1 | // |
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2 | // Lol Engine |
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3 | // |
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4 | // Copyright: (c) 2010-2011 Sam Hocevar <sam@hocevar.net> |
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5 | // This program is free software; you can redistribute it and/or |
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6 | // modify it under the terms of the Do What The Fuck You Want To |
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7 | // Public License, Version 2, as published by Sam Hocevar. See |
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8 | // http://sam.zoy.org/projects/COPYING.WTFPL for more details. |
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9 | // |
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10 | |
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11 | #if defined HAVE_CONFIG_H |
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12 | # include "config.h" |
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13 | #endif |
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14 | |
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15 | #include "core.h" |
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16 | #include "lol/unit.h" |
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17 | |
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18 | namespace lol |
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19 | { |
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20 | |
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21 | LOLUNIT_FIXTURE(QuaternionTest) |
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22 | { |
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23 | void SetUp() {} |
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24 | |
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25 | void TearDown() {} |
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26 | |
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27 | LOLUNIT_TEST(Equality) |
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28 | { |
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29 | quat a4(1.f, 2.f, 3.f, 4.f); |
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30 | quat b4(0.f, 2.f, 3.f, 4.f); |
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31 | quat c4(1.f, 0.f, 3.f, 4.f); |
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32 | quat d4(1.f, 2.f, 0.f, 4.f); |
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33 | quat e4(1.f, 2.f, 3.f, 0.f); |
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34 | |
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35 | LOLUNIT_ASSERT_EQUAL(a4, a4); |
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36 | LOLUNIT_ASSERT_NOT_DIFFERENT(a4, a4); |
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37 | |
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38 | LOLUNIT_ASSERT_DIFFERENT(a4, b4); |
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39 | LOLUNIT_ASSERT_NOT_EQUAL(a4, b4); |
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40 | LOLUNIT_ASSERT_DIFFERENT(a4, c4); |
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41 | LOLUNIT_ASSERT_NOT_EQUAL(a4, c4); |
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42 | LOLUNIT_ASSERT_DIFFERENT(a4, d4); |
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43 | LOLUNIT_ASSERT_NOT_EQUAL(a4, d4); |
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44 | LOLUNIT_ASSERT_DIFFERENT(a4, e4); |
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45 | LOLUNIT_ASSERT_NOT_EQUAL(a4, e4); |
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46 | } |
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47 | |
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48 | LOLUNIT_TEST(UnaryMinus) |
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49 | { |
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50 | quat a(1.f, 3.f, 2.f, 4.f); |
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51 | quat b(-1.f, -3.f, -2.f, -4.f); |
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52 | |
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53 | LOLUNIT_ASSERT_EQUAL(a, -b); |
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54 | LOLUNIT_ASSERT_EQUAL(-a, b); |
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55 | } |
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56 | |
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57 | LOLUNIT_TEST(Conjugate) |
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58 | { |
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59 | quat a(1.f, 3.f, 2.f, 4.f); |
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60 | quat b(1.f, -3.f, -2.f, -4.f); |
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61 | |
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62 | LOLUNIT_ASSERT_EQUAL(a, ~b); |
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63 | LOLUNIT_ASSERT_EQUAL(~a, b); |
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64 | } |
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65 | |
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66 | LOLUNIT_TEST(Norm) |
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67 | { |
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68 | quat a(2.f, -2.f, -8.f, 3.f); |
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69 | |
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70 | LOLUNIT_ASSERT_EQUAL(norm(a), 81.f); |
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71 | |
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72 | quat b = a * ~a; |
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73 | quat c(norm(a), 0.f, 0.f, 0.f); |
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74 | |
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75 | LOLUNIT_ASSERT_EQUAL(b, c); |
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76 | |
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77 | quat d(2.f, 3.f, -4.f, -1.f); |
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78 | |
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79 | LOLUNIT_ASSERT_EQUAL(norm(a * d), norm(a) * norm(d)); |
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80 | } |
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81 | |
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82 | LOLUNIT_TEST(Base) |
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83 | { |
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84 | quat one(1.f, 0.f, 0.f, 0.f); |
