/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2015 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * * In no event will the authors be held liable for any damages arising from the * * use of this software. * * * * Permission is granted to anyone to use this software for any purpose, * * including commercial applications, and to alter it and redistribute it * * freely, subject to the following restrictions: * * * * 1. The origin of this software must not be misrepresented; you must not claim * * that you wrote the original software. If you use this software in a * * product, an acknowledgment in the product documentation would be * * appreciated but is not required. * * * * 2. Altered source versions must be plainly marked as such, and must not be * * misrepresented as being the original software. * * * * 3. This notice may not be removed or altered from any source distribution. * * * ********************************************************************************/ #ifndef TEST_QUATERNION_H #define TEST_QUATERNION_H // Libraries #include "Test.h" #include "mathematics/Quaternion.h" /// Reactphysics3D namespace namespace reactphysics3d { // Class TestQuaternion /** * Unit test for the Quaternion class */ class TestQuaternion : public Test { private : // ---------- Atributes ---------- // /// Identity Quaternion Quaternion mIdentity; /// First test quaternion Quaternion mQuaternion1; public : // ---------- Methods ---------- // /// Constructor TestQuaternion(const std::string& name) : Test(name), mIdentity(Quaternion::identity()) { decimal sinA = sin(decimal(PI/8.0)); decimal cosA = cos(decimal(PI/8.0)); Vector3 vector(2, 3, 4); vector.normalize(); mQuaternion1 = Quaternion(vector.x * sinA, vector.y * sinA, vector.z * sinA, cosA); mQuaternion1.normalize(); } /// Run the tests void run() { testConstructors(); testUnitLengthNormalize(); testOthersMethods(); testOperators(); } /// Test the constructors void testConstructors() { Quaternion quaternion1(mQuaternion1); test(mQuaternion1 == quaternion1); Quaternion quaternion2(4, 5, 6, 7); test(quaternion2 == Quaternion(4, 5, 6, 7)); Quaternion quaternion3(8, Vector3(3, 5, 2)); test(quaternion3 == Quaternion(3, 5, 2, 8)); Quaternion quaternion4(mQuaternion1.getMatrix()); test(approxEqual(quaternion4.x, mQuaternion1.x)); test(approxEqual(quaternion4.y, mQuaternion1.y)); test(approxEqual(quaternion4.z, mQuaternion1.z)); test(approxEqual(quaternion4.w, mQuaternion1.w)); // Test conversion from Euler angles to quaternion const decimal PI_OVER_2 = PI * decimal(0.5); const decimal PI_OVER_4 = PI_OVER_2 * decimal(0.5); Quaternion quaternion5(PI_OVER_2, 0, 0); Quaternion quaternionTest5(std::sin(PI_OVER_4), 0, 0, std::cos(PI_OVER_4)); quaternionTest5.normalize(); test(approxEqual(quaternion5.x, quaternionTest5.x)); test(approxEqual(quaternion5.y, quaternionTest5.y)); test(approxEqual(quaternion5.z, quaternionTest5.z)); test(approxEqual(quaternion5.w, quaternionTest5.w)); Quaternion quaternion6(0, PI_OVER_2, 0); Quaternion quaternionTest6(0, std::sin(PI_OVER_4), 0, std::cos(PI_OVER_4)); quaternionTest6.normalize(); test(approxEqual(quaternion6.x, quaternionTest6.x)); test(approxEqual(quaternion6.y, quaternionTest6.y)); test(approxEqual(quaternion6.z, quaternionTest6.z)); test(approxEqual(quaternion6.w, quaternionTest6.w)); Quaternion quaternion7(Vector3(0, 0, PI_OVER_2)); Quaternion quaternionTest7(0, 0, std::sin(PI_OVER_4), std::cos(PI_OVER_4)); quaternionTest7.normalize(); test(approxEqual(quaternion7.x, quaternionTest7.x)); test(approxEqual(quaternion7.y, quaternionTest7.y)); test(approxEqual(quaternion7.z, quaternionTest7.z)); test(approxEqual(quaternion7.w, quaternionTest7.w)); } /// Test unit, length, normalize methods void testUnitLengthNormalize() { // Test method that returns the length Quaternion quaternion(2, 3, -4, 5); test(approxEqual(quaternion.length(), sqrt(decimal(54.0)))); // Test method that returns a unit quaternion test(approxEqual(quaternion.getUnit().length(), 1.0)); // Test the normalization method Quaternion quaternion2(4, 5, 6, 7); quaternion2.normalize(); test(approxEqual(quaternion2.length(), 1.0)); } /// Test others methods void testOthersMethods() { // Test