diff options
Diffstat (limited to 'tests')
| -rw-r--r-- | tests/test_basis.cpp | 325 | ||||
| -rw-r--r-- | tests/test_basis.h | 252 |
2 files changed, 250 insertions, 327 deletions
diff --git a/tests/test_basis.cpp b/tests/test_basis.cpp deleted file mode 100644 index 5904fc386a..0000000000 --- a/tests/test_basis.cpp +++ /dev/null @@ -1,325 +0,0 @@ -/*************************************************************************/ -/* 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 diff --git a/tests/test_basis.h b/tests/test_basis.h index 63297bd3b8..05efe33788 100644 --- a/tests/test_basis.h +++ b/tests/test_basis.h @@ -31,10 +31,258 @@ #ifndef TEST_BASIS_H #define TEST_BASIS_H -#include "core/os/main_loop.h" +#include "core/math/random_number_generator.h" +#include "core/os/os.h" +#include "core/ustring.h" + +#include "tests/test_macros.h" namespace TestBasis { -MainLoop *test(); + +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. + FAIL("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. + FAIL("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]"; + } +} + +void 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. + + // 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; + + CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_axis(0))).utf8().ptr()); + CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_axis(1))).utf8().ptr()); + CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_axis(2))).utf8().ptr()); + + // 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; + + CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_axis(0))).utf8().ptr()); + CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_axis(1))).utf8().ptr()); + CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_axis(2))).utf8().ptr()); + + INFO(vformat("Rotation order: %s\n.", get_rot_order_name(rot_order)).utf8().ptr()); + INFO(vformat("Original Rotation: %s\n", String(deg_original_euler)).utf8().ptr()); + INFO(vformat("Quaternion to rotation order: %s\n", String(rad2deg(euler_from_rotation))).utf8().ptr()); +} + +TEST_CASE("[Basis] Euler conversions") { + 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)); + + for (int h = 0; h < rotorder_to_test.size(); h += 1) { + for (int i = 0; i < vectors_to_test.size(); i += 1) { + test_rotation(vectors_to_test[i], rotorder_to_test[h]); + } + } +} + +TEST_CASE("[Stress][Basis] Euler conversions") { + 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; + // 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))); + } + + for (int h = 0; h < rotorder_to_test.size(); h += 1) { + for (int i = 0; i < vectors_to_test.size(); i += 1) { + test_rotation(vectors_to_test[i], rotorder_to_test[h]); + } + } +} + +} // namespace TestBasis + #endif |