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+/*************************************************************************/
+/* test_basis.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#include "test_basis.h"
+
+#include "core/math/random_number_generator.h"
+#include "core/os/os.h"
+#include "core/ustring.h"
+
+namespace TestBasis {
+
+enum RotOrder {
+ EulerXYZ,
+ EulerXZY,
+ EulerYZX,
+ EulerYXZ,
+ EulerZXY,
+ EulerZYX
+};
+
+Vector3 deg2rad(const Vector3 &p_rotation) {
+ return p_rotation / 180.0 * Math_PI;
+}
+
+Vector3 rad2deg(const Vector3 &p_rotation) {
+ return p_rotation / Math_PI * 180.0;
+}
+
+Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) {
+ Basis ret;
+ switch (mode) {
+ case EulerXYZ:
+ ret.set_euler_xyz(p_rotation);
+ break;
+
+ case EulerXZY:
+ ret.set_euler_xzy(p_rotation);
+ break;
+
+ case EulerYZX:
+ ret.set_euler_yzx(p_rotation);
+ break;
+
+ case EulerYXZ:
+ ret.set_euler_yxz(p_rotation);
+ break;
+
+ case EulerZXY:
+ ret.set_euler_zxy(p_rotation);
+ break;
+
+ case EulerZYX:
+ ret.set_euler_zyx(p_rotation);
+ break;
+
+ default:
+ // If you land here, Please integrate all rotation orders.
+ CRASH_NOW_MSG("This is not unreachable.");
+ }
+
+ return ret;
+}
+
+Vector3 BasisToEuler(RotOrder mode, const Basis &p_rotation) {
+ switch (mode) {
+ case EulerXYZ:
+ return p_rotation.get_euler_xyz();
+
+ case EulerXZY:
+ return p_rotation.get_euler_xzy();
+
+ case EulerYZX:
+ return p_rotation.get_euler_yzx();
+
+ case EulerYXZ:
+ return p_rotation.get_euler_yxz();
+
+ case EulerZXY:
+ return p_rotation.get_euler_zxy();
+
+ case EulerZYX:
+ return p_rotation.get_euler_zyx();
+
+ default:
+ // If you land here, Please integrate all rotation orders.
+ CRASH_NOW_MSG("This is not unreachable.");
+ return Vector3();
+ }
+}
+
+String get_rot_order_name(RotOrder ro) {
+ switch (ro) {
+ case EulerXYZ:
+ return "XYZ";
+ case EulerXZY:
+ return "XZY";
+ case EulerYZX:
+ return "YZX";
+ case EulerYXZ:
+ return "YXZ";
+ case EulerZXY:
+ return "ZXY";
+ case EulerZYX:
+ return "ZYX";
+ default:
+ return "[Not supported]";
+ }
+}
+
+bool test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
+ // This test:
+ // 1. Converts the rotation vector from deg to rad.
+ // 2. Converts euler to basis.
+ // 3. Converts the above basis back into euler.
+ // 4. Converts the above euler into basis again.
+ // 5. Compares the basis obtained in step 2 with the basis of step 4
+ //
+ // The conversion "basis to euler", done in the step 3, may be different from
+ // the original euler, even if the final rotation are the same.
+ // This happens because there are more ways to represents the same rotation,
+ // both valid, using eulers.
+ // For this reason is necessary to convert that euler back to basis and finally
+ // compares it.
+ //
+ // In this way we can assert that both functions: basis to euler / euler to basis
+ // are correct.
+
+ bool pass = true;
+
+ // Euler to rotation
+ const Vector3 original_euler = deg2rad(deg_original_euler);
+ const Basis to_rotation = EulerToBasis(rot_order, original_euler);
+
+ // Euler from rotation
+ const Vector3 euler_from_rotation = BasisToEuler(rot_order, to_rotation);
+ const Basis rotation_from_computed_euler = EulerToBasis(rot_order, euler_from_rotation);
+
+ Basis res = to_rotation.inverse() * rotation_from_computed_euler;
+
+ if ((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() > 0.1) {
+ OS::get_singleton()->print("Fail due to X %ls\n", String(res.get_axis(0)).c_str());
+ pass = false;
+ }
+ if ((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() > 0.1) {
+ OS::get_singleton()->print("Fail due to Y %ls\n", String(res.get_axis(1)).c_str());
+ pass = false;
+ }
+ if ((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() > 0.1) {
+ OS::get_singleton()->print("Fail due to Z %ls\n", String(res.get_axis(2)).c_str());
+ pass = false;
+ }
+
+ if (pass) {
+ // Double check `to_rotation` decomposing with XYZ rotation order.
