mirror of
https://github.com/g-truc/glm.git
synced 2024-11-26 18:24:35 +00:00
231 lines
6.3 KiB
C++
231 lines
6.3 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
|
||
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
// Created : 2010-09-16
|
||
// Updated : 2011-05-25
|
||
// Licence : This source is under MIT licence
|
||
// File : test/gtc/quaternion.cpp
|
||
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
|
||
#include <glm/glm.hpp>
|
||
#include <glm/gtc/quaternion.hpp>
|
||
#include <glm/gtc/epsilon.hpp>
|
||
|
||
int test_quat_angle()
|
||
{
|
||
int Error = 0;
|
||
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::vec3(0, 0, 1));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.01f) ? 0 : 1;
|
||
float A = glm::angle(N);
|
||
Error += glm::epsilonEqual(A, 45.0f, 0.01f) ? 0 : 1;
|
||
}
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::normalize(glm::vec3(0, 1, 1)));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.01f) ? 0 : 1;
|
||
float A = glm::angle(N);
|
||
Error += glm::epsilonEqual(A, 45.0f, 0.01f) ? 0 : 1;
|
||
}
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::normalize(glm::vec3(1, 2, 3)));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.01f) ? 0 : 1;
|
||
float A = glm::angle(N);
|
||
Error += glm::epsilonEqual(A, 45.0f, 0.01f) ? 0 : 1;
|
||
}
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_angleAxis()
|
||
{
|
||
int Error = 0;
|
||
|
||
glm::quat A = glm::angleAxis(0.0f, glm::vec3(0, 0, 1));
|
||
glm::quat B = glm::angleAxis(90.0f, glm::vec3(0, 0, 1));
|
||
glm::quat C = glm::mix(A, B, 0.5f);
|
||
glm::quat D = glm::angleAxis(45.0f, glm::vec3(0, 0, 1));
|
||
|
||
Error += glm::epsilonEqual(C.x, D.x, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.y, D.y, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.z, D.z, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.w, D.w, 0.01f) ? 0 : 1;
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_mix()
|
||
{
|
||
int Error = 0;
|
||
|
||
glm::quat A = glm::angleAxis(0.0f, glm::vec3(0, 0, 1));
|
||
glm::quat B = glm::angleAxis(90.0f, glm::vec3(0, 0, 1));
|
||
glm::quat C = glm::mix(A, B, 0.5f);
|
||
glm::quat D = glm::angleAxis(45.0f, glm::vec3(0, 0, 1));
|
||
|
||
Error += glm::epsilonEqual(C.x, D.x, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.y, D.y, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.z, D.z, 0.01f) ? 0 : 1;
|
||
Error += glm::epsilonEqual(C.w, D.w, 0.01f) ? 0 : 1;
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_precision()
|
||
{
|
||
int Error = 0;
|
||
|
||
Error += sizeof(glm::lowp_quat) <= sizeof(glm::mediump_quat) ? 0 : 1;
|
||
Error += sizeof(glm::mediump_quat) <= sizeof(glm::highp_quat) ? 0 : 1;
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_normalize()
|
||
{
|
||
int Error(0);
|
||
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::vec3(0, 0, 1));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.000001f) ? 0 : 1;
|
||
}
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::vec3(0, 0, 2));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.000001f) ? 0 : 1;
|
||
}
|
||
{
|
||
glm::quat Q = glm::angleAxis(45.0f, glm::vec3(1, 2, 3));
|
||
glm::quat N = glm::normalize(Q);
|
||
float L = glm::length(N);
|
||
Error += glm::epsilonEqual(L, 1.0f, 0.000001f) ? 0 : 1;
|
||
}
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_euler()
|
||
{
|
||
int Error(0);
|
||
|
||
{
|
||
glm::quat q(1.0f, 0.0f, 0.0f, 1.0f);
|
||
float Roll = glm::roll(q);