the method to set the values Quaternion quaternion; quaternion.setAllValues(1, 2, 3, 4); test(quaternion == Quaternion(1, 2, 3, 4)); // Test the method to set the quaternion to zero quaternion.setToZero(); test(quaternion == Quaternion(0, 0, 0, 0)); // Tes the methods to get or set to identity Quaternion identity1(1, 2, 3, 4); identity1.setToIdentity(); test(identity1 == Quaternion(0, 0, 0, 1)); test(Quaternion::identity() == Quaternion(0, 0, 0, 1)); // Test the method to get the vector (x, y, z) Vector3 v = mQuaternion1.getVectorV(); test(v.x == mQuaternion1.x); test(v.y == mQuaternion1.y); test(v.z == mQuaternion1.z); // Test the conjugate method Quaternion conjugate = mQuaternion1.getConjugate(); test(conjugate.x == -mQuaternion1.x); test(conjugate.y == -mQuaternion1.y); test(conjugate.z == -mQuaternion1.z); test(conjugate.w == mQuaternion1.w); // Test the inverse methods Quaternion inverse1 = mQuaternion1.getInverse(); Quaternion inverse2(mQuaternion1); inverse2.inverse(); test(inverse2 == inverse1); Quaternion product = mQuaternion1 * inverse1; test(approxEqual(product.x, mIdentity.x, decimal(10e-6))); test(approxEqual(product.y, mIdentity.y, decimal(10e-6))); test(approxEqual(product.z, mIdentity.z, decimal(10e-6))); test(approxEqual(product.w, mIdentity.w, decimal(10e-6))); // Test the dot product Quaternion quaternion1(2, 3, 4, 5); Quaternion quaternion2(6, 7, 8, 9); decimal dotProduct = quaternion1.dot(quaternion2); test(dotProduct == 110); // Test the method that returns the rotation angle and axis Vector3 axis; decimal angle; Vector3 originalAxis = Vector3(2, 3, 4).getUnit(); mQuaternion1.getRotationAngleAxis(angle, axis); test(approxEqual(axis.x, originalAxis.x)); test(approxEqual(angle, decimal(PI/4.0), decimal(10e-6))); // Test the method that returns the corresponding matrix Matrix3x3 matrix = mQuaternion1.getMatrix(); Vector3 vector(56, -2, 82); Vector3 vector1 = matrix * vector; Vector3 vector2 = mQuaternion1 * vector; test(approxEqual(vector1.x, vector2.x, decimal(10e-6))); test(approxEqual(vector1.y, vector2.y, decimal(10e-6))); test(approxEqual(vector1.z, vector2.z, decimal(10e-6))); // Test slerp method Quaternion quatStart = quaternion1.getUnit(); Quaternion quatEnd = quaternion2.getUnit(); Quaternion test1 = Quaternion::slerp(quatStart, quatEnd, 0.0); Quaternion test2 = Quaternion::slerp(quatStart, quatEnd, 1.0); test(test1 == quatStart); test(test2 == quatEnd); decimal sinA = sin(decimal(PI/4.0)); decimal cosA = cos(decimal(PI/4.0)); Quaternion quat(sinA, 0, 0, cosA); Quaternion test3 = Quaternion::slerp(mIdentity, quat, decimal(0.5)); test(approxEqual(test3.x, sin(decimal(PI/8.0)))); test(approxEqual(test3.y, 0.0)); test(approxEqual(test3.z, 0.0)); test(approxEqual(test3.w, cos(decimal(PI/8.0)), decimal(10e-6))); } /// Test overloaded operators void testOperators() { // Test addition Quaternion quat1(4, 5, 2, 10); Quaternion quat2(-2, 7, 8, 3); Quaternion test1 = quat1 + quat2; Quaternion test11(-6, 52, 2, 8); test11 += quat1; test(test1 == Quaternion(2, 12, 10, 13)); test(test11 == Quaternion(-2, 57, 4, 18)); // Test substraction Quaternion test2 = quat1 - quat2; Quaternion test22(-73, 62, 25, 9); test22 -= quat1; test(test2 == Quaternion(6, -2, -6, 7)); test(test22 == Quaternion(-77, 57, 23, -1)); // Test multiplication with a number Quaternion test3 = quat1 * 3.0; test(test3 == Quaternion(12, 15, 6, 30)); // Test multiplication between two quaternions Quaternion test4 = quat1 * quat2; Quaternion test5 = mQuaternion1 * mIdentity; test(test4 == Quaternion(18, 49, 124, -13)); test(test5 == mQuaternion1); // Test multiplication between a quaternion and a point Vector3 point(5, -24, 563); Vector3 vector1 = mIdentity * point; Vector3 vector2 = mQuaternion1 * point; Vector3 testVector2 = mQuaternion1.getMatrix() * point; test(vector1 == point); test(approxEqual(vector2.x, testVector2.x, decimal(10e-5))); test(approxEqual(vector2.y, testVector2.y, decimal(10e-5))); test(approxEqual(vector2.z, testVector2.z, decimal(10e-5))); // Test assignment operator Quaternion quaternion; quaternion = mQuaternion1; test(quaternion == mQuaternion1); // Test equality operator test(mQuaternion1 == mQuaternion1); } }; } #endif