diff --git a/src/Vector3.cpp b/src/Vector3.cpp index 3cc384f..a11aa24 100644 --- a/src/Vector3.cpp +++ b/src/Vector3.cpp @@ -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; -//} +} diff --git a/test/Vector3_test.cc b/test/Vector3_test.cc index 0e71eb8..275d173 100644 --- a/test/Vector3_test.cc +++ b/test/Vector3_test.cc @@ -2,29 +2,35 @@ #include #include "Vector3.h" -#define MY_INFINITY std::numeric_limits::infinity() +#define FLOAT_INFINITY std::numeric_limits::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::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::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::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::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::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::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::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::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::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::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::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::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::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::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::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::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::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)"; + + } +} \ No newline at end of file