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/*************************************************************************/
/* test_basis.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 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. */
/*************************************************************************/
#ifndef TEST_BASIS_H
#define TEST_BASIS_H
#include "core/math/basis.h"
#include "core/math/random_number_generator.h"
#include "tests/test_macros.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(p_rotation, Basis::EULER_ORDER_XYZ);
break;
case EulerXZY:
ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY);
break;
case EulerYZX:
ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX);
break;
case EulerYXZ:
ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ);
break;
case EulerZXY:
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY);
break;
case EulerZYX:
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX);
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(Basis::EULER_ORDER_XYZ);
case EulerXZY:
return p_rotation.get_euler(Basis::EULER_ORDER_XZY);
case EulerYZX:
return p_rotation.get_euler(Basis::EULER_ORDER_YZX);
case EulerYXZ:
return p_rotation.get_euler(Basis::EULER_ORDER_YXZ);
case EulerZXY:
return p_rotation.get_euler(Basis::EULER_ORDER_ZXY);
case EulerZYX:
return p_rotation.get_euler(Basis::EULER_ORDER_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_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_column(0))).utf8().ptr());
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_column(1))).utf8().ptr());
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_column(2))).utf8().ptr());
// Double check `to_rotation` decomposing with XYZ rotation order.
const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(Basis::EULER_ORDER_XYZ);
Basis rotation_from_xyz_computed_euler;
rotation_from_xyz_computed_euler.set_euler(euler_xyz_from_rotation, Basis::EULER_ORDER_XYZ);
res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
CHECK_MESSAGE((res.get_column(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_column(0))).utf8().ptr());
CHECK_MESSAGE((res.get_column(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_column(1))).utf8().ptr());
CHECK_MESSAGE((res.get_column(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_column(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
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