16f6a5b139
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
325 lines
12 KiB
C++
325 lines
12 KiB
C++
/**************************************************************************/
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/* test_basis.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "test_basis.h"
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#include "core/math/random_number_generator.h"
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#include "core/os/os.h"
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#include "core/ustring.h"
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namespace TestBasis {
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enum RotOrder {
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EulerXYZ,
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EulerXZY,
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EulerYZX,
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EulerYXZ,
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EulerZXY,
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EulerZYX
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};
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Vector3 deg2rad(const Vector3 &p_rotation) {
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return p_rotation / 180.0 * Math_PI;
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}
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Vector3 rad2deg(const Vector3 &p_rotation) {
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return p_rotation / Math_PI * 180.0;
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}
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Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) {
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Basis ret;
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switch (mode) {
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case EulerXYZ:
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ret.set_euler_xyz(p_rotation);
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break;
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case EulerXZY:
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ret.set_euler_xzy(p_rotation);
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break;
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case EulerYZX:
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ret.set_euler_yzx(p_rotation);
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break;
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case EulerYXZ:
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ret.set_euler_yxz(p_rotation);
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break;
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case EulerZXY:
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ret.set_euler_zxy(p_rotation);
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break;
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case EulerZYX:
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ret.set_euler_zyx(p_rotation);
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break;
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default:
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// If you land here, Please integrate all rotation orders.
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CRASH_NOW_MSG("This is not unreachable.");
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}
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return ret;
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}
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Vector3 BasisToEuler(RotOrder mode, const Basis &p_rotation) {
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switch (mode) {
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case EulerXYZ:
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return p_rotation.get_euler_xyz();
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case EulerXZY:
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return p_rotation.get_euler_xzy();
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case EulerYZX:
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return p_rotation.get_euler_yzx();
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case EulerYXZ:
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return p_rotation.get_euler_yxz();
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case EulerZXY:
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return p_rotation.get_euler_zxy();
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case EulerZYX:
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return p_rotation.get_euler_zyx();
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default:
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// If you land here, Please integrate all rotation orders.
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CRASH_NOW_MSG("This is not unreachable.");
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return Vector3();
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}
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}
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String get_rot_order_name(RotOrder ro) {
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switch (ro) {
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case EulerXYZ:
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return "XYZ";
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case EulerXZY:
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return "XZY";
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case EulerYZX:
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return "YZX";
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case EulerYXZ:
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return "YXZ";
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case EulerZXY:
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return "ZXY";
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case EulerZYX:
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return "ZYX";
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default:
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return "[Not supported]";
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}
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}
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bool test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
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// This test:
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// 1. Converts the rotation vector from deg to rad.
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// 2. Converts euler to basis.
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// 3. Converts the above basis back into euler.
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// 4. Converts the above euler into basis again.
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// 5. Compares the basis obtained in step 2 with the basis of step 4
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//
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// The conversion "basis to euler", done in the step 3, may be different from
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// the original euler, even if the final rotation are the same.
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// This happens because there are more ways to represents the same rotation,
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// both valid, using eulers.
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// For this reason is necessary to convert that euler back to basis and finally
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// compares it.
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//
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// In this way we can assert that both functions: basis to euler / euler to basis
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// are correct.
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bool pass = true;
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// Euler to rotation
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const Vector3 original_euler = deg2rad(deg_original_euler);
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const Basis to_rotation = EulerToBasis(rot_order, original_euler);
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// Euler from rotation
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const Vector3 euler_from_rotation = BasisToEuler(rot_order, to_rotation);
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const Basis rotation_from_computed_euler = EulerToBasis(rot_order, euler_from_rotation);
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Basis res = to_rotation.inverse() * rotation_from_computed_euler;
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if ((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() > 0.1) {
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OS::get_singleton()->print("Fail due to X %ls\n", String(res.get_axis(0)).c_str());
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pass = false;
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}
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if ((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() > 0.1) {
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OS::get_singleton()->print("Fail due to Y %ls\n", String(res.get_axis(1)).c_str());
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pass = false;
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}
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if ((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() > 0.1) {
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OS::get_singleton()->print("Fail due to Z %ls\n", String(res.get_axis(2)).c_str());
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pass = false;
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}
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if (pass) {
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// Double check `to_rotation` decomposing with XYZ rotation order.
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const Vector3 euler_xyz_from_rotation = to_rotation.get_euler_xyz();
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Basis rotation_from_xyz_computed_euler;
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rotation_from_xyz_computed_euler.set_euler_xyz(euler_xyz_from_rotation);
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res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
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if ((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() > 0.1) {
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OS::get_singleton()->print("Double check with XYZ rot order failed, due to X %ls\n", String(res.get_axis(0)).c_str());
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pass = false;
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}
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if ((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() > 0.1) {
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OS::get_singleton()->print("Double check with XYZ rot order failed, due to Y %ls\n", String(res.get_axis(1)).c_str());
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pass = false;
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}
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if ((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() > 0.1) {
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OS::get_singleton()->print("Double check with XYZ rot order failed, due to Z %ls\n", String(res.get_axis(2)).c_str());
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pass = false;
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}
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}
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if (pass == false) {
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// Print phase only if not pass.
