void QuatOpsTest::testQuatVectorSub()
{
// test out mult( result, quat, quat )
const float eps = 0.0001f;
gmtl::Quat<float> q3( 1, 2, 3, 4 ), q5, q6( 2, 3, 4, 5 );
gmtl::sub( q5, q3, q6 );
gmtl::Quat<float> expected_result1( -1, -1, -1, -1 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q5, eps ) );
}
void QuatOpsTest::testQuatVectorMult()
{
// test out mult( result, quat, quat )
const float eps = 0.0001f;
gmtl::Quat<float> q3( 1, 2, 3, 4 ), q5;
gmtl::mult( q5, q3, 23.0f );
gmtl::Quat<float> expected_result1( 1 * 23.0f, 2 * 23.0f, 3 * 23.0f, 4 * 23.0f );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q5, eps ) );
}
void QuatOpsTest::testQuatConj()
{
const float eps = 0.0001f;
gmtl::Quat<float> q3( 0,0,342334,0 ), q5( 342334,-342334,342334,-342334 );
gmtl::conj( q3 );
gmtl::conj( q5 );
gmtl::Quat<float> expected_result1( 0, 0, -342334, 0 ), expected_result2( -342334,342334,-342334,-342334 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q3, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, q5, eps ) );
}
void QuatOpsTest::testQuatNormalize()
{
const float eps = 0.0001f;
gmtl::Quat<float> q3( 0,0,342334,0 ), q5( 342334,-342334,342334,-342334 );
gmtl::normalize( q3 );
gmtl::normalize( q5 );
gmtl::Quat<float> expected_result1( 0, 0, 1, 0 ), expected_result2( 0.5, -0.5, 0.5, -0.5 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q3, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, q5, eps ) );
CPPUNIT_ASSERT( gmtl::isNormalized( expected_result1 ) );
CPPUNIT_ASSERT( gmtl::isNormalized( expected_result2 ) );
}
void QuatOpsTest::testQuatLerp()
{
const float eps = 0.0001f;
gmtl::Quat<float> q1( 1, 2, 3, 4 ), q2( 9, 8, 7, 6 );
gmtl::normalize( q1 ); // make sure they are valid rotation quaternions
gmtl::normalize( q2 );
gmtl::Quat<float> expected_result1( q1 ), res1;
gmtl::Quat<float> expected_result2( q2 ), res2;
gmtl::lerp( res1, 0.0f, q1, q2 );
gmtl::lerp( res2, 1.0f, q1, q2 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, res1, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, res2, eps ) );
/// @todo, test interpolated values...
}
void QuatOpsTest::testQuatNegate()
{
const float eps = 0.0001f;
gmtl::Quat<float> q3( 0,0,342334,0 ), q5( 342334,-342334,342334,-342334 );
gmtl::Quat<float> expected_result1( 0, 0, -342334, 0 ), expected_result2( -342334,342334,-342334,342334 );
// test operator-
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, -q3, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, -q5, eps ) );
// test negate(quat)
gmtl::negate( q3 );
gmtl::negate( q5 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q3, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, q5, eps ) );
}
void QuatGenTest::testQuatMakeRot()
{
const float eps = 0.0001f;
gmtl::Quat<float> q1, q2;
q1 = gmtl::make<gmtl::Quat<float> >( gmtl::AxisAnglef( gmtl::Math::deg2Rad( 90.0f ), 1.0f, 0.0f, 0.0f ) );
q2 = gmtl::make<gmtl::Quat<float> >( gmtl::AxisAnglef( gmtl::Math::deg2Rad( 32.0f ), 0.0f, 1.0f, 0.0f ) );
gmtl::Quat<float> expected_result1( 0.707107f, 0, 0, 0.707107f );
gmtl::Quat<float> expected_result2( 0, 0.275637f, 0, 0.961262f );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, q1, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, q2, eps ) );
CPPUNIT_ASSERT( gmtl::isNormalized( q1, eps ) );
CPPUNIT_ASSERT( gmtl::isNormalized( q2, eps ) );
// values from VR Juggler math lib...
std::vector< gmtl::Quat<float> > quats;
quats.push_back( gmtl::Quat<float>( 0, 0, 0, -1 ) );
quats.push_back( gmtl::Quat<float>( -0, -0.173648f, -0, -0.984808f) );
quats.push_back( gmtl::Quat<float>( -0, -0.34202f, -0, -0.939693f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.5f, -0, -0.866025f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.642788f, -0, -0.766044f) );
quats.push_back( gmtl::Quat<float>( -0, -0.766044f, -0, -0.642788f) );
quats.push_back( gmtl::Quat<float>( -0, -0.866025f, -0, -0.5f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.939693f, -0, -0.34202f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.984808f, -0, -0.173648f) );
quats.push_back( gmtl::Quat<float>( -0, -1, -0, 0 ) );
quats.push_back( gmtl::Quat<float>( -0, -0.984808f, -0, 0.173648f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.939693f, -0, 0.34202f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.866025f, -0, 0.5f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.766044f, -0, 0.642788f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.642788f, -0, 0.766044f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.5f, -0, 0.866025f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.34202f, -0, 0.939693f ) );
quats.push_back( gmtl::Quat<float>( -0, -0.173648f, -0, 0.984808f ) );
quats.push_back( gmtl::Quat<float>( 0, 0, 0, 1 ) );
quats.push_back( gmtl::Quat<float>( 0, 0.173648f, 0, 0.984808f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.34202f, 0, 0.939693f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.5f, 0, 0.866025f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.642788f, 0, 0.766044f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.766044f, 0, 0.642788f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.866025f, 0, 0.5f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.939693f, 0, 0.34202f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.984808f, 0, 0.173648f ) );
quats.push_back( gmtl::Quat<float>( 0, 1, 0, 0 ) );
quats.push_back( gmtl::Quat<float>( 0, 0.984808f, 0, -0.173648f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.939693f, 0, -0.34202f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.866025f, 0, -0.5f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.766044f, 0, -0.642788f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.642788f, 0, -0.766044f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.5f, 0, -0.866025f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.34202f, 0, -0.939693f ) );
quats.push_back( gmtl::Quat<float>( 0, 0.173648f, 0, -0.984808f ) );
quats.push_back( gmtl::Quat<float>( -0, 0, -0, -1 ) );
/// @todo check this against another math lib other than VR Juggler...
