Differential D14655 Diff 50463 source/blender/blenlib/tests/BLI_math_rotation_test.cc

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source/blender/blenlib/tests/BLI_math_rotation_test.cc

/* SPDX-License-Identifier: Apache-2.0 */		/* SPDX-License-Identifier: Apache-2.0 */

#include "testing/testing.h"		#include "testing/testing.h"

#include "BLI_math_base.h"		#include "BLI_math_base.h"
#include "BLI_math_rotation.h"		#include "BLI_math_rotation.h"
		#include "BLI_math_rotation.hh"
		#include "BLI_math_vector.hh"

#include <cmath>		#include <cmath>

/* Test that quaternion converts to itself via matrix. */		/* Test that quaternion converts to itself via matrix. */
static void test_quat_to_mat_to_quat(float w, float x, float y, float z)		static void test_quat_to_mat_to_quat(float w, float x, float y, float z)
{		{
float in_quat[4] = {w, x, y, z};		float in_quat[4] = {w, x, y, z};
float norm_quat[4], matrix[3][3], out_quat[4];		float norm_quat[4], matrix[3][3], out_quat[4];
▲ Show 20 Lines • Show All 127 Lines • ▼ Show 20 Lines	TEST(math_rotation, quat_split_swing_and_twist_negative)
float swing[4], twist[4];		float swing[4], twist[4];

float twist_angle = quat_split_swing_and_twist(input, 1, swing, twist);		float twist_angle = quat_split_swing_and_twist(input, 1, swing, twist);

EXPECT_NEAR(twist_angle, -M_PI * 2 / 3, FLT_EPSILON);		EXPECT_NEAR(twist_angle, -M_PI * 2 / 3, FLT_EPSILON);
EXPECT_V4_NEAR(swing, expected_swing, FLT_EPSILON);		EXPECT_V4_NEAR(swing, expected_swing, FLT_EPSILON);
EXPECT_V4_NEAR(twist, expected_twist, FLT_EPSILON);		EXPECT_V4_NEAR(twist, expected_twist, FLT_EPSILON);
}		}

		namespace blender::math::tests {

		TEST(math_rotation, RotateDirectionAroundAxis)
		{
		const float3 a = rotate_direction_around_axis({1, 0, 0}, {0, 0, 1}, M_PI_2);
		EXPECT_NEAR(a.x, 0.0f, FLT_EPSILON);
		EXPECT_NEAR(a.y, 1.0f, FLT_EPSILON);
		EXPECT_NEAR(a.z, 0.0f, FLT_EPSILON);
		const float3 b = rotate_direction_around_axis({1, 0, 0}, {0, 0, 1}, M_PI);
		EXPECT_NEAR(b.x, -1.0f, FLT_EPSILON);
		EXPECT_NEAR(b.y, 0.0f, FLT_EPSILON);
		EXPECT_NEAR(b.z, 0.0f, FLT_EPSILON);
		const float3 c = rotate_direction_around_axis({0, 0, 1}, {0, 0, 1}, 0.0f);
		EXPECT_NEAR(c.x, 0.0f, FLT_EPSILON);
		EXPECT_NEAR(c.y, 0.0f, FLT_EPSILON);
		EXPECT_NEAR(c.z, 1.0f, FLT_EPSILON);
		}

		} // namespace blender::math::tests