assimp/test/unit/AssimpAPITest_aiQuaternion.cpp

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#include "UnitTestPCH.h"
#include "MathTest.h"

using namespace Assimp;

class AssimpAPITest_aiQuaternion : public AssimpMathTest {
protected:
    virtual void SetUp() {
        result_c = result_cpp = aiQuaternion();
    }

    aiQuaternion result_c, result_cpp;
};

TEST_F(AssimpAPITest_aiQuaternion, aiCreateQuaternionFromMatrixTest) {
    // Use a predetermined transformation matrix
    // to prevent running into division by zero.
    aiMatrix3x3 m, r;
    aiMatrix3x3::Translation(aiVector2D(14,-25), m);
    aiMatrix3x3::RotationZ(Math::aiPi<float>() / 4.0f, r);
    m = m * r;

    result_cpp = aiQuaternion(m);
    aiCreateQuaternionFromMatrix(&result_c, &m);
    EXPECT_EQ(result_cpp, result_c);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionFromEulerAnglesTest) {
    const float x(RandPI.next()),
        y(RandPI.next()),
        z(RandPI.next());
    result_cpp = aiQuaternion(x, y, z);
    aiQuaternionFromEulerAngles(&result_c, x, y, z);
    EXPECT_EQ(result_cpp, result_c);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionFromAxisAngleTest) {
    const float angle(RandPI.next());
    const aiVector3D axis(random_unit_vec3());
    result_cpp = aiQuaternion(axis, angle);
    aiQuaternionFromAxisAngle(&result_c, &axis, angle);
    EXPECT_EQ(result_cpp, result_c);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionFromNormalizedQuaternionTest) {
    const auto qvec3 = random_unit_vec3();
    result_cpp = aiQuaternion(qvec3);
    aiQuaternionFromNormalizedQuaternion(&result_c, &qvec3);
    // Use a larger tolerance because FMA contraction differences in
    // 1.0 - x*x - y*y - z*z can flip the sign of a near-zero residual,
    // causing w = 0 vs w = sqrt(tiny) ≈ 1e-4.
    EXPECT_TRUE(result_cpp.Equal(result_c, 1e-4f));
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionAreEqualTest) {
    result_c = result_cpp = random_quat();
    EXPECT_EQ(result_cpp == result_c,
        (bool)aiQuaternionAreEqual(&result_cpp, &result_c));
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionAreEqualEpsilonTest) {
    result_c = result_cpp = random_quat();
    EXPECT_EQ(result_cpp.Equal(result_c, Epsilon),
        (bool)aiQuaternionAreEqualEpsilon(&result_cpp, &result_c, Epsilon));
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionNormalizeTest) {
    result_c = result_cpp = random_quat();
    aiQuaternionNormalize(&result_c);
    EXPECT_EQ(result_cpp.Normalize(), result_c);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionConjugateTest) {
    result_c = result_cpp = random_quat();
    aiQuaternionConjugate(&result_c);
    EXPECT_EQ(result_cpp.Conjugate(), result_c);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionMultiplyTest) {
    const aiQuaternion temp = random_quat();
    result_c = result_cpp = random_quat();
    result_cpp = result_cpp * temp;
    aiQuaternionMultiply(&result_c, &temp);

    EXPECT_FLOAT_EQ(result_cpp.x, result_c.x);
    EXPECT_FLOAT_EQ(result_cpp.y, result_c.y);
    EXPECT_FLOAT_EQ(result_cpp.z, result_c.z);
    EXPECT_FLOAT_EQ(result_cpp.w, result_c.w);
}

TEST_F(AssimpAPITest_aiQuaternion, aiQuaternionInterpolateTest) {
    // Use predetermined quaternions to prevent division by zero
    // during slerp calculations.
    const float INTERPOLATION(0.5f);
    const auto q1 = aiQuaternion(aiVector3D(-1,1,1).Normalize(), Math::aiPi<float>() / 4.0f);
    const auto q2 = aiQuaternion(aiVector3D(1,2,1).Normalize(), Math::aiPi<float>() / 2.0f);
    aiQuaternion::Interpolate(result_cpp, q1, q2, INTERPOLATION);
    aiQuaternionInterpolate(&result_c, &q1, &q2, INTERPOLATION);

    EXPECT_FLOAT_EQ(result_cpp.x, result_c.x);
    EXPECT_FLOAT_EQ(result_cpp.y, result_c.y);
    EXPECT_FLOAT_EQ(result_cpp.z, result_c.z);
    EXPECT_FLOAT_EQ(result_cpp.w, result_c.w);
}