int count = 0;
for (int x = -360; x <= 360; x += 20)
{
gmtl::Quat<float> q3;
CPPUNIT_ASSERT( count >= 0 );
gmtl::set( q2, gmtl::AxisAnglef( gmtl::Math::deg2Rad( float(x) ), 0.0f, 1.0f, 0.0f ) );
gmtl::set( q3, gmtl::AxisAnglef( gmtl::Math::deg2Rad( float(x) ), gmtl::Vec3f( 0.0f, 1.0f, 0.0f ) ) );
CPPUNIT_ASSERT( gmtl::isEqual( quats[count], q2, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( q3, q2, eps ) );
// make sure that makeRot and setRot do the same thing...
CPPUNIT_ASSERT( gmtl::make<gmtl::Quat<float> >( gmtl::AxisAnglef( gmtl::Math::deg2Rad( float(x) ), 0.0f, 1.0f, 0.0f ) ) == q2 );
CPPUNIT_ASSERT( gmtl::make<gmtl::Quat<float> >( gmtl::AxisAnglef( gmtl::Math::deg2Rad( float(x) ), gmtl::Vec3f( 0.0f, 1.0f, 0.0f ) ) ) == q3 );
count++;
}
}
void QuatOpsTest::testQuatSlerp()
{
const float eps = 0.0001f;
gmtl::Quat<float> q1( 100, 2, 3, 4 ), q2( 9.01f, 8.4f, 7.1f, 6 );
gmtl::normalize( q1 ); // make sure they are valid rotation quaternions
gmtl::normalize( q2 );
gmtl::Quat<float> expected_result1( q1 ), res1;
gmtl::Quat<float> expected_result2( q2 ), res2;
gmtl::slerp( res1, 0.0f, q1, q2 );
gmtl::slerp( res2, 1.0f, q1, q2 );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result1, res1, eps ) );
CPPUNIT_ASSERT( gmtl::isEqual( expected_result2, res2, eps ) );
/// test interpolated values...
gmtl::Vec3f quadrant[8];
quadrant[0].set( 1.0f, 1.0f, 1.0f );
quadrant[1].set( -1.0f, 1.0f, 1.0f );
quadrant[2].set( -1.0f, 1.0f, -1.0f );
quadrant[3].set( 1.0f, 1.0f, -1.0f );
quadrant[4].set( 1.0f, -1.0f, -1.0f );
quadrant[5].set( 1.0f, -1.0f, 1.0f );
quadrant[6].set( -1.0f, -1.0f, 1.0f );
quadrant[7].set( -1.0f, -1.0f, -1.0f );
//gmtl::Quatf expected_result0, expected_result180, expected_result90, expected_result_0001;
// create one quat for each of the 8 quadrants...
gmtl::Quatf q0[8], q180[8], q90[8], q_0001[8];
for (unsigned int x = 0; x < 8; ++x)
{
gmtl::normalize( quadrant[x] );
gmtl::setRot( q0[x], gmtl::AxisAnglef( gmtl::Math::deg2Rad( 0.0f ), quadrant[x] ) );
gmtl::setRot( q180[x], gmtl::AxisAnglef( gmtl::Math::deg2Rad( 180.0f ), quadrant[x] ) );
gmtl::setRot( q90[x], gmtl::AxisAnglef( gmtl::Math::deg2Rad( 90.0f ), quadrant[x] ) );
gmtl::setRot( q_0001[x], gmtl::AxisAnglef( gmtl::Math::deg2Rad( 0.0001f ), quadrant[x] ) );
/// @todo test these:
// same yields same
// gmtl::slerp( result, 0.0f, q0[x], q0[x] ); // yields q0
// gmtl::slerp( result, 0.5f, q0[x], q0[x] ); // yields q0
// gmtl::slerp( result, 1.0f, q0[x], q0[x] ); // yields q0
// 180 deg - there is more than one valid path to take,
// gmtl::slerp( result, 0.0f, q0[x], q180[x] ); // yields q0
// gmtl::slerp( result, 0.5f, q0[x], q180[x] ); // not sure what to test here...
// gmtl::slerp( result, 1.0f, q0[x], q180[x] ); // yields q180
// 90 deg
// gmtl::slerp( result, 0.0f, q0[x], q90[x] ); // yields q0
// gmtl::slerp( result, 0.5f, q0[x], q90[x] ); // yields shortest path
// gmtl::slerp( result, 1.0f, q0[x], q90[x] ); // yields q90
// .0001 deg
// gmtl::slerp( result, 0.0f, q0[x], q_0001[x] ); // yields q0
// gmtl::slerp( result, 0.5f, q0[x], q_0001[x] ); // yields shortest path (very close to q0 or q_0001)
// gmtl::slerp( result, 1.0f, q0[x], q_0001[x] ); // yields q_0001
}
/// @todo given 8 quadrants, (8 quats), test each quat against every other quat (56 total checks)
// note: might have to test with two different angled quats, not sure...
}