RoboidControl/RoboidControl-cpp
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Completed Vector3 unit tests

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Fixed issues with Angle/SignedAngle for zero and infinity values
This commit is contained in:
Pascal Serrarens 2022-01-25 11:23:59 +01:00
parent ef53f08760
commit 7229337121
2 changed files with 397 additions and 46 deletions
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24
src/Vector3.cpp
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@ -141,6 +141,9 @@ float Vector3::Angle(Vector3 from, Vector3 to) {
float dot = Vector3::Dot(from, to);
float fraction = dot / denominator;
if (isnan(fraction))
return fraction; // short cut to returning NaN universally
float cdot = clamp(fraction, -1.0, 1.0);
float r = ((float)acos(cdot))* Rad2Deg;
return r;
@ -150,26 +153,13 @@ float Vector3::SignedAngle(Vector3 from, Vector3 to, Vector3 axis) {
// angle in [0,180]
float angle = Vector3::Angle(from, to);
float cross_x = from.y * to.z - from.z * to.y;
float cross_y = from.z * to.x - from.x * to.z;
float cross_z = from.x * to.y - from.y * to.x;
float b = axis.x * cross_x + axis.y * cross_y + axis.z * cross_z;
Vector3 cross = Vector3::Cross(from, to);
float b = Vector3::Dot(axis, cross);
float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F);
// angle in [-179,180]
float signed_angle = angle * signd;
return signed_angle;
}
//void CopyVec3(const Vec3& v1, Vec3& v2) {
// v2.x = v1.x;
// v2.y = v1.y;
// v2.z = v1.z;
//}
//
//void Vec3_Constructor(Vec3* v, float _x, float _y, float _z) {
// v->x = _x;
// v->y = _y;
// v->z = _z;
//}
}

419
test/Vector3_test.cc
View File

@ -2,29 +2,35 @@
#include <limits>
#include "Vector3.h"
#define MY_INFINITY std::numeric_limits<float>::infinity()
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Vector3, Magnitude) {
Vector3 v = Vector3(1, 2, 3);
float m = 0;
m = v.magnitude();
EXPECT_FLOAT_EQ(m, 3.74165738677F) << "v.magnitude 1 2 3";
EXPECT_FLOAT_EQ(m, 3.741657F) << "v.magnitude 1 2 3";
m = Vector3::Magnitude(v);
EXPECT_FLOAT_EQ(m, 3.74165738677F) << "Vector3::Magnitude 1 2 3";
EXPECT_FLOAT_EQ(m, 3.741657F) << "Vector3::Magnitude 1 2 3";
v = Vector3(-1, -2, -3);
m = v.magnitude();
EXPECT_FLOAT_EQ(m, 3.74165738677F) << "v.magnitude -1 -2 -3";
EXPECT_FLOAT_EQ(m, 3.741657F) << "v.magnitude -1 -2 -3";
v = Vector3(0, 0, 0);
m = v.magnitude();
EXPECT_FLOAT_EQ(m, 0) << "v.magnitude 0 0 0 ";
v = Vector3(MY_INFINITY, MY_INFINITY, MY_INFINITY);
m = v.magnitude();
EXPECT_FLOAT_EQ(m, MY_INFINITY) << "v.magnitude INFINITY INFINITY INFINITY ";
if (std::numeric_limits<float>::is_iec559) {
v = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
m = v.magnitude();
EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude INFINITY INFINITY INFINITY ";
v = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
m = v.magnitude();
EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude -INFINITY -INFINITY -INFINITY ";
}
}
TEST(Vector3, SqrMagnitude) {
@ -44,23 +50,50 @@ TEST(Vector3, SqrMagnitude) {
v = Vector3(0, 0, 0);
m = v.sqrMagnitude();
EXPECT_FLOAT_EQ(m, 0) << "v.sqrMagnitude 0 0 0 ";
if (std::numeric_limits<float>::is_iec559) {
v = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
m = v.sqrMagnitude();
EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.sqrMagnitude INFINITY INFINITY INFINITY ";
v = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
m = v.sqrMagnitude();
EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.sqrMagnitude -INFINITY -INFINITY -INFINITY ";
}
}
TEST(Vector3, Normalize) {
bool r = false;
Vector3 v = Vector3(0, 2, 0);
Vector3 normalized_v = Vector3::zero;
Vector3 v1 = Vector3(0, 2, 0);
Vector3 v = Vector3::zero;
normalized_v = v.normalized();