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85 | quat i(0.f, 1.f, 0.f, 0.f); |
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86 | quat j(0.f, 0.f, 1.f, 0.f); |
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87 | quat k(0.f, 0.f, 0.f, 1.f); |
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88 | |
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89 | LOLUNIT_ASSERT_EQUAL(norm(one), 1.f); |
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90 | LOLUNIT_ASSERT_EQUAL(norm(i), 1.f); |
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91 | LOLUNIT_ASSERT_EQUAL(norm(j), 1.f); |
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92 | LOLUNIT_ASSERT_EQUAL(norm(k), 1.f); |
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93 | |
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94 | LOLUNIT_ASSERT_EQUAL(i * i, -one); |
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95 | LOLUNIT_ASSERT_EQUAL(j * j, -one); |
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96 | LOLUNIT_ASSERT_EQUAL(k * k, -one); |
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97 | LOLUNIT_ASSERT_EQUAL(i * j * k, -one); |
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98 | |
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99 | LOLUNIT_ASSERT_EQUAL(i * j, k); |
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100 | LOLUNIT_ASSERT_EQUAL(j * i, -k); |
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101 | LOLUNIT_ASSERT_EQUAL(j * k, i); |
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102 | LOLUNIT_ASSERT_EQUAL(k * j, -i); |
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103 | LOLUNIT_ASSERT_EQUAL(k * i, j); |
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104 | LOLUNIT_ASSERT_EQUAL(i * k, -j); |
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105 | } |
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106 | |
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107 | LOLUNIT_TEST(Normalize) |
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108 | { |
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109 | quat a(2.f, -2.f, -8.f, 3.f); |
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110 | quat b = normalize(a); |
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111 | |
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112 | LOLUNIT_ASSERT_DOUBLES_EQUAL(norm(b), 1.0, 1e-5); |
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113 | } |
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114 | |
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115 | LOLUNIT_TEST(Reciprocal) |
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116 | { |
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117 | quat a(2.f, -2.f, -8.f, 3.f); |
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118 | quat b = re(a); |
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119 | |
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120 | quat m1 = a * b; |
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121 | quat m2 = b * a; |
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122 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.w, m2.w, 1e-5); |
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123 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.x, m2.x, 1e-5); |
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124 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.y, m2.y, 1e-5); |
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125 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.z, m2.z, 1e-5); |
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126 | |
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127 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.w, 1.0, 1e-5); |
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128 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.x, 0.0, 1e-5); |
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129 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.y, 0.0, 1e-5); |
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130 | LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.z, 0.0, 1e-5); |
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131 | } |
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132 | |
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133 | LOLUNIT_TEST(Rotation) |
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134 | { |
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135 | /* Check that rotating 10 degrees twice means rotating 20 degrees */ |
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136 | quat a = quat::rotate(10.f, vec3(1, 0, 0)); |
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137 | quat b = quat::rotate(20.f, vec3(1, 0, 0)); |
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138 | quat c = a * a; |
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139 | |
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140 | LOLUNIT_ASSERT_DOUBLES_EQUAL(c.w, b.w, 1e-5); |
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141 | LOLUNIT_ASSERT_DOUBLES_EQUAL(c.x, b.x, 1e-5); |
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142 | LOLUNIT_ASSERT_DOUBLES_EQUAL(c.y, b.y, 1e-5); |
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143 | LOLUNIT_ASSERT_DOUBLES_EQUAL(c.z, b.z, 1e-5); |
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144 | |
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145 | /* Check that rotating 10 degrees then 20 is the same as 20 then 10 */ |
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146 | quat d = a * b; |
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147 | quat e = b * a; |
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148 | |
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149 | LOLUNIT_ASSERT_DOUBLES_EQUAL(e.w, d.w, 1e-5); |
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150 | LOLUNIT_ASSERT_DOUBLES_EQUAL(e.x, d.x, 1e-5); |
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151 | LOLUNIT_ASSERT_DOUBLES_EQUAL(e.y, d.y, 1e-5); |
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152 | LOLUNIT_ASSERT_DOUBLES_EQUAL(e.z, d.z, 1e-5); |
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153 | } |
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154 | }; |
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155 | |
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156 | } /* namespace lol */ |
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157 | |
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