119 lines
4.2 KiB
Rust
119 lines
4.2 KiB
Rust
// Copyright 2013-2014 The CGMath Developers. For a full listing of the authors,
|
|
// refer to the Cargo.toml file at the top-level directory of this distribution.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#[macro_use]
|
|
extern crate cgmath;
|
|
|
|
macro_rules! impl_test_mul {
|
|
($s:expr, $v:expr) => (
|
|
// point * scalar ops
|
|
assert_eq!($v * $s, Quaternion::from_sv($v.s * $s, $v.v * $s));
|
|
assert_eq!($s * $v, Quaternion::from_sv($s * $v.s, $s * $v.v));
|
|
assert_eq!(&$v * $s, $v * $s);
|
|
assert_eq!($s * &$v, $s * $v);
|
|
// commutativity
|
|
assert_eq!($v * $s, $s * $v);
|
|
)
|
|
}
|
|
|
|
macro_rules! impl_test_div {
|
|
($s:expr, $v:expr) => (
|
|
// point / scalar ops
|
|
assert_eq!($v / $s, Quaternion::from_sv($v.s / $s, $v.v / $s));
|
|
assert_eq!($s / $v, Quaternion::from_sv($s / $v.s, $s / $v.v));
|
|
assert_eq!(&$v / $s, $v / $s);
|
|
assert_eq!($s / &$v, $s / $v);
|
|
)
|
|
}
|
|
|
|
mod operators {
|
|
use cgmath::*;
|
|
|
|
#[test]
|
|
fn test_mul() {
|
|
impl_test_mul!(2.0f32, Quaternion::from_euler(rad(1f32), rad(1f32), rad(1f32)));
|
|
}
|
|
|
|
#[test]
|
|
fn test_div() {
|
|
impl_test_div!(2.0f32, Quaternion::from_euler(rad(1f32), rad(1f32), rad(1f32)));
|
|
}
|
|
}
|
|
|
|
mod to_from_euler {
|
|
use std::f32;
|
|
|
|
use cgmath::*;
|
|
|
|
fn check_euler(pitch: Rad<f32>, yaw: Rad<f32>, roll: Rad<f32>) {
|
|
let quat = Quaternion::from_euler(pitch, yaw, roll);
|
|
let (found_pitch, found_yaw, found_roll) = quat.to_euler();
|
|
|
|
assert_approx_eq_eps!(pitch, found_pitch, 0.001);
|
|
assert_approx_eq_eps!(yaw, found_yaw, 0.001);
|
|
assert_approx_eq_eps!(roll, found_roll, 0.001);
|
|
}
|
|
|
|
const HPI: f32 = f32::consts::FRAC_PI_2;
|
|
|
|
#[test] fn test_zero() { check_euler(rad(0f32), rad(0f32), rad(0f32)); }
|
|
#[test] fn test_yaw_pos_1() { check_euler(rad(0f32), rad(1f32), rad(0f32)); }
|
|
#[test] fn test_yaw_neg_1() { check_euler(rad(0f32), rad(-1f32), rad(0f32)); }
|
|
#[test] fn test_pitch_pos_1() { check_euler(rad(1f32), rad(0f32), rad(0f32)); }
|
|
#[test] fn test_pitch_neg_1() { check_euler(rad(-1f32), rad(0f32), rad(0f32)); }
|
|
#[test] fn test_roll_pos_1() { check_euler(rad(0f32), rad(0f32), rad(1f32)); }
|
|
#[test] fn test_roll_neg_1() { check_euler(rad(0f32), rad(0f32), rad(-1f32)); }
|
|
#[test] fn test_pitch_yaw_roll_pos_1() { check_euler(rad(1f32), rad(1f32), rad(1f32)); }
|
|
#[test] fn test_pitch_yaw_roll_neg_1() { check_euler(rad(-1f32), rad(-1f32), rad(-1f32)); }
|
|
#[test] fn test_pitch_yaw_roll_pos_hp() { check_euler(rad(0f32), rad(HPI), rad(1f32)); }
|
|
#[test] fn test_pitch_yaw_roll_neg_hp() { check_euler(rad(0f32), rad(-HPI), rad(1f32)); }
|
|
}
|
|
|
|
mod from {
|
|
mod matrix3 {
|
|
use cgmath::*;
|
|
|
|
fn check_with_euler(x: Rad<f32>, y: Rad<f32>, z: Rad<f32>) {
|
|
let matrix3 = Matrix3::from_euler(x, y, z);
|
|
let quaternion = Quaternion::from(matrix3);
|
|
let quaternion_matrix3 = Matrix3::from(quaternion);
|
|
assert_approx_eq!(matrix3, quaternion_matrix3);
|
|
}
|
|
|
|
// triggers: trace >= S::zero()
|
|
#[test]
|
|
fn test_positive_trace() {
|
|
check_with_euler(rad(0.0f32), rad(0.0), rad(0.0f32));
|
|
}
|
|
|
|
// triggers: (mat[0][0] > mat[1][1]) && (mat[0][0] > mat[2][2])
|
|
#[test]
|
|
fn test_xx_maximum() {
|
|
check_with_euler(rad(2.0f32), rad(1.0), rad(-1.2f32));
|
|
}
|
|
|
|
// triggers: mat[1][1] > mat[2][2]
|
|
#[test]
|
|
fn test_yy_maximum() {
|
|
check_with_euler(rad(2.0f32), rad(1.0), rad(3.0f32));
|
|
}
|
|
|
|
// base case
|
|
#[test]
|
|
fn test_zz_maximum() {
|
|
check_with_euler(rad(1.0f32), rad(1.0), rad(3.0f32));
|
|
}
|
|
}
|
|
}
|