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tests: add some tests for quat

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This commit is contained in:
Recep Aslantas
2019-09-25 13:47:26 +03:00
parent fb23d1998e
commit 5b0e161502
2 changed files with 253 additions and 2 deletions
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235
test/src/test_quat.h
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@@ -346,8 +346,8 @@ TEST_IMPL(GLM_PREFIX, quat_imagn) {
versor b = {1.0f, 2.0f, 3.0f, 4.0f};
vec3 d, e;
GLM(quat_imag)(a, d);
GLM(quat_imag)(b, e);
GLM(quat_imagn)(a, d);
GLM(quat_imagn)(b, e);
glm_vec3_normalize(a);
glm_vec3_normalize(b);
@@ -424,3 +424,234 @@ TEST_IMPL(GLM_PREFIX, quat_axis) {
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_mul) {
versor q1 = {2.0f, 3.0f, 4.0f, 5.0f};
versor q2 = {6.0f, 7.0f, 8.0f, 9.0f};
versor q3;
versor q4;
vec3 v1 = {1.5f, 2.5f, 3.5f};
GLM(quat_mul)(q1, q2, q3);
ASSERT(test_eq(q3[0], q1[3] * q2[0] + q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1]))
ASSERT(test_eq(q3[1], q1[3] * q2[1] - q1[0] * q2[2] + q1[1] * q2[3] + q1[2] * q2[0]))
ASSERT(test_eq(q3[2], q1[3] * q2[2] + q1[0] * q2[1] - q1[1] * q2[0] + q1[2] * q2[3]))
ASSERT(test_eq(q3[3], q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2]))
glm_quatv(q1, glm_rad(30.0f), v1);
glm_quatv(q2, glm_rad(20.0f), v1);
glm_quatv(q3, glm_rad(50.0f), v1);
GLM(quat_mul)(q1, q2, q4);
ASSERTIFY(test_assert_quat_eq(q3, q4))
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_mat4) {
mat4 m1, m2;
versor q1, q2, q3;
vec3 axis1;
vec3 axis2 = {1.9f, 2.3f, 4.5f};
int i;
GLM(quat)(q1, GLM_PI_4, 1.9f, 2.3f, 4.5f);
GLM(quat_mat4)(q1, m1);
GLM(mat4_quat)(m1, q2);
GLM(rotate_make)(m2, GLM_PI_4, axis2);
GLM(mat4_quat)(m1, q3);
GLM(quat_axis)(q3, axis1);
GLM(vec3_normalize)(axis1);
GLM(vec3_normalize)(axis2);
ASSERT(test_eq(glm_quat_angle(q3), GLM_PI_4))
ASSERTIFY(test_assert_vec3_eq(axis1, axis2))
ASSERTIFY(test_assert_vec4_eq(q1, q2))
ASSERTIFY(test_assert_mat4_eq(m1, m2))
ASSERTIFY(test_assert_vec4_eq(q1, q3))
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(q1);
GLM(quat_mat4)(q1, m1);
GLM(mat4_quat)(m1, q2);
GLM(quat_mat4)(q2, m2);
/* 2. test first quat and generated one equality */
ASSERTIFY(test_assert_quat_eq_abs(q1, q2));
/* 3. test first rot and second rotation */
/* almost equal */
ASSERTIFY(test_assert_mat4_eq2(m1, m2, 0.000009f));
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_mat4t) {
mat4 m1, m2;
versor q1, q2, q3;
vec3 axis1;
vec3 axis2 = {1.9f, 2.3f, 4.5f};
int i;
GLM(quat)(q1, GLM_PI_4, 1.9f, 2.3f, 4.5f);
GLM(quat_mat4t)(q1, m1);
glm_mat4_transpose(m1);
GLM(mat4_quat)(m1, q2);
GLM(rotate_make)(m2, GLM_PI_4, axis2);
GLM(mat4_quat)(m1, q3);
GLM(quat_axis)(q3, axis1);
GLM(vec3_normalize)(axis1);
GLM(vec3_normalize)(axis2);
ASSERT(test_eq(glm_quat_angle(q3), GLM_PI_4))
ASSERTIFY(test_assert_vec3_eq(axis1, axis2))
ASSERTIFY(test_assert_vec4_eq(q1, q2))
ASSERTIFY(test_assert_mat4_eq(m1, m2))
ASSERTIFY(test_assert_vec4_eq(q1, q3))
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(q1);
GLM(quat_mat4t)(q1, m1);
glm_mat4_transpose(m1);
GLM(mat4_quat)(m1, q2);
GLM(quat_mat4t)(q2, m2);
glm_mat4_transpose(m2);
/* 2. test first quat and generated one equality */
ASSERTIFY(test_assert_quat_eq_abs(q1, q2));
/* 3. test first rot and second rotation */
/* almost equal */
ASSERTIFY(test_assert_mat4_eq2(m1, m2, 0.000009f));
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_mat3) {
mat4 m1, m2;
mat3 m3;
versor q1, q2, q3;
vec3 axis1;
vec3 axis2 = {1.9f, 2.3f, 4.5f};
int i;
GLM(quat)(q1, GLM_PI_4, 1.9f, 2.3f, 4.5f);
GLM(quat_mat3)(q1, m3);
glm_mat4_identity(m1);
glm_mat4_ins3(m3, m1);
GLM(mat4_quat)(m1, q2);
GLM(rotate_make)(m2, GLM_PI_4, axis2);
GLM(mat4_quat)(m1, q3);
GLM(quat_axis)(q3, axis1);
GLM(vec3_normalize)(axis1);
GLM(vec3_normalize)(axis2);
ASSERT(test_eq(glm_quat_angle(q3), GLM_PI_4))
ASSERTIFY(test_assert_vec3_eq(axis1, axis2))
ASSERTIFY(test_assert_vec4_eq(q1, q2))
ASSERTIFY(test_assert_mat4_eq(m1, m2))
ASSERTIFY(test_assert_vec4_eq(q1, q3))
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(q1);
GLM(quat_mat3)(q1, m3);
glm_mat4_identity(m1);
glm_mat4_ins3(m3, m1);
GLM(mat4_quat)(m1, q2);
GLM(quat_mat3)(q2, m3);
glm_mat4_identity(m2);
glm_mat4_ins3(m3, m2);
/* 2. test first quat and generated one equality */
ASSERTIFY(test_assert_quat_eq_abs(q1, q2));
/* 3. test first rot and second rotation */
/* almost equal */
ASSERTIFY(test_assert_mat4_eq2(m1, m2, 0.000009f));
}
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_mat3t) {
mat4 m1, m2;
mat3 m3;
versor q1, q2, q3;
vec3 axis1;
vec3 axis2 = {1.9f, 2.3f, 4.5f};
int i;
GLM(quat)(q1, GLM_PI_4, 1.9f, 2.3f, 4.5f);
GLM(quat_mat3t)(q1, m3);
glm_mat3_transpose(m3);
glm_mat4_identity(m1);
glm_mat4_ins3(m3, m1);
GLM(mat4_quat)(m1, q2);
GLM(rotate_make)(m2, GLM_PI_4, axis2);
GLM(mat4_quat)(m1, q3);
GLM(quat_axis)(q3, axis1);
GLM(vec3_normalize)(axis1);
GLM(vec3_normalize)(axis2);
ASSERT(test_eq(glm_quat_angle(q3), GLM_PI_4))
ASSERTIFY(test_assert_vec3_eq(axis1, axis2))
ASSERTIFY(test_assert_vec4_eq(q1, q2))
ASSERTIFY(test_assert_mat4_eq(m1, m2))
ASSERTIFY(test_assert_vec4_eq(q1, q3))
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(q1);
GLM(quat_mat3t)(q1, m3);
glm_mat3_transpose(m3);
glm_mat4_identity(m1);
glm_mat4_ins3(m3, m1);
GLM(mat4_quat)(m1, q2);
GLM(quat_mat3t)(q2, m3);
glm_mat3_transpose(m3);
glm_mat4_identity(m2);
glm_mat4_ins3(m3, m2);
/* 2. test first quat and generated one equality */
ASSERTIFY(test_assert_quat_eq_abs(q1, q2));
/* 3. test first rot and second rotation */
/* almost equal */
ASSERTIFY(test_assert_mat4_eq2(m1, m2, 0.000009f));
}
TEST_SUCCESS
}

