core/tests/QuaternionTests.cpp

#include "tests/QuaternionTests.h"

#include "math/Quaternion.h"
#include "test/Test.h"

const float eps = 0.0001f;

template<int N, typename T>
static void compareVectors(const Core::Vector<N, T>& wanted,
                           const Core::Vector<N, T>& actual) {
    for(int i = 0; i < N; i++) {
        CORE_TEST_FLOAT(wanted[i], actual[i], eps);
    }
}

static void testInit() {
    Core::Quaternion q;
    CORE_TEST_STRING("(0.00 i + 0.00 j + 0.00 k + 1.00)", q);
}

static void testAxisAndDegreesInit() {
    Core::Quaternion q(Core::Vector3(1.0f, 2.0f, 3.0f), 142.0f);
    CORE_TEST_STRING("(0.25 i + 0.51 j + 0.76 k + 0.33)", q);
}

static void testLerp() {
    Core::Quaternion q1(Core::Vector3(2.0f, 5.0f, 7.0f), 130.0f);
    Core::Quaternion q2(Core::Vector3(1.0f, 2.0f, 4.0f), 260.0f);
    Core::Quaternion q3 = q1.lerp(0.3f, q2);
    CORE_TEST_STRING("(0.22 i + 0.53 j + 0.81 k + 0.12)", q3);
}

static void testMulSet() {
    Core::Quaternion q1(Core::Vector3(2.0f, 5.0f, 7.0f), 50.0f);
    Core::Quaternion q2(Core::Vector3(2.0f, 5.0f, 7.0f), 60.0f);
    Core::Quaternion q3;
    q3 *= q1;
    CORE_TEST_STRING(q1, q3);
    q3 *= q2;
    CORE_TEST_STRING(Core::Quaternion(Core::Vector3(2.0f, 5.0f, 7.0f), 110.0f),
                     q3);
}

static void testMul() {
    Core::Quaternion q1(Core::Vector3(2.0f, 5.0f, 7.0f), 50.0f);
    Core::Quaternion q2(Core::Vector3(2.0f, 5.0f, 7.0f), 60.0f);
    Core::Quaternion q3 = q1 * q2;
    CORE_TEST_STRING(Core::Quaternion(Core::Vector3(2.0f, 5.0f, 7.0f), 110.0f),
                     q3);
}

static void testMulVector() {
    Core::Quaternion q1(Core::Vector3(1.0f, 0.0f, 0.0f), 90.0f);
    Core::Quaternion q2(Core::Vector3(0.0f, 1.0f, 0.0f), 90.0f);
    Core::Quaternion q3(Core::Vector3(0.0f, 0.0f, 1.0f), 90.0f);

    Core::Vector3 v1(1.0f, 0.0f, 0.0f);
    Core::Vector3 v2(0.0f, 1.0f, 0.0f);
    Core::Vector3 v3(0.0f, 0.0f, 1.0f);

    compareVectors(Core::Vector3(1.0f, 0.0f, 0.0f), q1 * v1);
    compareVectors(Core::Vector3(0.0f, 0.0f, 1.0f), q1 * v2);
    compareVectors(Core::Vector3(0.0f, -1.0f, 0.0f), q1 * v3);

    compareVectors(Core::Vector3(0.0f, 0.0f, -1.0f), q2 * v1);
    compareVectors(Core::Vector3(0.0f, 1.0f, 0.0f), q2 * v2);
    compareVectors(Core::Vector3(1.0f, 0.0f, 0.0f), q2 * v3);

    compareVectors(Core::Vector3(0.0f, 1.0f, 0.0f), q3 * v1);
    compareVectors(Core::Vector3(-1.0f, 0.0f, 0.0f), q3 * v2);
    compareVectors(Core::Vector3(0.0f, 0.0f, 1.0f), q3 * v3);
}

void Core::QuaternionTests::test() {
    testInit();
    testAxisAndDegreesInit();
    testLerp();
    testMulSet();
    testMul();
    testMulVector();
}