260 lines
8.2 KiB
Rust
260 lines
8.2 KiB
Rust
// Copyright 2013-2014 The CGMath Developers. For a full listing of the authors,
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// refer to the Cargo.toml file at the top-level directory of this distribution.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#[macro_use]
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extern crate approx;
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#[macro_use]
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extern crate cgmath;
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macro_rules! impl_test_mul {
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($s:expr, $v:expr) => (
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// point * scalar ops
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assert_eq!($v * $s, Quaternion::from_sv($v.s * $s, $v.v * $s));
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assert_eq!($s * $v, Quaternion::from_sv($s * $v.s, $s * $v.v));
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assert_eq!(&$v * $s, $v * $s);
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assert_eq!($s * &$v, $s * $v);
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// commutativity
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assert_eq!($v * $s, $s * $v);
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)
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}
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macro_rules! impl_test_div {
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($s:expr, $v:expr) => (
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// point / scalar ops
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assert_eq!($v / $s, Quaternion::from_sv($v.s / $s, $v.v / $s));
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assert_eq!($s / $v, Quaternion::from_sv($s / $v.s, $s / $v.v));
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assert_eq!(&$v / $s, $v / $s);
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assert_eq!($s / &$v, $s / $v);
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)
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}
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mod operators {
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use cgmath::*;
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#[test]
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fn test_mul() {
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impl_test_mul!(2.0f32, Quaternion::from(Euler { x: Rad(1f32), y: Rad(1f32), z: Rad(1f32) }));
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}
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#[test]
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fn test_div() {
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impl_test_div!(2.0f32, Quaternion::from(Euler { x: Rad(1f32), y: Rad(1f32), z: Rad(1f32) }));
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}
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}
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mod to_from_euler {
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use std::f32;
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use cgmath::*;
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fn check_euler(rotation: Euler<Rad<f32>>) {
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assert_relative_eq!(Euler::from(Quaternion::from(rotation)), rotation, epsilon = 0.001);
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}
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const HPI: f32 = f32::consts::FRAC_PI_2;
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#[test] fn test_zero() { check_euler(Euler { x: Rad( 0f32), y: Rad( 0f32), z: Rad( 0f32) }); }
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#[test] fn test_yaw_pos_1() { check_euler(Euler { x: Rad( 0f32), y: Rad( 1f32), z: Rad( 0f32) }); }
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#[test] fn test_yaw_neg_1() { check_euler(Euler { x: Rad( 0f32), y: Rad(-1f32), z: Rad( 0f32) }); }
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#[test] fn test_pitch_pos_1() { check_euler(Euler { x: Rad( 1f32), y: Rad( 0f32), z: Rad( 0f32) }); }
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#[test] fn test_pitch_neg_1() { check_euler(Euler { x: Rad(-1f32), y: Rad( 0f32), z: Rad( 0f32) }); }
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#[test] fn test_roll_pos_1() { check_euler(Euler { x: Rad( 0f32), y: Rad( 0f32), z: Rad( 1f32) }); }
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#[test] fn test_roll_neg_1() { check_euler(Euler { x: Rad( 0f32), y: Rad( 0f32), z: Rad(-1f32) }); }
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#[test] fn test_pitch_yaw_roll_pos_1() { check_euler(Euler { x: Rad( 1f32), y: Rad( 1f32), z: Rad( 1f32) }); }
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#[test] fn test_pitch_yaw_roll_neg_1() { check_euler(Euler { x: Rad(-1f32), y: Rad(-1f32), z: Rad(-1f32) }); }
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#[test] fn test_pitch_yaw_roll_pos_hp() { check_euler(Euler { x: Rad( 0f32), y: Rad( HPI), z: Rad( 1f32) }); }
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#[test] fn test_pitch_yaw_roll_neg_hp() { check_euler(Euler { x: Rad( 0f32), y: Rad( -HPI), z: Rad( 1f32) }); }
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}
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mod from {
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mod matrix3 {
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use cgmath::*;
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fn check_with_euler(x: Rad<f32>, y: Rad<f32>, z: Rad<f32>) {
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let matrix3 = Matrix3::from(Euler { x: x, y: y, z: z });
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let quaternion = Quaternion::from(matrix3);
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let quaternion_matrix3 = Matrix3::from(quaternion);
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assert_ulps_eq!(matrix3, quaternion_matrix3);
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}
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// triggers: trace >= S::zero()
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#[test]
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fn test_positive_trace() {
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check_with_euler(Rad(0.0f32), Rad(0.0), Rad(0.0f32));
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}
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// triggers: (mat[0][0] > mat[1][1]) && (mat[0][0] > mat[2][2])
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#[test]
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fn test_xx_maximum() {
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check_with_euler(Rad(2.0f32), Rad(1.0), Rad(-1.2f32));
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}
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// triggers: mat[1][1] > mat[2][2]
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#[test]
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fn test_yy_maximum() {
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check_with_euler(Rad(2.0f32), Rad(1.0), Rad(3.0f32));
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}
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// base case
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#[test]
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fn test_zz_maximum() {
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check_with_euler(Rad(1.0f32), Rad(1.0), Rad(3.0f32));
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}
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}
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}
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mod arc {
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use cgmath::*;
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#[inline]
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fn test(src: Vector3<f32>, dst: Vector3<f32>) {
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let q = Quaternion::from_arc(src, dst, None);
