << value.z() << ", " << value.w() << ')';
+    }
+}
+
+namespace Misc
+{
+    namespace
+    {
+        using namespace testing;
+
+        struct MiscToEulerAnglesXZQuatTest : TestWithParam<std::pair<osg::Quat, osg::Vec3f>>
+        {
+        };
+
+        TEST_P(MiscToEulerAnglesXZQuatTest, shouldReturnValueCloseTo)
+        {
+            const osg::Vec3f result = toEulerAnglesXZ(GetParam().first);
+            EXPECT_THAT(result, Vec3fEq(GetParam().second, std::numeric_limits<float>::epsilon()))
+                << "toEulerAnglesXZ(" << GetParam().first << ") = " << result;
+        }
+
+        const std::pair<osg::Quat, osg::Vec3f> eulerAnglesXZQuat[] = {
+            {
+                osg::Quat(1, 0, 0, 0),
+                osg::Vec3f(0, 0, osg::PI),
+            },
+            {
+                osg::Quat(0, 1, 0, 0),
+                osg::Vec3f(0, 0, 0),
+            },
+            {
+                osg::Quat(0, 0, 1, 0),
+                osg::Vec3f(0, 0, osg::PI),
+            },
+            {
+                osg::Quat(0, 0, 0, 1),
+                osg::Vec3f(0, 0, 0),
+            },
+            {
+                osg::Quat(-0.5, -0.5, -0.5, -0.5),
+                osg::Vec3f(-osg::PI_2f, 0, 0),
+            },
+            {
+                osg::Quat(0.5, -0.5, -0.5, -0.5),
+                osg::Vec3f(0, 0, -osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, 0.5, -0.5, -0.5),
+                osg::Vec3f(osg::PI_2f, 0, 0),
+            },
+            {
+                osg::Quat(0.5, 0.5, 0.5, -0.5),
+                osg::Vec3f(0, 0, osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, 0.5, 0.5, 0.5),
+                osg::Vec3f(-osg::PI_2f, 0, 0),
+            },
+            {
+                // normalized osg::Quat(0.1, 0.2, 0.3, 0.4)
+                osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(-0.72972762584686279296875f, 0, -1.10714876651763916015625f),
+            },
+            {
+                osg::Quat(-0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(-0.13373161852359771728515625f, 0, -1.2277724742889404296875f),
+            },
+            {
+                osg::Quat(0.18257418583505536, -0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(0.13373161852359771728515625f, 0, -1.2277724742889404296875f),
+            },
+            {
+                osg::Quat(0.18257418583505536, 0.36514837167011072, -0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(0.13373161852359771728515625f, 0, 1.2277724742889404296875f),
+            },
+            {
+                osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, -0.73029674334022143),
+                osg::Vec3f(-0.13373161852359771728515625, 0, 1.2277724742889404296875f),
+            },
+            {
+                osg::Quat(0.246736, -0.662657, -0.662667, 0.246739),
+                osg::Vec3f(-osg::PI_2f, 0, 2.5199801921844482421875f),
+            },
+        };
+
+        INSTANTIATE_TEST_SUITE_P(FromQuat, MiscToEulerAnglesXZQuatTest, ValuesIn(eulerAnglesXZQuat));
+
+        struct MiscToEulerAnglesZYXQuatTest : TestWithParam<std::pair<osg::Quat, osg::Vec3f>>
+        {
+        };
+
+        TEST_P(MiscToEulerAnglesZYXQuatTest, shouldReturnValueCloseTo)
+        {
+            const osg::Vec3f result = toEulerAnglesZYX(GetParam().first);
+            EXPECT_THAT(result, Vec3fEq(GetParam().second, std::numeric_limits<float>::epsilon()))
+                << "toEulerAnglesZYX(" << GetParam().first << ") = " << result;
+        }
+
+        const std::pair<osg::Quat, osg::Vec3f> eulerAnglesZYXQuat[] = {
+            {
+                osg::Quat(1, 0, 0, 0),
+                osg::Vec3f(osg::PI, 0, 0),
+            },
+            {
+                osg::Quat(0, 1, 0, 0),
+                osg::Vec3f(osg::PI, 0, osg::PI),
+            },
+            {
+                osg::Quat(0, 0, 1, 0),
+                osg::Vec3f(0, 0, osg::PI),
+            },
+            {
+                osg::Quat(0, 0, 0, 1),
+                osg::Vec3f(0, 0, 0),
+            },
+            {
+                osg::Quat(-0.5, -0.5, -0.5, -0.5),
+                osg::Vec3f(0, -osg::PI_2f, -osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, -0.5, -0.5, -0.5),
+                osg::Vec3f(osg::PI_2f, 0, -osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, 0.5, -0.5, -0.5),
+                osg::Vec3f(0, osg::PI_2f, -osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, 0.5, 0.5, -0.5),
+                osg::Vec3f(osg::PI_2f, 0, osg::PI_2f),
+            },
+            {
+                osg::Quat(0.5, 0.5, 0.5, 0.5),
+                osg::Vec3f(0, -osg::PI_2f, -osg::PI_2f),
+            },
+            {
+                // normalized osg::Quat(0.1, 0.2, 0.3, 0.4)
+                osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(0.1973955929279327392578125f, -0.8232119083404541015625f, -1.37340080738067626953125f),
+            },
+            {
+                osg::Quat(-0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(0.78539812564849853515625f, -0.339836895465850830078125f, -1.428899288177490234375f),
+            },
+            {
+                osg::Quat(0.18257418583505536, -0.36514837167011072, 0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(-0.78539812564849853515625f, 0.339836895465850830078125f, -1.428899288177490234375f),
+            },
+            {
+                osg::Quat(0.18257418583505536, 0.36514837167011072, -0.54772255750516607, 0.73029674334022143),
+                osg::Vec3f(-0.78539812564849853515625f, -0.339836895465850830078125f, 1.428899288177490234375f),
+            },
+            {
+                osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, -0.73029674334022143),
+                osg::Vec3f(0.78539812564849853515625f, 0.339836895465850830078125f, 1.428899288177490234375f),
+            },
+            {
+                osg::Quat(0.246736, -0.662657, 0.246739, -0.662667),
+                osg::Vec3f(0.06586204469203948974609375f, -osg::PI_2f, 0.64701664447784423828125f),
+            },
+        };
+
+        INSTANTIATE_TEST_SUITE_P(FromQuat, MiscToEulerAnglesZYXQuatTest, ValuesIn(eulerAnglesZYXQuat));
+    }
+}