EXPECT_TRUE(normalized_v == Vector3(0, 1, 0)) << "v.normalized 0 2 0";
v = v1.normalized();
EXPECT_TRUE(v == Vector3(0, 1, 0)) << "v.normalized 0 2 0";
normalized_v = Vector3::Normalize(v);
EXPECT_TRUE(normalized_v == Vector3(0, 1, 0)) << "Vector3::Normalize 0 2 0";
v = Vector3::Normalize(v1);
EXPECT_TRUE(v == Vector3(0, 1, 0)) << "Vector3::Normalize 0 2 0";
v = Vector3(0, -2, 0);
normalized_v = v.normalized();
EXPECT_TRUE(normalized_v == Vector3(0, -1, 0)) << "v.normalized 0 -2 0";
v1 = Vector3(0, -2, 0);
v = v1.normalized();
EXPECT_TRUE(v == Vector3(0, -1, 0)) << "v.normalized 0 -2 0";
v1 = Vector3(0, 0, 0);
v = v1.normalized();
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "v.normalized 0 0 0";
if (std::numeric_limits<float>::is_iec559) {
v1 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = v1.normalized();
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "v.normalized INFINITY INFINITY INFINITY";
v1 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = v1.normalized();
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "v.normalized -INFINITY -INFINITY -INFINITY";
}
}
TEST(Vector3, Negate) {
@ -72,9 +105,23 @@ TEST(Vector3, Negate) {
v = -v1;
EXPECT_TRUE(v == Vector3(-4, -5, -6)) << "- 4 5 6";
v1 = Vector3(-4, -5, -6);
v = -v1;
EXPECT_TRUE(v == Vector3(4, 5, 6)) << "- -4 -5 -6";
v1 = Vector3(0, 0, 0);
v = -v1;
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "- 0 0 0 ";
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "- 0 0 0";
if (std::numeric_limits<float>::is_iec559) {
v1 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = -v1;
EXPECT_TRUE(v == Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY)) << "- INFINITY INFINITY INFINITY";
v1 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = -v1;
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "- -INFINITY -INFINITY -INFINITY";
}
}
TEST(Vector3, Subtract) {
@ -94,14 +141,28 @@ TEST(Vector3, Subtract) {
v2 = Vector3(4, 5, 6);
v = v1 - v2;
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "4 5 6 - 4 5 6";
v2 = Vector3(0, 0, 0);
v = v1 - v2;
EXPECT_TRUE(v == Vector3(4, 5, 6)) << "4 5 6 - 0 0 0";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = v1 - v2;
EXPECT_TRUE(v == Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY)) << "4 5 6 - INFINITY INFINITY INFINITY";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = v1 - v2;
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "4 5 6 - -INFINITY -INFINITY -INFINITY";
}
}
TEST(Vector3, Addition) {
bool r = false;
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v = Vector3::zero;
bool r = false;
v = v1 + v2;
EXPECT_TRUE(v == Vector3(5, 7, 9)) << "4 5 6 + 1 2 3";
@ -110,9 +171,20 @@ TEST(Vector3, Addition) {
v = v1 + v2;
EXPECT_TRUE(v == Vector3(3, 3, 3)) << "4 5 6 + -1 -2 -3";
v2 = Vector3(4, 5, 6);
v2 = Vector3(0, 0, 0);
v = v1 + v2;
EXPECT_TRUE(v == Vector3(8, 10, 12)) << "4 5 6 + 4 5 6";
EXPECT_TRUE(v == Vector3(4, 5, 6)) << "4 5 6 + 0 0 0";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = v1 + v2;
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "4 5 6 + INFINITY INFINITY INFINITY";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = v1 + v2;
EXPECT_TRUE(v == Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY)) << "4 5 6 + -INFINITY -INFINITY -INFINITY";
}
}
TEST(Vector3, Scale) {
@ -129,11 +201,20 @@ TEST(Vector3, Scale) {
v = Vector3::Scale(v1, v2);
EXPECT_TRUE(v == Vector3(-4, -10, -18)) << "Scale 4 5 6 , -1 -2 -3";
v2 = Vector3(4, 5, 6);
v2 = Vector3(0, 0, 0);
v = Vector3::Scale(v1, v2);
EXPECT_TRUE(v == Vector3(16, 25, 36)) << "Scale 4 5 6 , 4 5 6";
}
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "Scale 4 5 6 , 0 0 0";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = Vector3::Scale(v1, v2);