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let v = q.rotate_vector(src);
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assert_ulps_eq!(v.normalize(), dst.normalize());
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}
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#[test]
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fn test_same() {
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let v = Vector3::unit_x();
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let q = Quaternion::from_arc(v, v, None);
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assert_eq!(q, Quaternion::new(1.0, 0.0, 0.0, 0.0));
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}
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#[test]
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fn test_opposite() {
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let v = Vector3::unit_x();
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test(v, -v);
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}
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#[test]
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fn test_random() {
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test(vec3(1.0, 2.0, 3.0), vec3(-4.0, 5.0, -6.0));
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}
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#[test]
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fn test_ortho() {
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let q: Quaternion<f32> = Quaternion::from_arc(Vector3::unit_x(), Vector3::unit_y(), None);
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let q2 = Quaternion::from_axis_angle(Vector3::unit_z(), Rad::turn_div_4());
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assert_ulps_eq!(q, q2);
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}
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}
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mod rotate_from_euler {
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use cgmath::*;
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#[test]
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fn test_x() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from(Euler::new(Deg(90.0), Deg(0.0), Deg(0.0)));
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assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
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let rot = Quaternion::from(Euler::new(Deg(-90.0), Deg(0.0), Deg(0.0)));
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assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
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}
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#[test]
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fn test_y() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from(Euler::new(Deg(0.0), Deg(90.0), Deg(0.0)));
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assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
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let rot = Quaternion::from(Euler::new(Deg(0.0), Deg(-90.0), Deg(0.0)));
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assert_ulps_eq!(vec3(-1.0, 0.0, 0.0), rot * vec);
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}
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#[test]
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fn test_z() {
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let vec = vec3(1.0, 0.0, 0.0);
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let rot = Quaternion::from(Euler::new(Deg(0.0), Deg(0.0), Deg(90.0)));
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assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
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let rot = Quaternion::from(Euler::new(Deg(0.0), Deg(0.0), Deg(-90.0)));
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assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
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}
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// tests that the Y rotation is done after the X
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#[test]
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fn test_x_then_y() {
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let vec = vec3(0.0, 1.0, 0.0);
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let rot = Quaternion::from(Euler::new(Deg(90.0), Deg(90.0), Deg(0.0)));
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assert_ulps_eq!(vec3(0.0, 0.0, 1.0), rot * vec);
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}
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// tests that the Z rotation is done after the Y
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#[test]
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fn test_y_then_z() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from(Euler::new(Deg(0.0), Deg(90.0), Deg(90.0)));
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assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
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}
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}
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mod rotate_from_axis_angle {
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use cgmath::*;
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#[test]
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fn test_x() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from_angle_x(Deg(90.0));
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assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
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}
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#[test]
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fn test_y() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from_angle_y(Deg(90.0));
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assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
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}
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#[test]
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fn test_z() {
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let vec = vec3(1.0, 0.0, 0.0);
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let rot = Quaternion::from_angle_z(Deg(90.0));
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assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
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}
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#[test]
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fn test_xy() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Quaternion::from_axis_angle(vec3(1.0, 1.0, 0.0).normalize(), Deg(90.0));
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assert_ulps_eq!(vec3(2.0f32.sqrt() / 2.0, -2.0f32.sqrt() / 2.0, 0.0), rot * vec);
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}
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#[test]
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fn test_yz() {
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let vec = vec3(1.0, 0.0, 0.0);
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let rot = Quaternion::from_axis_angle(vec3(0.0, 1.0, 1.0).normalize(), Deg(-90.0));
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assert_ulps_eq!(vec3(0.0, -2.0f32.sqrt() / 2.0, 2.0f32.sqrt() / 2.0), rot * vec);
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}
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#[test]
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fn test_xz() {
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let vec = vec3(0.0, 1.0, 0.0);
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let rot = Quaternion::from_axis_angle(vec3(1.0, 0.0, 1.0).normalize(), Deg(90.0));
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assert_ulps_eq!(vec3(-2.0f32.sqrt() / 2.0, 0.0, 2.0f32.sqrt() / 2.0), rot * vec);
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}
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}
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