+ const Vector3 euler_xyz_from_rotation = to_rotation.get_euler_xyz();
+ Basis rotation_from_xyz_computed_euler;
+ rotation_from_xyz_computed_euler.set_euler_xyz(euler_xyz_from_rotation);
+
+ res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
+
+ if ((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() > 0.1) {
+ OS::get_singleton()->print("Double check with XYZ rot order failed, due to X %ls\n", String(res.get_axis(0)).c_str());
+ pass = false;
+ }
+ if ((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() > 0.1) {
+ OS::get_singleton()->print("Double check with XYZ rot order failed, due to Y %ls\n", String(res.get_axis(1)).c_str());
+ pass = false;
+ }
+ if ((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() > 0.1) {
+ OS::get_singleton()->print("Double check with XYZ rot order failed, due to Z %ls\n", String(res.get_axis(2)).c_str());
+ pass = false;
+ }
+ }
+
+ if (pass == false) {
+ // Print phase only if not pass.
+ OS *os = OS::get_singleton();
+ os->print("Rotation order: %ls\n.", get_rot_order_name(rot_order).c_str());
+ os->print("Original Rotation: %ls\n", String(deg_original_euler).c_str());
+ os->print("Quaternion to rotation order: %ls\n", String(rad2deg(euler_from_rotation)).c_str());
+ }
+
+ return pass;
+}
+
+void test_euler_conversion() {
+ Vector<RotOrder> rotorder_to_test;
+ rotorder_to_test.push_back(EulerXYZ);
+ rotorder_to_test.push_back(EulerXZY);
+ rotorder_to_test.push_back(EulerYZX);
+ rotorder_to_test.push_back(EulerYXZ);
+ rotorder_to_test.push_back(EulerZXY);
+ rotorder_to_test.push_back(EulerZYX);
+
+ Vector<Vector3> vectors_to_test;
+
+ // Test the special cases.
+ vectors_to_test.push_back(Vector3(0.0, 0.0, 0.0));
+ vectors_to_test.push_back(Vector3(0.5, 0.5, 0.5));
+ vectors_to_test.push_back(Vector3(-0.5, -0.5, -0.5));
+ vectors_to_test.push_back(Vector3(40.0, 40.0, 40.0));
+ vectors_to_test.push_back(Vector3(-40.0, -40.0, -40.0));
+ vectors_to_test.push_back(Vector3(0.0, 0.0, -90.0));
+ vectors_to_test.push_back(Vector3(0.0, -90.0, 0.0));
+ vectors_to_test.push_back(Vector3(-90.0, 0.0, 0.0));
+ vectors_to_test.push_back(Vector3(0.0, 0.0, 90.0));
+ vectors_to_test.push_back(Vector3(0.0, 90.0, 0.0));
+ vectors_to_test.push_back(Vector3(90.0, 0.0, 0.0));
+ vectors_to_test.push_back(Vector3(0.0, 0.0, -30.0));
+ vectors_to_test.push_back(Vector3(0.0, -30.0, 0.0));
+ vectors_to_test.push_back(Vector3(-30.0, 0.0, 0.0));
+ vectors_to_test.push_back(Vector3(0.0, 0.0, 30.0));
+ vectors_to_test.push_back(Vector3(0.0, 30.0, 0.0));
+ vectors_to_test.push_back(Vector3(30.0, 0.0, 0.0));
+ vectors_to_test.push_back(Vector3(0.5, 50.0, 20.0));
+ vectors_to_test.push_back(Vector3(-0.5, -50.0, -20.0));
+ vectors_to_test.push_back(Vector3(0.5, 0.0, 90.0));
+ vectors_to_test.push_back(Vector3(0.5, 0.0, -90.0));
+ vectors_to_test.push_back(Vector3(360.0, 360.0, 360.0));
+ vectors_to_test.push_back(Vector3(-360.0, -360.0, -360.0));
+ vectors_to_test.push_back(Vector3(-90.0, 60.0, -90.0));
+ vectors_to_test.push_back(Vector3(90.0, 60.0, -90.0));
