RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added Quaternion unit tests

Browse Source
This commit is contained in:
Pascal Serrarens 2022-01-28 13:45:31 +01:00
parent 3e85537bf6
commit 0f46f06ed5
2 changed files with 167 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
include/Quaternion.h
View File

@ -3,7 +3,8 @@
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#pragma once
struct Vector3;
//struct Vector3;
#include "Vector3.h"
extern "C" {
/// <summary>

166
test/Quaternion_test.cc
View File

@ -6,7 +6,7 @@
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Quaternion, Normalze) {
TEST(Quaternion, Normalize) {
bool r = false;
Quaternion q1 = Quaternion(0, 0, 0, 1);
@ -20,4 +20,168 @@ TEST(Quaternion, Normalze) {
q = Quaternion::Normalize(q1);
r = q == q1;
EXPECT_TRUE(r) << "Quaternion::Normalize 0 0 0 1";
}
TEST(Quaternion, ToAngles) {
bool r = false;
Quaternion q1 = Quaternion(0, 0, 0, 1);
Vector3 v = Vector3::zero;
v = Quaternion::ToAngles(q1);
r = v == Vector3(0, 0, 0);
EXPECT_TRUE(r) << "Quaternion::ToAngles 0 0 0 1";
q1 = Quaternion(1, 0, 0, 0);
v = Quaternion::ToAngles(q1);
r = v == Vector3(180, 0, 0);
EXPECT_TRUE(r) << "Quaternion::ToAngles 1 0 0 0";
}
TEST(Quaternion, Multiplication) {
bool r = false;
Quaternion q1 = Quaternion(0, 0, 0, 1);
Quaternion q2 = Quaternion(1, 0, 0, 0);
Quaternion q = Quaternion::identity;
q = q1 * q2;
r = q == Quaternion(1, 0, 0, 0);
EXPECT_TRUE(r) << "0 0 0 1 * 1 0 0 0";
}
TEST(Quaternion, MultiplicationVector) {
bool r = false;
Quaternion q1 = Quaternion(0, 0, 0, 1);
Vector3 v1 = Vector3(0, 1, 0);
Vector3 v = Vector3::zero;
v = q1 * v1;
r = v == Vector3(0, 1, 0);
EXPECT_TRUE(r) << "0 0 0 1 * Vector 0 1 0";
q1 = Quaternion(1, 0, 0, 0);
v = q1 * v1;
r = v == Vector3(0, -1, 0);
EXPECT_TRUE(r) << "1 0 0 0 * Vector 0 1 0";
}
TEST(Quaternion, Equality) {
bool r = false;
Quaternion q1 = Quaternion(0, 0, 0, 1);
Quaternion q2 = Quaternion(1, 0, 0, 0);
r = q1 == q2;
EXPECT_FALSE(r) << " 0 0 0 1 == 1 0 0 0";
q2 = Quaternion(0, 0, 0, 1);
r = q1 == q2;
EXPECT_TRUE(r) << "0 0 0 1 == 0 0 0 1";
}
TEST(Quaternion, Inverse) {
}
TEST(Quaternion, LookRotation) {
}
TEST(Quaternion, FromToRotation) {
}
TEST(Quaternion, RotateTowards) {
}
TEST(Quaternion, AngleAxis) {
}
TEST(Quaternion, Angle) {
}
TEST(Quaternion, Slerp) {
}
TEST(Quaternion, SlerpUnclamped) {
}
TEST(Quaternion, Euler) {
bool r = false;
Vector3 v1 = Vector3(0, 0, 0);
Quaternion q = Quaternion::identity;
q = Quaternion::Euler(v1);
r = q == Quaternion::identity;
EXPECT_TRUE(r) << "Euler Vector 0 0 0";
q = Quaternion::Euler(0, 0, 0);
r = q == Quaternion::identity;
EXPECT_TRUE(r) << "Euler 0 0 0";
v1 = Vector3(90, 90, -90);
q = Quaternion::Euler(v1);
r = q == Quaternion(0, 0.707106709F, -0.707106709F, 0);
EXPECT_TRUE(r) << "Euler Vector 90 90 -90";
q = Quaternion::Euler(90, 90, -90);
r = q == Quaternion(0, 0.707106709F, -0.707106709F, 0);
EXPECT_TRUE(r) << "Euler 90 90 -90";
}
TEST(Quaternion, GetAngleAround) {
bool r = false;
Vector3 v1 = Vector3(0, 1, 0);
Quaternion q1 = Quaternion(0, 0, 0, 1);
float f;
f = Quaternion::GetAngleAround(v1, q1);
EXPECT_FLOAT_EQ(f, 0) << "GetAngleAround 0 1 0 , 0 0 0 1";
q1 = Quaternion(0, 0.707106709F, -0.707106709F, 0);
f = Quaternion::GetAngleAround(v1, q1);
EXPECT_FLOAT_EQ(f, 180) << "GetAngleAround 0 1 0 , 0 0.7 -0.7 0";
v1 = Vector3(0, 0, 0);
f = Quaternion::GetAngleAround(v1, q1);
r = isnan(f);
EXPECT_TRUE(r) << "GetAngleAround 0 0 0 , 0 0.7 -0.7 0";
}
TEST(Quaternion, GetRotationAround) {
bool r = false;
Vector3 v1 = Vector3(0, 1, 0);
Quaternion q1 = Quaternion(0, 0, 0, 1);
Quaternion q = Quaternion::identity;
q = Quaternion::GetRotationAround(v1, q1);
r = q == Quaternion::identity;
EXPECT_TRUE(r) << "GetRotationAround 0 1 0 , 0 0 0 1";
q1 = Quaternion(0, 0.707106709F, -0.707106709F, 0);
q = Quaternion::GetRotationAround(v1, q1);
r = q == Quaternion(0, 1, 0, 0);
EXPECT_TRUE(r) << "GetRotationAround 0 1 0 , 0 0.7 -0.7 0";
v1 = Vector3(0, 0, 0);
q = Quaternion::GetRotationAround(v1, q1);
r = isnan(q.x) && isnan(q.y) && isnan(q.z) && isnan(q.w);
EXPECT_TRUE(r) << "GetRotationAround 0 0 0 , 0 0.7 -0.7 0";
}
TEST(Quaternion, GetSwingTwist) {
}
TEST(Quaternion, Dot) {
}