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add additional tests and comments to quat tests

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This commit is contained in:
Recep Aslantas
2018-04-10 17:41:25 +03:00
parent 4c79fee5d3
commit 5dec68823c
1 changed files with 66 additions and 6 deletions
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72
test/src/test_quat.c
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@@ -20,25 +20,34 @@ void
test_quat(void **state) {
mat4 inRot, outRot, view1, view2, rot1, rot2;
versor inQuat, outQuat, q3, q4, q5;
vec3 eye, axis;
vec3 eye, axis, imag;
int i;
/* 0. test identiy quat */
glm_quat_identity(q4);
assert_true(glm_quat_real(q4) == cosf(glm_rad(0.0f) * 0.5f));
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(inQuat);
glmc_quat_mat4(inQuat, inRot);
glmc_mat4_quat(inRot, outQuat);
glmc_quat_mat4(outQuat, outRot);
/* 2. test first quat and generated one equality */
test_assert_quat_eq_abs(inQuat, outQuat);
/* 3. test first rot and second rotation */
test_assert_mat4_eq2(inRot, outRot, 0.000009); /* almost equal */
/* 4. test SSE mul and raw mul */
test_quat_mul_raw(inQuat, outQuat, q3);
glm_quat_mul_sse2(inQuat, outQuat, q4);
test_assert_quat_eq(q3, q4);
}
/* 2. test lookat */
/* 5. test lookat */
test_rand_vec3(eye);
glm_quatv(q3, glm_rad(-90.0f), GLM_YUP);
@@ -50,17 +59,19 @@ test_quat(void **state) {
test_assert_mat4_eq2(view1, view2, 0.000009);
/* 5. test quaternion rotation matrix result */
/* 6. test quaternion rotation matrix result */
test_rand_quat(q3);
glm_quat_mat4(q3, rot1);
/* 5.1 test axis and angle of quat */
/* 6.1 test axis and angle of quat */
glm_quat_axis(q3, axis);
glm_rotate_make(rot2, glm_quat_angle(q3), axis);
test_assert_mat4_eq2(rot1, rot2, 0.000009);
/* 6. test quaternion multiplication, first rotation + second = final */
/* 7. test quaternion multiplication (hamilton product),
final rotation = first rotation + second = quat1 * quat2
*/
test_rand_quat(q3);
test_rand_quat(q4);
@@ -77,4 +88,53 @@ test_quat(void **state) {
/* result must be same (almost) */
test_assert_mat4_eq2(rot1, rot2, 0.000009);
/* 8. test quaternion for look rotation */
/* 8.1 same direction */
/* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
glm_quat_for((vec3){0, 0, -1}, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be identity */
glm_quat_identity(q4);
test_assert_quat_eq(q3, q4);
/* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
glm_quat_forp(GLM_ZUP, GLM_VEC3_ZERO, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be identity */
glm_quat_identity(q4);
test_assert_quat_eq(q3, q4);
/* 8.2 perpendicular */
glm_quat_for(GLM_XUP, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be -90 */
glm_quatv(q4, glm_rad(-90.0f), GLM_YUP);
test_assert_quat_eq(q3, q4);
/* 9. test imag, real */
/* 9.1 real */
assert_true(glm_quat_real(q4) == cosf(glm_rad(-90.0f) * 0.5f));
/* 9.1 imag */
glm_quat_imag(q4, imag);
/* axis = Y_UP * sinf(angle * 0.5), YUP = 0, 1, 0 */
axis[0] = 0.0f;
axis[1] = sinf(glm_rad(-90.0f) * 0.5f) * 1.0f;
axis[2] = 0.0f;
assert_true(glm_vec_eqv_eps(imag, axis));
/* 9.2 axis */
glm_quat_axis(q4, axis);
imag[0] = 0.0f;
imag[1] = -1.0f;
imag[2] = 0.0f;
assert_true(glm_vec_eqv_eps(imag, axis));
/* TODO: add tests for slerp, lerp */
}