+ vectors_to_test.push_back(Vector3(90.0, -60.0, -90.0));
+ vectors_to_test.push_back(Vector3(-90.0, -60.0, -90.0));
+ vectors_to_test.push_back(Vector3(-90.0, 60.0, 90.0));
+ vectors_to_test.push_back(Vector3(90.0, 60.0, 90.0));
+ vectors_to_test.push_back(Vector3(90.0, -60.0, 90.0));
+ vectors_to_test.push_back(Vector3(-90.0, -60.0, 90.0));
+ vectors_to_test.push_back(Vector3(60.0, 90.0, -40.0));
+ vectors_to_test.push_back(Vector3(60.0, -90.0, -40.0));
+ vectors_to_test.push_back(Vector3(-60.0, -90.0, -40.0));
+ vectors_to_test.push_back(Vector3(-60.0, 90.0, 40.0));
+ vectors_to_test.push_back(Vector3(60.0, 90.0, 40.0));
+ vectors_to_test.push_back(Vector3(60.0, -90.0, 40.0));
+ vectors_to_test.push_back(Vector3(-60.0, -90.0, 40.0));
+ vectors_to_test.push_back(Vector3(-90.0, 90.0, -90.0));
+ vectors_to_test.push_back(Vector3(90.0, 90.0, -90.0));
+ vectors_to_test.push_back(Vector3(90.0, -90.0, -90.0));
+ vectors_to_test.push_back(Vector3(-90.0, -90.0, -90.0));
+ vectors_to_test.push_back(Vector3(-90.0, 90.0, 90.0));
+ vectors_to_test.push_back(Vector3(90.0, 90.0, 90.0));
+ vectors_to_test.push_back(Vector3(90.0, -90.0, 90.0));
+ vectors_to_test.push_back(Vector3(20.0, 150.0, 30.0));
+ vectors_to_test.push_back(Vector3(20.0, -150.0, 30.0));
+ vectors_to_test.push_back(Vector3(-120.0, -150.0, 30.0));
+ vectors_to_test.push_back(Vector3(-120.0, -150.0, -130.0));
+ vectors_to_test.push_back(Vector3(120.0, -150.0, -130.0));
+ vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
+ vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
+
+ // Add 1000 random vectors with weirds numbers.
+ RandomNumberGenerator rng;
+ for (int _ = 0; _ < 1000; _ += 1) {
+ vectors_to_test.push_back(Vector3(
+ rng.randf_range(-1800, 1800),
+ rng.randf_range(-1800, 1800),
+ rng.randf_range(-1800, 1800)));
+ }
+
+ bool success = true;
+ for (int h = 0; h < rotorder_to_test.size(); h += 1) {
+ int passed = 0;
+ int failed = 0;
+ for (int i = 0; i < vectors_to_test.size(); i += 1) {
+ if (test_rotation(vectors_to_test[i], rotorder_to_test[h])) {
+ //OS::get_singleton()->print("Success. \n\n");
+ passed += 1;
+ } else {
+ OS::get_singleton()->print("FAILED FAILED FAILED. \n\n");
+ OS::get_singleton()->print("------------>\n");
+ OS::get_singleton()->print("------------>\n");
+ failed += 1;
+ success = false;
+ }
+ }
+
+ if (failed == 0) {
+ OS::get_singleton()->print("%i passed tests for rotation order: %ls.\n", passed, get_rot_order_name(rotorder_to_test[h]).c_str());
+ } else {
+ OS::get_singleton()->print("%i FAILED tests for rotation order: %ls.\n", failed, get_rot_order_name(rotorder_to_test[h]).c_str());
+ }
+ }
+
+ if (success) {
+ OS::get_singleton()->print("Euler conversion checks passed.\n");
+ } else {
+ OS::get_singleton()->print("Euler conversion checks FAILED.\n");
+ }
+}
+
+MainLoop *test() {
+ OS::get_singleton()->print("Start euler conversion checks.\n");
+ test_euler_conversion();
+
+ return NULL;
+}
+
+} // namespace TestBasis
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