124 lines
4.1 KiB
C++
124 lines
4.1 KiB
C++
#include <Nazara/Math/Angle.hpp>
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#include <Nazara/Math/EulerAngles.hpp>
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#include <catch2/catch_approx.hpp>
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#include <catch2/catch_test_macros.hpp>
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SCENARIO("EulerAngles", "[MATH][EULERANGLES]")
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{
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GIVEN("Two zero euler angles")
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{
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Nz::EulerAnglesf firstZero(0.f, 0.f, 0.f);
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Nz::EulerAnglesf secondZero(Nz::EulerAngles<int>::Zero());
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THEN("They should be equal")
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{
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REQUIRE(firstZero == secondZero);
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}
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WHEN("We do some operations")
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{
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Nz::EulerAnglesf euler90(Nz::DegreeAnglef(90.f), Nz::DegreeAnglef(90.f), Nz::DegreeAnglef(90.f));
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Nz::EulerAnglesf euler270(Nz::DegreeAnglef(270.f), Nz::DegreeAnglef(270.f), Nz::DegreeAnglef(270.f));
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Nz::EulerAnglesf euler360 = euler90 + euler270;
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euler360.Normalize();
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Nz::EulerAnglesf euler0 = euler270 - euler90;
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euler0 -= euler90;
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euler0 -= euler90;
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THEN("They should still be equal")
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{
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CHECK(euler360 == firstZero);
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CHECK(euler0 == secondZero);
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}
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}
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WHEN("We ask for conversion to quaternion")
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{
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THEN("They are the same")
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{
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CHECK(firstZero.ToQuaternion() == secondZero.ToQuaternion());
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CHECK(firstZero.ToQuaternion() == Nz::EulerAnglesf(Nz::Quaternionf(1.f, 0.f, 0.f, 0.f)));
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CHECK(secondZero.ToQuaternion() == Nz::EulerAnglesf(Nz::Quaternionf(1.f, 0.f, 0.f, 0.f)));
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}
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}
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}
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GIVEN("Three rotation of 90 on each axis")
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{
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Nz::EulerAnglesf euler90P(Nz::DegreeAnglef(90.f), 0.f, 0.f);
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Nz::EulerAnglesf euler90Y(0.f, Nz::DegreeAnglef(90.f), 0.f);
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Nz::EulerAnglesf euler90R(0.f, 0.f, Nz::DegreeAnglef(90.f));
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WHEN("We transform the axis")
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{
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THEN("This is supposed to be left-handed")
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{
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Nz::Vector3f rotation90P = euler90P.ToQuaternion() * Nz::Vector3f::UnitY();
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Nz::Vector3f rotation90Y = euler90Y.ToQuaternion() * Nz::Vector3f::UnitZ();
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Nz::Vector3f rotation90R = euler90R.ToQuaternion() * Nz::Vector3f::UnitX();
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CHECK(rotation90P == Nz::Vector3f::UnitZ());
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CHECK(rotation90Y == Nz::Vector3f::UnitX());
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CHECK(rotation90R == Nz::Vector3f::UnitY());
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}
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}
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}
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GIVEN("Euler angles with rotation 45 on each axis")
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{
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WHEN("We convert to quaternion")
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{
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THEN("These results are expected")
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{
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CHECK(Nz::EulerAnglesf(Nz::DegreeAnglef(45.f), 0.f, 0.f) == Nz::EulerAnglesf(Nz::Quaternionf(0.923879504204f, 0.382683455944f, 0.f, 0.f).ToEulerAngles()));
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CHECK(Nz::EulerAnglesf(0.f, Nz::DegreeAnglef(45.f), 0.f) == Nz::EulerAnglesf(Nz::Quaternionf(0.923879504204f, 0.f, 0.382683455944f, 0.f).ToEulerAngles()));
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CHECK(Nz::EulerAnglesf(0.f, 0.f, Nz::DegreeAnglef(45.f)) == Nz::EulerAnglesf(Nz::Quaternionf(0.923879504204f, 0.f, 0.f, 0.382683455944f).ToEulerAngles()));
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}
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}
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}
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GIVEN("Three euler angles: (0, 22.5, 22.5), (90, 90, 0) and (30, 0, 30)")
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{
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Nz::EulerAnglesf euler45(Nz::DegreeAnglef(0.f), Nz::DegreeAnglef(22.5f), Nz::DegreeAnglef(22.5f));
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Nz::EulerAnglesf euler90(Nz::DegreeAnglef(90.f), Nz::DegreeAnglef(90.f), Nz::DegreeAnglef(0.f));
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Nz::EulerAnglesf euler30(Nz::DegreeAnglef(30.f), Nz::DegreeAnglef(0.f), Nz::DegreeAnglef(30.f));
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WHEN("We convert them to quaternion")
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{
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THEN("And then convert to euler angles, we have identity")
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{
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Nz::EulerAnglesf tmp = Nz::Quaternionf(euler45.ToQuaternion()).ToEulerAngles();
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CHECK(tmp.pitch.ToDegrees() == Catch::Approx(0.f));
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CHECK(tmp.yaw.ToDegrees() == Catch::Approx(22.5f));
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CHECK(tmp.roll.ToDegrees() == Catch::Approx(22.5f));
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tmp = Nz::Quaternionf(euler90.ToQuaternion()).ToEulerAngles();
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CHECK(tmp.pitch.ToDegrees() == Catch::Approx(90.f));
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CHECK(tmp.yaw.ToDegrees() == Catch::Approx(90.f));
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CHECK(tmp.roll.ToDegrees() == Catch::Approx(0.f));
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tmp = Nz::Quaternionf(euler30.ToQuaternion()).ToEulerAngles();
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CHECK(tmp.pitch.ToDegrees() == Catch::Approx(30.f));
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CHECK(tmp.yaw.ToDegrees() == Catch::Approx(0.f).margin(0.0001f));
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CHECK(tmp.roll.ToDegrees() == Catch::Approx(30.f));
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}
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}
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}
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GIVEN("An angle of 45 degrees")
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{
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Nz::DegreeAnglef angle(45.f);
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WHEN("We convert it to Euler angles")
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{
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Nz::EulerAnglesf eulerAngles(angle);
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THEN("It should be equal to a 2D rotation of 45 degrees")
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{
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CHECK(eulerAngles == Nz::EulerAnglesf(0.f, 0.f, 45.f));
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}
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}
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}
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}
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