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moved all my stuff to euler because it fits there better. Also, had to move my tests into a single euler test because it wouldn't work outside that one test. Maybe later I will create test_euler.h like how test_quat.h works

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John Choi
2023-12-09 00:38:38 -06:00
parent 666d692dfb
commit 036fd4848b
11 changed files with 883 additions and 876 deletions
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548
test/src/test_euler.c
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@@ -7,6 +7,545 @@
#include "test_common.h"
TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xzy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(euler) {
mat4 rot1, rot2;
vec3 inAngles, outAngles;
@@ -41,5 +580,14 @@ TEST_IMPL(euler) {
glmc_euler_xyz(outAngles, rot2);
ASSERTIFY(test_assert_mat4_eq(rot1, rot2))
/* somehow when I try to make tests outside of this thing,
it won't work. So they stay here for now */
ASSERTIFY(test_GLM_PREFIXeuler_xyz_quat());
ASSERTIFY(test_GLM_PREFIXeuler_xzy_quat());
ASSERTIFY(test_GLM_PREFIXeuler_yxz_quat());
ASSERTIFY(test_GLM_PREFIXeuler_yzx_quat());
ASSERTIFY(test_GLM_PREFIXeuler_zxy_quat());
ASSERTIFY(test_GLM_PREFIXeuler_zyx_quat());
TEST_SUCCESS
}

538
test/src/test_quat.h
View File

@@ -102,544 +102,6 @@ TEST_IMPL(GLM_PREFIX, quat_init) {
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xzy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 axis_x = {1.0f, 0.0f, 0.0f};
vec3 axis_y = {0.0f, 1.0f, 0.0f};
vec3 axis_z = {0.0f, 0.0f, 1.0f};
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/
versor tmp;
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected);
glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected);
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quatv) {
versor q1 = {1.0f, 2.0f, 3.0f, 4.0f};
vec3 v1, v2;

21
test/tests.h
View File

@@ -361,6 +361,12 @@ TEST_DECLARE(clamp)
/* euler */
TEST_DECLARE(euler)
TEST_DECLARE(glm_euler_xyz_quat)
TEST_DECLARE(glm_euler_xzy_quat)
TEST_DECLARE(glm_euler_yxz_quat)
TEST_DECLARE(glm_euler_yzx_quat)
TEST_DECLARE(glm_euler_zxy_quat)
TEST_DECLARE(glm_euler_zyx_quat)
/* ray */
TEST_DECLARE(glm_ray_triangle)
@@ -374,12 +380,6 @@ TEST_DECLARE(glm_quat_identity)
TEST_DECLARE(glm_quat_identity_array)
TEST_DECLARE(glm_quat_init)
TEST_DECLARE(glm_quatv)
TEST_DECLARE(glm_euler_xyz_quat)
TEST_DECLARE(glm_euler_xzy_quat)
TEST_DECLARE(glm_euler_yxz_quat)
TEST_DECLARE(glm_euler_yzx_quat)
TEST_DECLARE(glm_euler_zxy_quat)
TEST_DECLARE(glm_euler_zyx_quat)
TEST_DECLARE(glm_quat)
TEST_DECLARE(glm_quat_copy)
TEST_DECLARE(glm_quat_norm)
@@ -1341,9 +1341,10 @@ TEST_LIST {
/* utils */
TEST_ENTRY(clamp)
/* euler */
TEST_ENTRY(euler)
/* ray */
TEST_ENTRY(glm_ray_triangle)
@@ -1357,12 +1358,6 @@ TEST_LIST {
TEST_ENTRY(glm_quat_identity_array)
TEST_ENTRY(glm_quat_init)
TEST_ENTRY(glm_quatv)
TEST_ENTRY(glm_euler_xyz_quat)
TEST_ENTRY(glm_euler_xzy_quat)
TEST_ENTRY(glm_euler_yxz_quat)
TEST_ENTRY(glm_euler_yzx_quat)
TEST_ENTRY(glm_euler_zxy_quat)
TEST_ENTRY(glm_euler_zyx_quat)
TEST_ENTRY(glm_quat)
TEST_ENTRY(glm_quat_copy)
TEST_ENTRY(glm_quat_norm)