mirror of
https://github.com/luanti-org/luanti.git
synced 2025-10-13 08:35:20 +02:00
40 lines
1.0 KiB
C++
40 lines
1.0 KiB
C++
// Luanti
|
|
// SPDX-License-Identifier: LGPL-2.1-or-later
|
|
|
|
#include "catch.h"
|
|
#include "irrMath.h"
|
|
#include "matrix4.h"
|
|
#include "quaternion.h"
|
|
#include "irr_v3d.h"
|
|
|
|
using matrix4 = core::matrix4;
|
|
|
|
static bool matrix_equals(const matrix4 &a, const matrix4 &b) {
|
|
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));
|
|
};
|
|
|
|
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));
|
|
}
|
|
|
|
} |