From 12cde2bf750469b9e2d8b6072e2d6a81e6c245f3 Mon Sep 17 00:00:00 2001 From: Christophe Riccio Date: Mon, 31 Mar 2014 02:00:51 +0200 Subject: [PATCH] Added eulerAnglesX tests --- test/gtx/gtx_euler_angle.cpp | 155 ++++++++++++++++++++++++++++++----- 1 file changed, 135 insertions(+), 20 deletions(-) diff --git a/test/gtx/gtx_euler_angle.cpp b/test/gtx/gtx_euler_angle.cpp index 16597809..fbe3115f 100644 --- a/test/gtx/gtx_euler_angle.cpp +++ b/test/gtx/gtx_euler_angle.cpp @@ -11,33 +11,148 @@ #define GLM_FORCE_RADIANS #include +#include #include #include #include -using namespace glm; +namespace test_eulerAngleX +{ + int test() + { + int Error = 0; + + float const Angle(glm::pi() * 0.5f); + glm::vec3 const X(1.0f, 0.0f, 0.0f); + + glm::vec4 const Y(0.0f, 1.0f, 0.0f, 1.0f); + glm::vec4 const Y1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Y; + glm::vec4 const Y2 = glm::eulerAngleX(Angle) * Y; + glm::vec4 const Y3 = glm::eulerAngleXY(Angle, 0.0f) * Y; + glm::vec4 const Y4 = glm::eulerAngleYX(0.0f, Angle) * Y; + glm::vec4 const Y5 = glm::eulerAngleXZ(Angle, 0.0f) * Y; + glm::vec4 const Y6 = glm::eulerAngleZX(0.0f, Angle) * Y; + glm::vec4 const Y7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Y; + Error += glm::all(glm::epsilonEqual(Y1, Y2, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Y1, Y3, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Y1, Y4, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Y1, Y5, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Y1, Y6, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Y1, Y7, 0.00001f)) ? 0 : 1; + + glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f); + glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Z; + glm::vec4 const Z2 = glm::eulerAngleX(Angle) * Z; + glm::vec4 const Z3 = glm::eulerAngleXY(Angle, 0.0f) * Z; + glm::vec4 const Z4 = glm::eulerAngleYX(0.0f, Angle) * Z; + glm::vec4 const Z5 = glm::eulerAngleXZ(Angle, 0.0f) * Z; + glm::vec4 const Z6 = glm::eulerAngleZX(0.0f, Angle) * Z; + glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Z; + Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1; + Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1; + + return Error; + } +}//namespace test_eulerAngleX + +namespace test_eulerAngleY +{ + int test() + { + int Error = 0; + + float const Angle(glm::pi() * 0.5f); + glm::vec3 const Y(0.0f, 1.0f, 0.0f); + + glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f); + glm::vec4 const X1 = glm::eulerAngleY(Angle) * X; + glm::vec4 const X2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * X; + Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1; + + glm::vec4 const Z(1.0f, 0.0f, 0.0f, 1.0f); + glm::vec4 const Z1 = glm::eulerAngleY(Angle) * Z; + glm::vec4 const Z2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * Z; + Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1; + + return Error; + } +}//namespace test_eulerAngleY + +namespace test_eulerAngleZ +{ + int test() + { + int Error = 0; + + float const Angle(glm::pi() * 0.5f); + glm::vec3 const Z(0.0f, 0.0f, 1.0f); + + glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f); + glm::vec4 const X1 = glm::eulerAngleZ(Angle) * X; + glm::vec4 const X2 = glm::rotate(glm::mat4(1.0f), Angle, Z) * X; + Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1; + + glm::vec4 const Y(1.0f, 0.0f, 0.0f, 1.0f); + glm::vec4 const Y1 = glm::eulerAngleZ(Angle) * Y; + glm::vec4 const Y2 = glm::rotate(glm::mat4(1.0f), Angle, Z) * Y; + Error += glm::all(glm::epsilonEqual(Y1, Y2, 0.00001f)) ? 0 : 1; + + return Error; + } +}//namespace test_eulerAngleZ + +namespace test_eulerAngleXY +{ + int test() + { + + + + return 0; + } +}//namespace eulerAngleXY + +namespace test_eulerAngleYXZ +{ + int test() + { + glm::f32 first = 1.046f; + glm::f32 second = 0.52f; + glm::f32 third = -0.785f; + + glm::fmat4 rotationEuler = glm::eulerAngleYXZ(first, second, third); + + glm::fmat4 rotationInvertedY = glm::eulerAngleY(-1.f*first) * glm::eulerAngleX(second) * glm::eulerAngleZ(third); + glm::fmat4 rotationDumb = glm::fmat4(); + rotationDumb = glm::rotate(rotationDumb, first, glm::fvec3(0,1,0)); + rotationDumb = glm::rotate(rotationDumb, second, glm::fvec3(1,0,0)); + rotationDumb = glm::rotate(rotationDumb, third, glm::fvec3(0,0,1)); + + std::cout << glm::to_string(glm::fmat3(rotationEuler)) << std::endl; + std::cout << glm::to_string(glm::fmat3(rotationDumb)) << std::endl; + std::cout << glm::to_string(glm::fmat3(rotationInvertedY )) << std::endl; + + std::cout <<"\nRESIDUAL\n"; + std::cout << glm::to_string(glm::fmat3(rotationEuler-(rotationDumb))) << std::endl; + std::cout << glm::to_string(glm::fmat3(rotationEuler-(rotationInvertedY ))) << std::endl; + + return 0; + } +}//namespace eulerAngleYXZ int main() { - f32 first = 1.046f; - f32 second = 0.52f; - f32 third = -0.785f; + int Error = 0; - fmat4 rotationEuler = eulerAngleYXZ(first, second, third); + Error += test_eulerAngleX::test(); + Error += test_eulerAngleY::test(); + Error += test_eulerAngleZ::test(); + Error += test_eulerAngleXY::test(); + Error += test_eulerAngleYXZ::test(); - fmat4 rotationInvertedY = eulerAngleY(-1.f*first) * eulerAngleX(second) * eulerAngleZ(third); - fmat4 rotationDumb = glm::fmat4(); - rotationDumb = rotate(rotationDumb, first, glm::fvec3(0,1,0)); - rotationDumb = rotate(rotationDumb, second, glm::fvec3(1,0,0)); - rotationDumb = rotate(rotationDumb, third, glm::fvec3(0,0,1)); - - std::cout << glm::to_string(fmat3(rotationEuler)) << std::endl; - std::cout << glm::to_string(fmat3(rotationDumb)) << std::endl; - std::cout << glm::to_string(fmat3(rotationInvertedY )) << std::endl; - - std::cout <<"\nRESIDUAL\n"; - std::cout << glm::to_string(fmat3(rotationEuler-(rotationDumb))) << std::endl; - std::cout << glm::to_string(fmat3(rotationEuler-(rotationInvertedY ))) << std::endl; - - return 0; + return Error; }