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Add basic quaternion multiplication tests.

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This commit is contained in:
Bill Currie 2018-10-09 12:44:46 +09:00
parent ba3220e4d1
commit 6f28ab2a68
1 changed files with 79 additions and 0 deletions
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79
libs/util/test/test-quat.c
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@ -4,6 +4,15 @@
#include "QF/mathlib.h" #include "QF/mathlib.h"
static struct {
quat_t q1;
quat_t q2;
quat_t expect;
} quat_mult_tests[] = {
{{4, 1, 2, 3}, {8, 5, 6, 7}, {-6, 24, 48, 48}},
};
#define num_quat_mult_tests (sizeof (quat_mult_tests) / sizeof (quat_mult_tests[0]))
//PITCH YAW ROLL //PITCH YAW ROLL
static vec3_t test_angles[] = { static vec3_t test_angles[] = {
{0, 0, 0}, {0, 0, 0},
@ -28,6 +37,41 @@ compare (vec_t a, vec_t b)
return diff * diff < 0.001; return diff * diff < 0.001;
} }
static int
test_quat_mult(const quat_t q1, const quat_t q2, const quat_t expect)
{
int i;
quat_t r;
QuatMult (q1, q2, r);
for (i = 0; i < 4; i++)
if (!compare (r[i], expect[i]))
goto fail;
return 1;
fail:
printf ("%g %g %g %g\n", QuatExpand (q1));
printf ("%g %g %g %g\n", QuatExpand (q2));
printf ("%g %g %g %g\n", QuatExpand (r));
printf ("%g %g %g %g\n", QuatExpand (expect));
return 0;
}
static void
rotate_vec (const quat_t r, const vec3_t v, vec3_t out)
{
quat_t qv = {0, 0, 0, 0};
quat_t t;
VectorCopy (v, qv + 1);
QuatConj (r, t);
QuatMult (qv, t, t);
QuatMult (r, t, t);
VectorCopy (t + 1, out);
}
static int static int
test_rotation (const vec3_t angles) test_rotation (const vec3_t angles)
{ {
@ -131,12 +175,42 @@ fail:
return 0; return 0;
} }
static int
test_rotation3 (const vec3_t angles)
{
int i;
quat_t quat;
vec3_t v = {1, 1, 1};
vec3_t a, b;
AngleQuat (angles, quat);
QuatMultVec (quat, v, a);
rotate_vec (quat, v, b);
for (i = 0; i < 3; i++)
if (!compare (a[i], b[i]))
goto fail;
return 1;
fail:
printf ("%g %g %g\n", VectorExpand(a));
printf ("%g %g %g\n", VectorExpand(b));
return 0;
}
int int
main (int argc, const char **argv) main (int argc, const char **argv)
{ {
int res = 0; int res = 0;
size_t i; size_t i;
for (i = 0; i < num_quat_mult_tests; i ++) {
vec_t *q1 = quat_mult_tests[i].q1;
vec_t *q2 = quat_mult_tests[i].q2;
vec_t *expect = quat_mult_tests[i].expect;
if (!test_quat_mult (q1, q2, expect))
res = 1;
}
for (i = 0; i < num_angle_tests; i ++) { for (i = 0; i < num_angle_tests; i ++) {
if (!test_rotation (test_angles[i])) if (!test_rotation (test_angles[i]))
res = 1; res = 1;
@ -146,5 +220,10 @@ main (int argc, const char **argv)
if (!test_rotation2 (test_angles[i])) if (!test_rotation2 (test_angles[i]))
res = 1; res = 1;
} }
for (i = 0; i < num_angle_tests; i ++) {
if (!test_rotation3 (test_angles[i]))
res = 1;
}
return res; return res;
} }