|
||
float Pitch = glm::pitch(q);
|
||
float Yaw = glm::yaw(q);
|
||
glm::vec3 Angles = glm::eulerAngles(q);
|
||
}
|
||
|
||
{
|
||
glm::dquat q(1.0f, 0.0f, 0.0f, 1.0f);
|
||
double Roll = glm::roll(q);
|
||
double Pitch = glm::pitch(q);
|
||
double Yaw = glm::yaw(q);
|
||
glm::dvec3 Angles = glm::eulerAngles(q);
|
||
}
|
||
|
||
{
|
||
glm::hquat q(glm::half(1.0f), glm::half(0.0f), glm::half(0.0f), glm::half(1.0f));
|
||
glm::half Roll = glm::roll(q);
|
||
glm::half Pitch = glm::pitch(q);
|
||
glm::half Yaw = glm::yaw(q);
|
||
glm::hvec3 Angles = glm::eulerAngles(q);
|
||
}
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_slerp()
|
||
{
|
||
int Error(0);
|
||
|
||
float const Epsilon = 0.0001f;//glm::epsilon<float>();
|
||
|
||
float sqrt2 = sqrt(2.0f)/2.0f;
|
||
glm::quat id;
|
||
glm::quat Y90rot(sqrt2, 0.0f, sqrt2, 0.0f);
|
||
glm::quat Y180rot(0.0f, 0.0f, 1.0f, 0.0f);
|
||
|
||
// Testing a == 0
|
||
// Must be id
|
||
glm::quat id2 = glm::slerp(id, Y90rot, 0.0f);
|
||
Error += glm::all(glm::epsilonEqual(id, id2, Epsilon)) ? 0 : 1;
|
||
|
||
// Testing a == 1
|
||
// Must be 90<39> rotation on Y : 0 0.7 0 0.7
|
||
glm::quat Y90rot2 = glm::slerp(id, Y90rot, 1.0f);
|
||
Error += glm::all(glm::epsilonEqual(Y90rot, Y90rot2, Epsilon)) ? 0 : 1;
|
||
|
||
// Testing standard, easy case
|
||
// Must be 45<34> rotation on Y : 0 0.38 0 0.92
|
||
glm::quat Y45rot1 = glm::slerp(id, Y90rot, 0.5f);
|
||
|
||
// Testing reverse case
|
||
// Must be 45<34> rotation on Y : 0 0.38 0 0.92
|
||
glm::quat Ym45rot2 = glm::slerp(Y90rot, id, 0.5f);
|
||
|
||
// Testing against full circle around the sphere instead of shortest path
|
||
// Must be 45<34> rotation on Y
|
||
// certainly not a 135<33> rotation
|
||
glm::quat Y45rot3 = glm::slerp(id , -Y90rot, 0.5f);
|
||
float Y45angle3 = glm::angle(Y45rot3);
|
||
Error += glm::epsilonEqual(Y45angle3, 45.f, Epsilon) ? 0 : 1;
|
||
Error += glm::all(glm::epsilonEqual(Ym45rot2, Y45rot3, Epsilon)) ? 0 : 1;
|
||
|
||
// Same, but inverted
|
||
// Must also be 45<34> rotation on Y : 0 0.38 0 0.92
|
||
// -0 -0.38 -0 -0.92 is ok too
|
||
glm::quat Y45rot4 = glm::slerp(-Y90rot, id, 0.5f);
|
||
Error += glm::all(glm::epsilonEqual(Ym45rot2, -Y45rot4, Epsilon)) ? 0 : 1;
|
||
|
||
// Testing q1 = q2
|
||
// Must be 90<39> rotation on Y : 0 0.7 0 0.7
|
||
glm::quat Y90rot3 = glm::slerp(Y90rot, Y90rot, 0.5f);
|
||
Error += glm::all(glm::epsilonEqual(Y90rot, Y90rot3, Epsilon)) ? 0 : 1;
|
||
|
||
// Testing 180<38> rotation
|
||
// Must be 90<39> rotation on almost any axis that is on the XZ plane
|
||
glm::quat XZ90rot = glm::slerp(id, -Y90rot, 0.5f);
|
||
float XZ90angle = glm::angle(XZ90rot); // Must be PI/4 = 0.78;
|
||
Error += glm::epsilonEqual(XZ90angle, 45.f, Epsilon) ? 0 : 1;
|
||
|
||
// Testing almost equal quaternions (this test should pass through the linear interpolation)
|
||
// Must be 0 0.00X 0 0.99999
|
||
glm::quat almostid = glm::slerp(id, glm::angleAxis(0.1f, 0.0f, 1.0f, 0.0f), 0.5f);
|
||
|
||
return Error;
|
||
}
|
||
|
||
int test_quat_type()
|
||
{
|
||
glm::quat A;
|
||
glm::dquat B;
|
||
|
||
return 0;
|
||
}
|
||
|
||
int main()
|
||
{
|
||
int Error(0);
|
||
|
||
Error += test_quat_precision();
|
||
Error += test_quat_type();
|
||
Error += test_quat_angle();
|
||
Error += test_quat_angleAxis();
|
||
Error += test_quat_mix();
|
||
Error += test_quat_normalize();
|
||
Error += test_quat_euler();
|
||
Error += test_quat_slerp();
|
||
|
||
return Error;
|
||
}
|