81 lines
1.8 KiB
C++
81 lines
1.8 KiB
C++
#include <gtest/gtest.h>
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#include <Base/Exception.h>
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#include <Base/Matrix.h>
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#include <Base/Rotation.h>
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// NOLINTBEGIN(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers)
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TEST(Rotation, TestNonUniformScaleLeft)
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{
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Base::Rotation rot;
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rot.setYawPitchRoll(45.0, 0.0, 0.0);
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Base::Matrix4D mat;
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rot.getValue(mat);
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Base::Matrix4D scale;
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scale.scale(1.0, std::sqrt(3.0), 1.0);
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Base::Rotation scaled_rot(scale * mat);
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rot.setYawPitchRoll(60.0, 0.0, 0.0);
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EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
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EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
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}
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TEST(Rotation, TestNonUniformScaleRight)
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{
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Base::Rotation rot;
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rot.setYawPitchRoll(20.0, 0.0, 0.0);
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Base::Matrix4D mat;
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rot.getValue(mat);
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Base::Matrix4D scale;
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scale.scale(2.0, 3.0, 4.0);
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Base::Rotation scaled_rot(mat * scale);
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EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
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EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
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}
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TEST(Rotation, TestUniformScaleGT1)
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{
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Base::Rotation rot;
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rot.setYawPitchRoll(20.0, 0.0, 0.0);
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Base::Matrix4D mat;
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rot.getValue(mat);
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Base::Matrix4D scale;
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scale.scale(3.0, 3.0, 3.0);
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Base::Rotation scaled_rot(mat * scale);
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EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
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EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
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}
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TEST(Rotation, TestUniformScaleLT1)
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{
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Base::Matrix4D mat;
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mat.scale(0.5);
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Base::Rotation scaled_rot(mat);
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EXPECT_EQ(scaled_rot.isSame(scaled_rot, 1.0e-7), true);
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}
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TEST(Rotation, TestRotationDecompose)
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{
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Base::Matrix4D mat;
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mat.setCol(0, Base::Vector3d {1, 0, 0});
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mat.setCol(1, Base::Vector3d {1, 1, 0});
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mat.setCol(2, Base::Vector3d {0, 0, 1});
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// decompose rotation part
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EXPECT_TRUE(Base::Rotation {mat}.isIdentity());
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}
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// NOLINTEND(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers)
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