TEST(Transformable_objects, can_be_rotated)
{
Transformable t;
quat rotationX(Transformable::X_AXIS, toRadian(90));
quat rotationY(Transformable::Y_AXIS, toRadian(180));
EXPECT_EQ(quat(0,0,0,1), t.rotation());
t.rotateTo(rotationX);
EXPECT_EQ(normalize(rotationX), t.rotation());
t.rotateTo(Transformable::Y_AXIS, toRadian(180));
EXPECT_EQ(normalize(rotationY), t.rotation());
t.rotate(quat(Transformable::X_AXIS, toRadian(90)));
EXPECT_EQ(normalize(rotationX * rotationY), t.rotation());
t.rotate(Transformable::X_AXIS, toRadian(-90));
EXPECT_EQ(normalize(rotationY), t.rotation());
}
TEST(Transformable_objects, have_a_rotation_matrix_to_move_from_model_space_to_world_space__x_axis_only)
{
Transformable model;
vec3 pInModelSpace(2,0,0), pInWorldSpace(2,0,0);
vec3 qInModelSpace(0,2,0), qInWorldSpace(0,0,2);
vec3 rInModelSpace(0,0,2), rInWorldSpace(0,-2,0);
model.rotateTo(Transformable::X_AXIS, toRadian(90));
EXPECT_EQ(pInWorldSpace, (model.rotationMatrix() * vec4(pInModelSpace,1)).xyz());
EXPECT_EQ(qInWorldSpace, (model.rotationMatrix() * vec4(qInModelSpace,1)).xyz());
EXPECT_EQ(rInWorldSpace, (model.rotationMatrix() * vec4(rInModelSpace,1)).xyz());
}