219 lines
9.5 KiB
C++
219 lines
9.5 KiB
C++
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_TRANSFORM_H
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#define TEST_TRANSFORM_H
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#endif
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// Libraries
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#include "../../Test.h"
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#include "../../../src/mathematics/Transform.h"
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using namespace reactphysics3d;
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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// Class TestTransform
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/**
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* Unit test for the Transform class
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*/
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class TestTransform : public Test {
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private :
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// ---------- Atributes ---------- //
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/// Identity transform
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Transform mIdentityTransform;
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/// First example transform
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Transform mTransform1;
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/// Second example transform
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Transform mTransform2;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestTransform() {
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mIdentityTransform.setToIdentity();
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decimal sinA = sin(PI/8.0f);
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decimal cosA = cos(PI/8.0f);
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mTransform1 = Transform(Vector3(4, 5, 6), Quaternion(sinA, sinA, sinA, cosA));
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decimal sinB = sin(PI/3.0f);
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decimal cosB = cos(PI/3.0f);
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mTransform2 = Transform(Vector3(8, 45, -6), Quaternion(sinB, sinB, sinB, cosB));
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}
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/// Run the tests
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void run() {
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testConstructors();
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testGetSet();
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testInverse();
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testGetSetOpenGLMatrix();
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testInterpolateTransform();
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testIdentity();
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testOperators();
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}
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/// Test the constructors
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void testConstructors() {
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Transform transform1(Vector3(1, 2, 3), Quaternion(6, 7, 8, 9));
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Transform transform2(Vector3(4, 5, 6), Matrix3x3(1, 0, 0, 0, 1, 0, 0, 0, 1));
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Transform transform3(transform1);
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test(transform1.getPosition() == Vector3(1, 2, 3));
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test(transform1.getOrientation() == Quaternion(6, 7, 8, 9));
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test(transform2.getPosition() == Vector3(4, 5, 6));
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test(transform2.getOrientation() == Quaternion::identity());
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test(transform3 == transform1);
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}
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/// Test getter and setter
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void testGetSet() {
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test(mIdentityTransform.getPosition() == Vector3(0, 0, 0));
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test(mIdentityTransform.getOrientation() == Quaternion::identity());
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Transform transform;
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transform.setPosition(Vector3(5, 7, 8));
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transform.setOrientation(Quaternion(1, 2, 3, 1));
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test(transform.getPosition() == Vector3(5, 7, 8));
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test(transform.getOrientation() == Quaternion(1, 2, 3, 1));
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transform.setToIdentity();
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test(transform.getPosition() == Vector3(0, 0, 0));
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test(transform.getOrientation() == Quaternion::identity());
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}
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/// Test the inverse
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void testInverse() {
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Transform inverseTransform = mTransform1.inverse();
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Vector3 vector(2, 3, 4);
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Vector3 tempVector = mTransform1 * vector;
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Vector3 tempVector2 = inverseTransform * tempVector;
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test(approxEqual(tempVector2.x, vector.x, decimal(10e-6)));
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test(approxEqual(tempVector2.y, vector.y, decimal(10e-6)));
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test(approxEqual(tempVector2.z, vector.z, decimal(10e-6)));
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}
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/// Test methods to set and get transform matrix from and to OpenGL
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void testGetSetOpenGLMatrix() {
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Transform transform;
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Vector3 position = mTransform1.getPosition();
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Matrix3x3 orientation = mTransform1.getOrientation().getMatrix();
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decimal openglMatrix[16] = {orientation[0][0], orientation[1][0],
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orientation[2][0], 0,
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orientation[0][1], orientation[1][1],
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orientation[2][1], 0,
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orientation[0][2], orientation[1][2],
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orientation[2][2], 0,
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position.x, position.y, position.z, 1};
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transform.setFromOpenGL(openglMatrix);
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decimal openglMatrix2[16];
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transform.getOpenGLMatrix(openglMatrix2);
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test(approxEqual(openglMatrix2[0], orientation[0][0]));
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test(approxEqual(openglMatrix2[1], orientation[1][0]));
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test(approxEqual(openglMatrix2[2], orientation[2][0]));
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test(approxEqual(openglMatrix2[3], 0));
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test(approxEqual(openglMatrix2[4], orientation[0][1]));
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test(approxEqual(openglMatrix2[5], orientation[1][1]));
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test(approxEqual(openglMatrix2[6], orientation[2][1]));
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test(approxEqual(openglMatrix2[7], 0));
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test(approxEqual(openglMatrix2[8], orientation[0][2]));
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test(approxEqual(openglMatrix2[9], orientation[1][2]));
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test(approxEqual(openglMatrix2[10], orientation[2][2]));
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test(approxEqual(openglMatrix2[11], 0));
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test(approxEqual(openglMatrix2[12], position.x));
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test(approxEqual(openglMatrix2[13], position.y));
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test(approxEqual(openglMatrix2[14], position.z));
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test(approxEqual(openglMatrix2[15], 1));
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}
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/// Test the method to interpolate transforms
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void testInterpolateTransform() {
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Transform transformStart = Transform::interpolateTransforms(mTransform1, mTransform2,0);
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Transform transformEnd = Transform::interpolateTransforms(mTransform1, mTransform2,1);
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test(transformStart == mTransform1);
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test(transformEnd == mTransform2);
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decimal sinA = sin(PI/3.0f);
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decimal cosA = cos(PI/3.0f);
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decimal sinB = sin(PI/6.0f);
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decimal cosB = cos(PI/6.0f);
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Transform transform1(Vector3(4, 5, 6), Quaternion::identity());
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Transform transform2(Vector3(8, 11, 16), Quaternion(sinA, sinA, sinA, cosA));
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Transform transform = Transform::interpolateTransforms(transform1, transform2, 0.5);
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Vector3 position = transform.getPosition();
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Quaternion orientation = transform.getOrientation();
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test(approxEqual(position.x, 6));
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test(approxEqual(position.y, 8));
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test(approxEqual(position.z, 11));
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test(approxEqual(orientation.x, sinB));
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test(approxEqual(orientation.y, sinB));
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test(approxEqual(orientation.z, sinB));
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test(approxEqual(orientation.w, cosB));
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}
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/// Test the identity methods
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void testIdentity() {
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Transform transform = Transform::identity();
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test(transform.getPosition() == Vector3(0, 0, 0));
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test(transform.getOrientation() == Quaternion::identity());
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Transform transform2(Vector3(5, 6, 2), Quaternion(3, 5, 1, 6));
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transform2.setToIdentity();
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test(transform2.getPosition() == Vector3(0, 0, 0));
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test(transform2.getOrientation() == Quaternion::identity());
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}
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/// Test the overloaded operators
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void testOperators() {
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// Equality, inequality operator
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test(mTransform1 == mTransform1);
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test(mTransform1 != mTransform2);
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// Assignment operator
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Transform transform;
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transform = mTransform1;
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test(transform == mTransform1);
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// Multiplication
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Vector3 vector(7, 53, 5);
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Vector3 vector2 = mTransform2 * (mTransform1 * vector);
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Vector3 vector3 = (mTransform2 * mTransform1) * vector;
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test(approxEqual(vector2.x, vector3.x, decimal(10e-6)));
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test(approxEqual(vector2.y, vector3.y, decimal(10e-6)));
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test(approxEqual(vector2.z, vector3.z, decimal(10e-6)));
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}
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};
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}
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