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Extend quaternion tests

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Lars Mueller 2025-01-15 20:26:34 +01:00 • committed by sfan5
parent 3ae1fd459a
commit 1ceeea34f4
1 changed files with 35 additions and 18 deletions
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53
src/unittest/test_irr_quaternion.cpp
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@ -10,31 +10,48 @@
using matrix4 = core::matrix4;
static bool matrix_equals(const matrix4 &a, const matrix4 &b) {
return a.equals(b, 0.00001f);
return a.equals(b, 0.00001f);
}
TEST_CASE("quaternion") {
// Make sure that the conventions are consistent
SECTION("equivalence to euler rotations") {
auto test_rotation = [](v3f rad) {
matrix4 R;
R.setRotationRadians(rad);
v3f rad2;
core::quaternion(rad).toEuler(rad2);
matrix4 R2;
R2.setRotationRadians(rad2);
CHECK(matrix_equals(R, R2));
};
auto test_rotation = [](v3f rad) {
matrix4 R;
R.setRotationRadians(rad);
v3f rad2;
core::quaternion(rad).toEuler(rad2);
matrix4 R2;
R2.setRotationRadians(rad2);
CHECK(matrix_equals(R, R2));
};
test_rotation({100, 200, 300});
Catch::Generators::RandomFloatingGenerator<f32> gen(0.0f, 2 * core::PI, Catch::getSeed());
for (int i = 0; i < 1000; ++i)
test_rotation(v3f{gen.get(), gen.get(), gen.get()});
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
for (int k = 0; k < 4; k++)
test_rotation(core::PI / 4.0f * v3f(i, j, k));
Catch::Generators::RandomFloatingGenerator<f32> gen(0.0f, 2 * core::PI, Catch::getSeed());
for (int i = 0; i < 1000; ++i)
test_rotation(v3f{gen.get(), gen.get(), gen.get()});
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
for (int k = 0; k < 4; k++)
test_rotation(core::PI / 4.0f * v3f(i, j, k));
}
SECTION("equivalence to rotation matrices") {
auto test_rotation = [](v3f rad) {
matrix4 R;
R.setRotationRadians(rad);
matrix4 R2;
core::quaternion(R).getMatrix(R2);
CHECK(matrix_equals(R, R2));
};
Catch::Generators::RandomFloatingGenerator<f32> gen(0.0f, 2 * core::PI, Catch::getSeed());
for (int i = 0; i < 1000; ++i)
test_rotation(v3f{gen.get(), gen.get(), gen.get()});
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
for (int k = 0; k < 4; k++)
test_rotation(core::PI / 4.0f * v3f(i, j, k));
}
}