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "4 5 6 + INFINITY INFINITY INFINITY";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = Vector3::Scale(v1, v2);
EXPECT_TRUE(v == Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY)) << "4 5 6 + -INFINITY -INFINITY -INFINITY";
}
}
TEST(Vector3, Multiply) {
bool r = false;
@ -153,11 +234,291 @@ TEST(Vector3, Multiply) {
v = v1 * f;
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "4 5 6 * 0";
f = MY_INFINITY;
v = v1 * f;
EXPECT_TRUE(v == Vector3(MY_INFINITY, MY_INFINITY, MY_INFINITY)) << "4 5 6 * INFINITY";
if (std::numeric_limits<float>::is_iec559) {
f = FLOAT_INFINITY;
v = v1 * f;
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "4 5 6 * INFINITY";
f = -MY_INFINITY;
v = v1 * f;
EXPECT_TRUE(v == Vector3(-MY_INFINITY, -MY_INFINITY, -MY_INFINITY)) << "4 5 6 * -INFINITY";
f = -FLOAT_INFINITY;
v = v1 * f;
EXPECT_TRUE(v == Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY)) << "4 5 6 * -INFINITY";
}
}
TEST(Vector3, Divide) {
bool r = false;
Vector3 v1 = Vector3(4, 5, 6);
float f = 2;
Vector3 v = Vector3::zero;
v = v1 / f;
EXPECT_TRUE(v == Vector3(2, 2.5F, 3)) << "4 5 6 / 3";
f = -2;
v = v1 / f;
EXPECT_TRUE(v == Vector3(-2, -2.5F, -3)) << "4 5 6 / -3";
if (std::numeric_limits<float>::is_iec559) {
f = 0;
v = v1 / f;
EXPECT_TRUE(v == Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY)) << "4 5 6 / 0";
f = FLOAT_INFINITY;
v = v1 / f;
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "4 5 6 / INFINITY";
f = -FLOAT_INFINITY;
v = v1 / f;
EXPECT_TRUE(v == Vector3(0, 0, 0)) << "4 5 6 / -INFINITY";
}
}
TEST(Vector3, Dot) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
float f = 0;
f = Vector3::Dot(v1, v2);
EXPECT_FLOAT_EQ(f, 32) << "Dot(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
f = Vector3::Dot(v1, v2);
EXPECT_FLOAT_EQ(f, -32) << "Dot(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
f = Vector3::Dot(v1, v2);
EXPECT_FLOAT_EQ(f, 0) << "Dot(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::Dot(v1, v2);
EXPECT_FLOAT_EQ(f, FLOAT_INFINITY) << "Dot(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::Dot(v1, v2);
EXPECT_FLOAT_EQ(f, -FLOAT_INFINITY) << "Dot(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, Equality) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
bool r = false;
r = v1 == v2;
EXPECT_FALSE(r) << "4 5 6 == 1 2 3";
v2 = Vector3(4, 5, 6);
r = v1 == v2;
EXPECT_TRUE(r) << "4 5 6 == 1 2 3";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
r = v1 == v2;
EXPECT_FALSE(r) << "4 5 6 == INFINITY INFINITY INFINITY";
v1 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
r = v1 == v2;
EXPECT_FALSE(r) << "-INFINITY -INFINITY -INFINITY == INFINITY INFINITY INFINITY";
}
}
TEST(Vector3, Distance) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
float f = 0;
f = Vector3::Distance(v1, v2);
EXPECT_FLOAT_EQ(f, 5.19615221F) << "Distance(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
f = Vector3::Distance(v1, v2);
EXPECT_FLOAT_EQ(f, 12.4498997F) << "Distance(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
f = Vector3::Distance(v1, v2);
EXPECT_FLOAT_EQ(f, 8.77496433F) << "Distance(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::Distance(v1, v2);
EXPECT_FLOAT_EQ(f, FLOAT_INFINITY) << "Distance(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::Distance(v1, v2);
EXPECT_FLOAT_EQ(f, FLOAT_INFINITY) << "Distance(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, Cross) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v = Vector3::zero;
bool r = false;
v = Vector3::Cross(v1, v2);
r = v == Vector3(3, -6, 3);
EXPECT_TRUE(r) << "Cross(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
v = Vector3::Cross(v1, v2);
r = v == Vector3(-3, 6, -3);