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OS *os = OS::get_singleton();
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os->print("Rotation order: %ls\n.", get_rot_order_name(rot_order).c_str());
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os->print("Original Rotation: %ls\n", String(deg_original_euler).c_str());
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os->print("Quaternion to rotation order: %ls\n", String(rad2deg(euler_from_rotation)).c_str());
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}
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return pass;
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}
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void test_euler_conversion() {
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Vector<RotOrder> rotorder_to_test;
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rotorder_to_test.push_back(EulerXYZ);
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rotorder_to_test.push_back(EulerXZY);
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rotorder_to_test.push_back(EulerYZX);
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rotorder_to_test.push_back(EulerYXZ);
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rotorder_to_test.push_back(EulerZXY);
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rotorder_to_test.push_back(EulerZYX);
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Vector<Vector3> vectors_to_test;
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// Test the special cases.
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vectors_to_test.push_back(Vector3(0.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.5, 0.5, 0.5));
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vectors_to_test.push_back(Vector3(-0.5, -0.5, -0.5));
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vectors_to_test.push_back(Vector3(40.0, 40.0, 40.0));
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vectors_to_test.push_back(Vector3(-40.0, -40.0, -40.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, -90.0));
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vectors_to_test.push_back(Vector3(0.0, -90.0, 0.0));
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vectors_to_test.push_back(Vector3(-90.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, 90.0));
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vectors_to_test.push_back(Vector3(0.0, 90.0, 0.0));
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vectors_to_test.push_back(Vector3(90.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, -30.0));
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vectors_to_test.push_back(Vector3(0.0, -30.0, 0.0));
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vectors_to_test.push_back(Vector3(-30.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, 30.0));
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vectors_to_test.push_back(Vector3(0.0, 30.0, 0.0));
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vectors_to_test.push_back(Vector3(30.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.5, 50.0, 20.0));
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vectors_to_test.push_back(Vector3(-0.5, -50.0, -20.0));
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vectors_to_test.push_back(Vector3(0.5, 0.0, 90.0));
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vectors_to_test.push_back(Vector3(0.5, 0.0, -90.0));
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vectors_to_test.push_back(Vector3(360.0, 360.0, 360.0));
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vectors_to_test.push_back(Vector3(-360.0, -360.0, -360.0));
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vectors_to_test.push_back(Vector3(-90.0, 60.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, 60.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, -60.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, -60.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, 60.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, 60.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, -60.0, 90.0));
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vectors_to_test.push_back(Vector3(-90.0, -60.0, 90.0));
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vectors_to_test.push_back(Vector3(60.0, 90.0, -40.0));
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vectors_to_test.push_back(Vector3(60.0, -90.0, -40.0));
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vectors_to_test.push_back(Vector3(-60.0, -90.0, -40.0));
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vectors_to_test.push_back(Vector3(-60.0, 90.0, 40.0));
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vectors_to_test.push_back(Vector3(60.0, 90.0, 40.0));
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vectors_to_test.push_back(Vector3(60.0, -90.0, 40.0));
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vectors_to_test.push_back(Vector3(-60.0, -90.0, 40.0));
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vectors_to_test.push_back(Vector3(-90.0, 90.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, 90.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, -90.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, -90.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, 90.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, 90.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, -90.0, 90.0));
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vectors_to_test.push_back(Vector3(20.0, 150.0, 30.0));
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vectors_to_test.push_back(Vector3(20.0, -150.0, 30.0));
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vectors_to_test.push_back(Vector3(-120.0, -150.0, 30.0));
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vectors_to_test.push_back(Vector3(-120.0, -150.0, -130.0));
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vectors_to_test.push_back(Vector3(120.0, -150.0, -130.0));
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vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
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vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
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// Add 1000 random vectors with weirds numbers.
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RandomNumberGenerator rng;
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for (int _ = 0; _ < 1000; _ += 1) {
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vectors_to_test.push_back(Vector3(
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rng.randf_range(-1800, 1800),
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rng.randf_range(-1800, 1800),
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rng.randf_range(-1800, 1800)));
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}
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bool success = true;
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for (int h = 0; h < rotorder_to_test.size(); h += 1) {
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int passed = 0;
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int failed = 0;
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for (int i = 0; i < vectors_to_test.size(); i += 1) {
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if (test_rotation(vectors_to_test[i], rotorder_to_test[h])) {
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//OS::get_singleton()->print("Success. \n\n");
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passed += 1;
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} else {
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OS::get_singleton()->print("FAILED FAILED FAILED. \n\n");
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OS::get_singleton()->print("------------>\n");
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OS::get_singleton()->print("------------>\n");
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failed += 1;
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success = false;
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}
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}
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if (failed == 0) {
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OS::get_singleton()->print("%i passed tests for rotation order: %ls.\n", passed, get_rot_order_name(rotorder_to_test[h]).c_str());
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} else {
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OS::get_singleton()->print("%i FAILED tests for rotation order: %ls.\n", failed, get_rot_order_name(rotorder_to_test[h]).c_str());
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}
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}
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if (success) {
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OS::get_singleton()->print("Euler conversion checks passed.\n");
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} else {
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OS::get_singleton()->print("Euler conversion checks FAILED.\n");
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}
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}
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MainLoop *test() {
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OS::get_singleton()->print("Start euler conversion checks.\n");
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test_euler_conversion();
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return nullptr;
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}
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} // namespace TestBasis
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