166 lines
5.9 KiB
C++
166 lines
5.9 KiB
C++
#ifndef TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
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#define TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
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#include "cppunit/TestFixture.h"
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#include "cppunit/extensions/HelperMacros.h"
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#include "LinearMath/btScalar.h"
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#define TEST_NUM_UNITSPHERE_POINTS 42
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static btVector3 sPenetrationDirections[TEST_NUM_UNITSPHERE_POINTS] =
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{
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btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
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btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
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btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
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btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
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btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
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btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
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btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
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btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
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btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
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btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
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btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
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btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
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btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
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btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
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btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
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btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
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btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
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btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
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btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
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btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
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btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
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btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
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btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
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btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
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btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
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btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
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btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
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};
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// ---------------------------------------------------------------------------
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class TestLinearMath : public CppUnit::TestFixture
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{
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public:
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void setUp()
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{
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}
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void tearDown()
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{
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}
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void testNormalize()
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{
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const btVector3 xaxis(1,0,0);
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const btVector3 yaxis(0,1,0);
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const btVector3 zaxis(0,0,1);
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const btVector3 negxaxis(-1,0,0);
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const btVector3 negyaxis(0,-1,0);
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const btVector3 negzaxis(0,0,-1);
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btVector3 vec;
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vec.setValue(1e-20,0,0);
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vec.safeNormalize();
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-6 );
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vec.setValue(1e20,0,0);
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vec.safeNormalize();
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-6 );
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vec.setValue(1e-20,0,0);
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vec.normalize();
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-5 );
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vec.setValue(1e19,0,0);
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vec.normalize();
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-5 );
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}
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void testQuaternionGetAxisAngle()
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{
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int steps=100;
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for (int j=0;j<TEST_NUM_UNITSPHERE_POINTS;j++)
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{
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btVector3 axis = sPenetrationDirections[j];
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for (int i=-steps+1;i<steps;i++)
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{
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btScalar angle=i*SIMD_2_PI/btScalar(steps);
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btQuaternion quat(axis,angle);
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btScalar compAngle = quat.getAngle();
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if (i>=0)
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CPPUNIT_ASSERT_DOUBLES_EQUAL( angle, compAngle, 1e-5 );
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else
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{
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CPPUNIT_ASSERT_DOUBLES_EQUAL( btFabs(angle), btFabs(compAngle), 1e-5 );
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}
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btVector3 compAxis = quat.getAxis();
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if (compAngle>SIMD_EPSILON)
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{
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if (i>=0)
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{
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CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getX(), compAxis.getX(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getY(), compAxis.getY(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getZ(), compAxis.getZ(), 1e-4 );
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} else
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{
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btScalar sign = compAngle*angle<0? -1 : 1;
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CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getX(), compAxis.getX(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getY(), compAxis.getY(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getZ(), compAxis.getZ(), 1e-4 );
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}
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} else
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{
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.f, compAxis.getX(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getY(), 1e-4 );
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getZ(), 1e-4 );
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}
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}
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}
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}
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CPPUNIT_TEST_SUITE(TestLinearMath);
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CPPUNIT_TEST(testNormalize);
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CPPUNIT_TEST(testQuaternionGetAxisAngle);
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CPPUNIT_TEST_SUITE_END();
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private:
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};
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#endif //TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
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