EXPECT_TRUE(r) << "Cross(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
v = Vector3::Cross(v1, v2);
r = v == Vector3(0, 0, 0);
EXPECT_TRUE(r) << "Cross(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = Vector3::Cross(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "Cross(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = Vector3::Cross(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "Cross(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, Project) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v = Vector3::zero;
bool r = false;
v = Vector3::Project(v1, v2);
r = v == Vector3(2.28571439F, 4.57142878F, 6.85714293F);
EXPECT_TRUE(r) << "Project(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
v = Vector3::Project(v1, v2);
r = v == Vector3(2.28571439F, 4.57142878F, 6.85714293F);
EXPECT_TRUE(r) << "Project(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
v = Vector3::Project(v1, v2);
r = v == Vector3(0, 0, 0);
EXPECT_TRUE(r) << "Project(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = Vector3::Project(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "Project(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = Vector3::Project(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "Project(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, ProjectOnPlane) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v = Vector3::zero;
bool r = false;
v = Vector3::ProjectOnPlane(v1, v2);
r = v == Vector3(1.71428561F, 0.428571224F, -0.857142925F);
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
v = Vector3::ProjectOnPlane(v1, v2);
r = v == Vector3(1.71428561F, 0.428571224F, -0.857142925F);
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
v = Vector3::ProjectOnPlane(v1, v2);
r = v == Vector3(4, 5, 6);
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
v = Vector3::ProjectOnPlane(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
v = Vector3::ProjectOnPlane(v1, v2);
r = std::isnan(v.x) && std::isnan(v.y) && std::isnan(v.z);
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, Angle) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
float f = 0;
bool r = false;
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f, 12.9331388F) << "Angle(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f, 167.066864F) << "Angle(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f, 0) << "Angle(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::Angle(v1, v2);
r = std::isnan(f);
EXPECT_TRUE(r) << "Angle(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::Angle(v1, v2);
r = std::isnan(f);
EXPECT_TRUE(r) << "Angle(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
TEST(Vector3, SignedAngle) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v3 = Vector3(7, 8, -9);
float f = 0;
bool r = false;
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f, -12.9331388F) << "SignedAngle(4 5 6, 1 2 3, 7 8 -9)";
v2 = Vector3(-1, -2, -3);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f, 167.066864F) << "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)";
v2 = Vector3(0, 0, 0);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f, 0) << "SignedAngle(4 5 6, 0 0 0, 7 8 -9 )";
v2 = Vector3(1, 2, 3);
v3 = Vector3(-7, -8, 9);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f, 12.9331388F) << "SignedAngle(4 5 6, 1 2 3, -7 -8 9)";
v3 = Vector3(0, 0, 0);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f, 0) << "SignedAngle(4 5 6, 1 2 3, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::SignedAngle(v1, v2, v3);
r = std::isnan(f);
EXPECT_TRUE(r) << "SignedAngle(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::SignedAngle(v1, v2, v3);
r = std::isnan(f);
EXPECT_TRUE(r) << "SignedAngle(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}