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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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