diff options
Diffstat (limited to 'tests/core/math/test_basis.h')
| -rw-r--r-- | tests/core/math/test_basis.h | 57 |
1 files changed, 55 insertions, 2 deletions
diff --git a/tests/core/math/test_basis.h b/tests/core/math/test_basis.h index ae8ca4acde..b6493c5726 100644 --- a/tests/core/math/test_basis.h +++ b/tests/core/math/test_basis.h @@ -47,7 +47,7 @@ enum RotOrder { EulerZYX }; -Vector3 deg2rad(const Vector3 &p_rotation) { +Vector3 deg_to_rad(const Vector3 &p_rotation) { return p_rotation / 180.0 * Math_PI; } @@ -155,7 +155,7 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) { // are correct. // Euler to rotation - const Vector3 original_euler = deg2rad(deg_original_euler); + const Vector3 original_euler = deg_to_rad(deg_original_euler); const Basis to_rotation = EulerToBasis(rot_order, original_euler); // Euler from rotation @@ -281,6 +281,59 @@ TEST_CASE("[Stress][Basis] Euler conversions") { } } } + +TEST_CASE("[Basis] Set axis angle") { + Vector3 axis; + real_t angle; + real_t pi = (real_t)Math_PI; + + // Testing the singularity when the angle is 0°. + Basis identity(1, 0, 0, 0, 1, 0, 0, 0, 1); + identity.get_axis_angle(axis, angle); + CHECK(angle == 0); + + // Testing the singularity when the angle is 180°. + Basis singularityPi(-1, 0, 0, 0, 1, 0, 0, 0, -1); + singularityPi.get_axis_angle(axis, angle); + CHECK(Math::is_equal_approx(angle, pi)); + + // Testing reversing the an axis (of an 30° angle). + float cos30deg = Math::cos(Math::deg_to_rad((real_t)30.0)); + Basis z_positive(cos30deg, -0.5, 0, 0.5, cos30deg, 0, 0, 0, 1); + Basis z_negative(cos30deg, 0.5, 0, -0.5, cos30deg, 0, 0, 0, 1); + + z_positive.get_axis_angle(axis, angle); + CHECK(Math::is_equal_approx(angle, Math::deg_to_rad((real_t)30.0))); + CHECK(axis == Vector3(0, 0, 1)); + + z_negative.get_axis_angle(axis, angle); + CHECK(Math::is_equal_approx(angle, Math::deg_to_rad((real_t)30.0))); + CHECK(axis == Vector3(0, 0, -1)); + + // Testing a rotation of 90° on x-y-z. + Basis x90deg(1, 0, 0, 0, 0, -1, 0, 1, 0); + x90deg.get_axis_angle(axis, angle); + CHECK(Math::is_equal_approx(angle, pi / (real_t)2)); + CHECK(axis == Vector3(1, 0, 0)); + + Basis y90deg(0, 0, 1, 0, 1, 0, -1, 0, 0); + y90deg.get_axis_angle(axis, angle); + CHECK(axis == Vector3(0, 1, 0)); + + Basis z90deg(0, -1, 0, 1, 0, 0, 0, 0, 1); + z90deg.get_axis_angle(axis, angle); + CHECK(axis == Vector3(0, 0, 1)); + + // Regression test: checks that the method returns a small angle (not 0). + Basis tiny(1, 0, 0, 0, 0.9999995, -0.001, 0, 001, 0.9999995); // The min angle possible with float is 0.001rad. + tiny.get_axis_angle(axis, angle); + CHECK(Math::is_equal_approx(angle, (real_t)0.001, (real_t)0.0001)); + + // Regression test: checks that the method returns an angle which is a number (not NaN) + Basis bugNan(1.00000024, 0, 0.000100001693, 0, 1, 0, -0.000100009143, 0, 1.00000024); + bugNan.get_axis_angle(axis, angle); + CHECK(!Math::is_nan(angle)); +} } // namespace TestBasis #endif // TEST_BASIS_H |