core/tests/QuaternionTests.cpp

#include "tests/QuaternionTests.hpp"

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

using V3 = Core::Vector3;

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(V3(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(V3(2.0f, 5.0f, 7.0f), 130.0f);
    Core::Quaternion q2(V3(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(V3(2.0f, 5.0f, 7.0f), 50.0f);
    Core::Quaternion q2(V3(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(V3(2.0f, 5.0f, 7.0f), 110.0f), q3);
}

static void testMul() {
    Core::Quaternion q1(V3(2.0f, 5.0f, 7.0f), 50.0f);
    Core::Quaternion q2(V3(2.0f, 5.0f, 7.0f), 60.0f);
    Core::Quaternion q3 = q1 * q2;
    CORE_TEST_STRING(Core::Quaternion(V3(2.0f, 5.0f, 7.0f), 110.0f), q3);
}

static void testMulVector() {
    Core::Quaternion q1(V3(1.0f, 0.0f, 0.0f), 90.0f);
    Core::Quaternion q2(V3(0.0f, 1.0f, 0.0f), 90.0f);
    Core::Quaternion q3(V3(0.0f, 0.0f, 1.0f), 90.0f);

    V3 v1(1.0f, 0.0f, 0.0f);
    V3 v2(0.0f, 1.0f, 0.0f);
    V3 v3(0.0f, 0.0f, 1.0f);

    CORE_TEST_VECTOR(V3(1.0f, 0.0f, 0.0f), q1 * v1);
    CORE_TEST_VECTOR(V3(0.0f, 0.0f, 1.0f), q1 * v2);
    CORE_TEST_VECTOR(V3(0.0f, -1.0f, 0.0f), q1 * v3);

    CORE_TEST_VECTOR(V3(0.0f, 0.0f, -1.0f), q2 * v1);
    CORE_TEST_VECTOR(V3(0.0f, 1.0f, 0.0f), q2 * v2);
    CORE_TEST_VECTOR(V3(1.0f, 0.0f, 0.0f), q2 * v3);

    CORE_TEST_VECTOR(V3(0.0f, 1.0f, 0.0f), q3 * v1);
    CORE_TEST_VECTOR(V3(-1.0f, 0.0f, 0.0f), q3 * v2);
    CORE_TEST_VECTOR(V3(0.0f, 0.0f, 1.0f), q3 * v3);
}

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