/**************************************************************************/
/* test_transform_3d.h */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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#ifndef TEST_TRANSFORM_3D_H
#define TEST_TRANSFORM_3D_H
#include "core/math/transform_3d.h"
#include "tests/test_macros.h"
namespace TestTransform3D {
Transform3D create_dummy_transform() {
return Transform3D(Basis(Vector3(1, 2, 3), Vector3(4, 5, 6), Vector3(7, 8, 9)), Vector3(10, 11, 12));
}
Transform3D identity() {
return Transform3D();
}
TEST_CASE("[Transform3D] translation") {
Vector3 offset = Vector3(1, 2, 3);
// Both versions should give the same result applied to identity.
CHECK(identity().translated(offset) == identity().translated_local(offset));
// Check both versions against left and right multiplications.
Transform3D orig = create_dummy_transform();
Transform3D T = identity().translated(offset);
CHECK(orig.translated(offset) == T * orig);
CHECK(orig.translated_local(offset) == orig * T);
}
TEST_CASE("[Transform3D] scaling") {
Vector3 scaling = Vector3(1, 2, 3);
// Both versions should give the same result applied to identity.
CHECK(identity().scaled(scaling) == identity().scaled_local(scaling));
// Check both versions against left and right multiplications.
Transform3D orig = create_dummy_transform();
Transform3D S = identity().scaled(scaling);
CHECK(orig.scaled(scaling) == S * orig);
CHECK(orig.scaled_local(scaling) == orig * S);
}
TEST_CASE("[Transform3D] rotation") {
Vector3 axis = Vector3(1, 2, 3).normalized();
real_t phi = 1.0;
// Both versions should give the same result applied to identity.
CHECK(identity().rotated(axis, phi) == identity().rotated_local(axis, phi));
// Check both versions against left and right multiplications.
Transform3D orig = create_dummy_transform();
Transform3D R = identity().rotated(axis, phi);
CHECK(orig.rotated(axis, phi) == R * orig);
CHECK(orig.rotated_local(axis, phi) == orig * R);
}
TEST_CASE("[Transform3D] Finite number checks") {
const Vector3 y(0, 1, 2);
const Vector3 infinite_vec(NAN, NAN, NAN);
const Basis x(y, y, y);
const Basis infinite_basis(infinite_vec, infinite_vec, infinite_vec);
CHECK_MESSAGE(
Transform3D(x, y).is_finite(),
"Transform3D with all components finite should be finite");
CHECK_FALSE_MESSAGE(
Transform3D(x, infinite_vec).is_finite(),
"Transform3D with one component infinite should not be finite.");
CHECK_FALSE_MESSAGE(
Transform3D(infinite_basis, y).is_finite(),
"Transform3D with one component infinite should not be finite.");
CHECK_FALSE_MESSAGE(
Transform3D(infinite_basis, infinite_vec).is_finite(),
"Transform3D with two components infinite should not be finite.");
}
TEST_CASE("[Transform3D] Rotate around global origin") {
// Start with the default orientation, but not centered on the origin.
// Rotating should rotate both our basis and the origin.
Transform3D transform = Transform3D();
transform.origin = Vector3(0, 0, 1);
Transform3D expected = Transform3D();
expected.origin = Vector3(0, 0, -1);
expected.basis[0] = Vector3(-1, 0, 0);
expected.basis[2] = Vector3(0, 0, -1);
const Transform3D rotated_transform = transform.rotated(Vector3(0, 1, 0), Math_PI);
CHECK_MESSAGE(rotated_transform.is_equal_approx(expected), "The rotated transform should have a new orientation and basis.");
}
TEST_CASE("[Transform3D] Rotate in-place (local rotation)") {
// Start with the default orientation.
// Local rotation should not change the origin, only the basis.
Transform3D transform = Transform3D();
transform.origin = Vector3(1, 2, 3);
Transform3D expected = Transform3D();
expected.origin = Vector3(1, 2, 3);
expected.basis[0] = Vector3(-1, 0, 0);
expected.basis[2] = Vector3(0, 0, -1);
const Transform3D rotated_transform = Transform3D(transform.rotated_local(Vector3(0, 1, 0), Math_PI));
CHECK_MESSAGE(rotated_transform.is_equal_approx(expected), "The rotated transform should have a new orientation but still be based on the same origin.");
}
} // namespace TestTransform3D
#endif // TEST_TRANSFORM_3D_H
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