106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
// include the unit test framework first
|
|
#include <catch2/catch_test_macros.hpp>
|
|
#include <catch2/matchers/catch_matchers_floating_point.hpp>
|
|
|
|
// include the module you're going to test next
|
|
#include "Quaternion.h"
|
|
|
|
// any other libraries
|
|
#include <array>
|
|
#include <cmath>
|
|
#include <iostream>
|
|
|
|
TEST_CASE("Vector Math", "Vector")
|
|
{
|
|
Quaternion q1{1, 2, 3, 4};
|
|
Quaternion q2{5, 6, 7, 8};
|
|
|
|
SECTION("Initialization")
|
|
{
|
|
// explicit initialization
|
|
REQUIRE(q1.v1 == 1);
|
|
REQUIRE(q1.v2 == 2);
|
|
REQUIRE(q1.v3 == 3);
|
|
REQUIRE(q1.w == 4);
|
|
|
|
// fill initialization
|
|
Quaternion q3{0};
|
|
REQUIRE(q3.v1 == 0);
|
|
REQUIRE(q3.v2 == 0);
|
|
REQUIRE(q3.v3 == 0);
|
|
REQUIRE(q3.w == 0);
|
|
|
|
// copy initialization
|
|
Quaternion q4{q1};
|
|
REQUIRE(q4.v1 == 1);
|
|
REQUIRE(q4.v2 == 2);
|
|
REQUIRE(q4.v3 == 3);
|
|
REQUIRE(q4.w == 4);
|
|
|
|
// matrix initialization
|
|
Matrix<1, 4> m1{1, 2, 3, 4};
|
|
Quaternion q5{m1};
|
|
REQUIRE(q5.v1 == 1);
|
|
REQUIRE(q5.v2 == 2);
|
|
REQUIRE(q5.v3 == 3);
|
|
REQUIRE(q5.w == 4);
|
|
|
|
// array initialization
|
|
Quaternion q6{std::array<float, 4>{1, 2, 3, 4}};
|
|
REQUIRE(q6.v1 == 1);
|
|
REQUIRE(q6.v2 == 2);
|
|
REQUIRE(q6.v3 == 3);
|
|
REQUIRE(q6.w == 4);
|
|
}
|
|
|
|
SECTION("Array access")
|
|
{
|
|
REQUIRE(q1[0] == 1);
|
|
REQUIRE(q1[1] == 2);
|
|
REQUIRE(q1[2] == 3);
|
|
REQUIRE(q1[3] == 4);
|
|
}
|
|
|
|
SECTION("Addition")
|
|
{
|
|
Quaternion q3 = q1 + q2;
|
|
REQUIRE(q3.v1 == 5);
|
|
REQUIRE(q3.v2 == 12);
|
|
REQUIRE(q3.v3 == 21);
|
|
REQUIRE(q3.w == 32);
|
|
}
|
|
|
|
SECTION("Rotation")
|
|
{
|
|
Quaternion q3;
|
|
q1.Rotate(q2, q3);
|
|
REQUIRE(q3.v1 == -24);
|
|
REQUIRE(q3.v2 == 48);
|
|
REQUIRE(q3.v3 == 48);
|
|
REQUIRE(q3.w == -6);
|
|
}
|
|
|
|
SECTION("Euler Angles")
|
|
{
|
|
Matrix<1, 3> angles;
|
|
q1.ToEulerAngles(angles);
|
|
REQUIRE_THAT(angles.Get(0, 0), Catch::Matchers::WithinRel(-0.1973956f, 1e-6f));
|
|
REQUIRE_THAT(angles.Get(0, 1), Catch::Matchers::WithinRel(0.823212f, 1e-6f));
|
|
REQUIRE_THAT(angles.Get(0, 2), Catch::Matchers::WithinRel(1.3734008f, 1e-6f));
|
|
}
|
|
|
|
SECTION("Rotation Matrix")
|
|
{
|
|
Matrix<3, 3> rotationMatrix;
|
|
q1.ToRotationMatrix(rotationMatrix);
|
|
REQUIRE_THAT(rotationMatrix.Get(0, 0), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(0, 1), Catch::Matchers::WithinRel(-0.6666667f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(0, 2), Catch::Matchers::WithinRel(0.7333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(1, 0), Catch::Matchers::WithinRel(0.9333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(1, 1), Catch::Matchers::WithinRel(0.3333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(1, 2), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(2, 0), Catch::Matchers::WithinRel(-0.3333333f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(2, 1), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
|
|
REQUIRE_THAT(rotationMatrix.Get(2, 2), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
|
|
}
|
|
} |