20
test/tests.h
View File

@@ -151,6 +151,11 @@ TEST_DECLARE(glm_quat_imagn)
TEST_DECLARE(glm_quat_imaglen)
TEST_DECLARE(glm_quat_angle)
TEST_DECLARE(glm_quat_axis)
TEST_DECLARE(glm_quat_mul)
TEST_DECLARE(glm_quat_mat4)
TEST_DECLARE(glm_quat_mat4t)
TEST_DECLARE(glm_quat_mat3)
TEST_DECLARE(glm_quat_mat3t)
TEST_DECLARE(glmc_quat_identity)
TEST_DECLARE(glmc_quat_identity_array)
@@ -172,6 +177,11 @@ TEST_DECLARE(glmc_quat_imagn)
TEST_DECLARE(glmc_quat_imaglen)
TEST_DECLARE(glmc_quat_angle)
TEST_DECLARE(glmc_quat_axis)
TEST_DECLARE(glmc_quat_mul)
TEST_DECLARE(glmc_quat_mat4)
TEST_DECLARE(glmc_quat_mat4t)
TEST_DECLARE(glmc_quat_mat3)
TEST_DECLARE(glmc_quat_mat3t)
/* bezier */
TEST_DECLARE(bezier)
@@ -624,6 +634,11 @@ TEST_LIST {
TEST_ENTRY(glm_quat_imaglen)
TEST_ENTRY(glm_quat_angle)
TEST_ENTRY(glm_quat_axis)
TEST_ENTRY(glm_quat_mul)
TEST_ENTRY(glm_quat_mat4)
TEST_ENTRY(glm_quat_mat4t)
TEST_ENTRY(glm_quat_mat3)
TEST_ENTRY(glm_quat_mat3t)
TEST_ENTRY(glmc_quat_identity)
TEST_ENTRY(glmc_quat_identity_array)
@@ -645,6 +660,11 @@ TEST_LIST {
TEST_ENTRY(glmc_quat_imaglen)
TEST_ENTRY(glmc_quat_angle)
TEST_ENTRY(glmc_quat_axis)
TEST_ENTRY(glmc_quat_mul)
TEST_ENTRY(glmc_quat_mat4)
TEST_ENTRY(glmc_quat_mat4t)
TEST_ENTRY(glmc_quat_mat3)
TEST_ENTRY(glmc_quat_mat3t)
/* bezier */
TEST_ENTRY(bezier)