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Merge pull request #66380 from aaronfranke/basis-euler-test

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Simplify Euler order test code in test_basis.h
This commit is contained in:
Rémi Verschelde 2022-10-31 10:55:37 +01:00
parent d147adc591 fae4ed5a98
commit f0dcefe5f8
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GPG key ID: C3336907360768E1
1 changed files with 29 additions and 100 deletions
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129
tests/core/math/test_basis.h
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@ -38,15 +38,6 @@
namespace TestBasis {
enum RotOrder {
EulerXYZ,
EulerXZY,
EulerYZX,
EulerYXZ,
EulerZXY,
EulerZYX
};
Vector3 deg_to_rad(const Vector3 &p_rotation) {
return p_rotation / 180.0 * Math_PI;
}
@ -55,88 +46,26 @@ Vector3 rad2deg(const Vector3 &p_rotation) {
return p_rotation / Math_PI * 180.0;
}
Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) {
Basis ret;
switch (mode) {
case EulerXYZ:
ret.set_euler(p_rotation, Basis::EULER_ORDER_XYZ);
break;
case EulerXZY:
ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY);
break;
case EulerYZX:
ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX);
break;
case EulerYXZ:
ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ);
break;
case EulerZXY:
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY);
break;
case EulerZYX:
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX);
break;
default:
// If you land here, Please integrate all rotation orders.
FAIL("This is not unreachable.");
}
return ret;
}
Vector3 BasisToEuler(RotOrder mode, const Basis &p_rotation) {
switch (mode) {
case EulerXYZ:
return p_rotation.get_euler(Basis::EULER_ORDER_XYZ);
case EulerXZY:
return p_rotation.get_euler(Basis::EULER_ORDER_XZY);
case EulerYZX:
return p_rotation.get_euler(Basis::EULER_ORDER_YZX);
case EulerYXZ:
return p_rotation.get_euler(Basis::EULER_ORDER_YXZ);
case EulerZXY:
return p_rotation.get_euler(Basis::EULER_ORDER_ZXY);
case EulerZYX:
return p_rotation.get_euler(Basis::EULER_ORDER_ZYX);
default:
// If you land here, Please integrate all rotation orders.
FAIL("This is not unreachable.");
return Vector3();
}
}
String get_rot_order_name(RotOrder ro) {
String get_rot_order_name(Basis::EulerOrder ro) {
switch (ro) {
case EulerXYZ:
case Basis::EULER_ORDER_XYZ:
return "XYZ";
case EulerXZY:
case Basis::EULER_ORDER_XZY:
return "XZY";
case EulerYZX:
case Basis::EULER_ORDER_YZX:
return "YZX";
case EulerYXZ:
case Basis::EULER_ORDER_YXZ:
return "YXZ";
case EulerZXY:
case Basis::EULER_ORDER_ZXY:
return "ZXY";
case EulerZYX:
case Basis::EULER_ORDER_ZYX:
return "ZYX";
default:
return "[Not supported]";
}
}
void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
void test_rotation(Vector3 deg_original_euler, Basis::EulerOrder rot_order) {
// This test:
// 1. Converts the rotation vector from deg to rad.
// 2. Converts euler to basis.
@ -156,11 +85,11 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
// Euler to rotation
const Vector3 original_euler = deg_to_rad(deg_original_euler);
const Basis to_rotation = EulerToBasis(rot_order, original_euler);
const Basis to_rotation = Basis::from_euler(original_euler, rot_order);
// Euler from rotation
const Vector3 euler_from_rotation = BasisToEuler(rot_order, to_rotation);
const Basis rotation_from_computed_euler = EulerToBasis(rot_order, euler_from_rotation);
const Vector3 euler_from_rotation = to_rotation.get_euler(rot_order);
const Basis rotation_from_computed_euler = Basis::from_euler(euler_from_rotation, rot_order);
Basis res = to_rotation.inverse() * rotation_from_computed_euler;
@ -184,13 +113,13 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
}
TEST_CASE("[Basis] Euler conversions") {
Vector<RotOrder> rotorder_to_test;
rotorder_to_test.push_back(EulerXYZ);
rotorder_to_test.push_back(EulerXZY);
rotorder_to_test.push_back(EulerYZX);
rotorder_to_test.push_back(EulerYXZ);
rotorder_to_test.push_back(EulerZXY);
rotorder_to_test.push_back(EulerZYX);
Vector<Basis::EulerOrder> euler_order_to_test;
euler_order_to_test.push_back(Basis::EULER_ORDER_XYZ);
euler_order_to_test.push_back(Basis::EULER_ORDER_XZY);
euler_order_to_test.push_back(Basis::EULER_ORDER_YZX);
euler_order_to_test.push_back(Basis::EULER_ORDER_YXZ);
euler_order_to_test.push_back(Basis::EULER_ORDER_ZXY);
euler_order_to_test.push_back(Basis::EULER_ORDER_ZYX);
Vector<Vector3> vectors_to_test;
@ -248,21 +177,21 @@ TEST_CASE("[Basis] Euler conversions") {
vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
for (int h = 0; h < rotorder_to_test.size(); h += 1) {
for (int h = 0; h < euler_order_to_test.size(); h += 1) {
for (int i = 0; i < vectors_to_test.size(); i += 1) {
test_rotation(vectors_to_test[i], rotorder_to_test[h]);
test_rotation(vectors_to_test[i], euler_order_to_test[h]);
}
}
}
TEST_CASE("[Stress][Basis] Euler conversions") {
Vector<RotOrder> rotorder_to_test;
rotorder_to_test.push_back(EulerXYZ);
rotorder_to_test.push_back(EulerXZY);
rotorder_to_test.push_back(EulerYZX);
rotorder_to_test.push_back(EulerYXZ);
rotorder_to_test.push_back(EulerZXY);
rotorder_to_test.push_back(EulerZYX);
Vector<Basis::EulerOrder> euler_order_to_test;
euler_order_to_test.push_back(Basis::EULER_ORDER_XYZ);
euler_order_to_test.push_back(Basis::EULER_ORDER_XZY);
euler_order_to_test.push_back(Basis::EULER_ORDER_YZX);
euler_order_to_test.push_back(Basis::EULER_ORDER_YXZ);
euler_order_to_test.push_back(Basis::EULER_ORDER_ZXY);
euler_order_to_test.push_back(Basis::EULER_ORDER_ZYX);
Vector<Vector3> vectors_to_test;
// Add 1000 random vectors with weirds numbers.
@ -274,9 +203,9 @@ TEST_CASE("[Stress][Basis] Euler conversions") {
rng.randf_range(-1800, 1800)));
}
for (int h = 0; h < rotorder_to_test.size(); h += 1) {
for (int h = 0; h < euler_order_to_test.size(); h += 1) {
for (int i = 0; i < vectors_to_test.size(); i += 1) {
test_rotation(vectors_to_test[i], rotorder_to_test[h]);
test_rotation(vectors_to_test[i], euler_order_to_test[h]);
}
}
}