diff options
Diffstat (limited to 'tests/core')
| -rw-r--r-- | tests/core/math/test_quaternion.h | 27 |
1 files changed, 22 insertions, 5 deletions
diff --git a/tests/core/math/test_quaternion.h b/tests/core/math/test_quaternion.h index 909fc2499f..c3ae322991 100644 --- a/tests/core/math/test_quaternion.h +++ b/tests/core/math/test_quaternion.h @@ -169,10 +169,9 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") { Vector3 euler_r(0.0, 0.0, roll); Quaternion q_r = Quaternion::from_euler(euler_r); - // Roll-Z is followed by Pitch-X. - Quaternion check_xz = q_p * q_r; - // Then Yaw-Y follows both. - Quaternion check_yxz = q_y * check_xz; + // Instrinsically, Yaw-Y then Pitch-X then Roll-Z. + // Extrinsically, Roll-Z is followed by Pitch-X, then Yaw-Y. + Quaternion check_yxz = q_y * q_p * q_r; // Test construction from YXZ Euler angles. Vector3 euler_yxz(pitch, yaw, roll); @@ -182,8 +181,9 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") { CHECK(q[2] == doctest::Approx(check_yxz[2])); CHECK(q[3] == doctest::Approx(check_yxz[3])); - // Sneak in a test of is_equal_approx. CHECK(q.is_equal_approx(check_yxz)); + CHECK(q.get_euler().is_equal_approx(euler_yxz)); + CHECK(check_yxz.get_euler().is_equal_approx(euler_yxz)); } TEST_CASE("[Quaternion] Construct Basis Euler") { @@ -235,6 +235,23 @@ TEST_CASE("[Quaternion] Construct Basis Axes") { CHECK(q[3] == doctest::Approx(0.8582598)); } +TEST_CASE("[Quaternion] Get Euler Orders") { + double x = Math::deg_to_rad(30.0); + double y = Math::deg_to_rad(45.0); + double z = Math::deg_to_rad(10.0); + Vector3 euler(x, y, z); + for (int i = 0; i < 6; i++) { + EulerOrder order = (EulerOrder)i; + Basis basis = Basis::from_euler(euler, order); + Quaternion q = Quaternion(basis); + Vector3 check = q.get_euler(order); + CHECK_MESSAGE(check.is_equal_approx(euler), + "Quaternion get_euler method should return the original angles."); + CHECK_MESSAGE(check.is_equal_approx(basis.get_euler(order)), + "Quaternion get_euler method should behave the same as Basis get_euler."); + } +} + TEST_CASE("[Quaternion] Product (book)") { // Example from "Quaternions and Rotation Sequences" by Jack Kuipers, p. 108. Quaternion p(1.0, -2.0, 1.0, 3.0); |