diff options
| author | Sven Gothel <[email protected]> | 2014-03-14 08:05:07 +0100 |
|---|---|---|
| committer | Sven Gothel <[email protected]> | 2014-03-14 08:05:07 +0100 |
| commit | 70979247aad156418c32959bbf4962f175191ec2 (patch) | |
| tree | 8b2bb8304424c77374c207748a54e42dcab4be01 /src/test/com | |
| parent | b3fb80b4e03818f1f7dfdddd1ffcb01e6a0a8acc (diff) | |
Quaternion: Fix and enhance class incl. Extensive Unit Tests (all passed)
- Add documentation incl references (Matrix-FAQ, Euclideanspace, ..)
- Compared w/ other impl., i.e. WildMagic, Ardor3D, ..
and added missing functionality incl unit tests.
- PMVMatrix: Added convenient Quaternion 'hooks'
- glRotate(Quaternion)
- glLoadMatrix(Quaternion)
Diffstat (limited to 'src/test/com')
| -rw-r--r-- | src/test/com/jogamp/opengl/test/junit/jogl/math/TestFloatUtil01NOUI.java | 50 | ||||
| -rw-r--r-- | src/test/com/jogamp/opengl/test/junit/jogl/math/TestQuaternion01NOUI.java | 817 |
2 files changed, 867 insertions, 0 deletions
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/math/TestFloatUtil01NOUI.java b/src/test/com/jogamp/opengl/test/junit/jogl/math/TestFloatUtil01NOUI.java new file mode 100644 index 000000000..370cb4a2f --- /dev/null +++ b/src/test/com/jogamp/opengl/test/junit/jogl/math/TestFloatUtil01NOUI.java @@ -0,0 +1,50 @@ +/**
+ * Copyright 2014 JogAmp Community. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are
+ * permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ * conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list
+ * of conditions and the following disclaimer in the documentation and/or other materials
+ * provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and documentation are those of the
+ * authors and should not be interpreted as representing official policies, either expressed
+ * or implied, of JogAmp Community.
+ */
+
+package com.jogamp.opengl.test.junit.jogl.math;
+
+import org.junit.Test; +import org.junit.FixMethodOrder; +import org.junit.runners.MethodSorters;
+
+import com.jogamp.opengl.math.FloatUtil;
+
+@FixMethodOrder(MethodSorters.NAME_ASCENDING) +public class TestFloatUtil01NOUI {
+ static final float MACH_EPSILON = FloatUtil.getMachineEpsilon();
+
+ @Test
+ public void test01Epsilon() {
+ System.err.println("Machine Epsilon: "+MACH_EPSILON);
+ System.err.println("Fixed Epsilon: "+FloatUtil.EPSILON+", diff "+Math.abs(MACH_EPSILON-FloatUtil.EPSILON));
+ }
+
+ public static void main(String args[]) {
+ org.junit.runner.JUnitCore.main(TestFloatUtil01NOUI.class.getName());
+ }
+}
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/math/TestQuaternion01NOUI.java b/src/test/com/jogamp/opengl/test/junit/jogl/math/TestQuaternion01NOUI.java new file mode 100644 index 000000000..0f47f5889 --- /dev/null +++ b/src/test/com/jogamp/opengl/test/junit/jogl/math/TestQuaternion01NOUI.java @@ -0,0 +1,817 @@ +/**
+ * Copyright 2014 JogAmp Community. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are
+ * permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ * conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list
+ * of conditions and the following disclaimer in the documentation and/or other materials
+ * provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and documentation are those of the
+ * authors and should not be interpreted as representing official policies, either expressed
+ * or implied, of JogAmp Community.
+ */
+
+package com.jogamp.opengl.test.junit.jogl.math;
+
+import java.util.Arrays;
+
+import org.junit.Assert;
+import org.junit.Test; +import org.junit.FixMethodOrder; +import org.junit.runners.MethodSorters;
+
+import com.jogamp.opengl.math.FloatUtil;
+import com.jogamp.opengl.math.Quaternion;
+import com.jogamp.opengl.math.VectorUtil;
+
+@FixMethodOrder(MethodSorters.NAME_ASCENDING) +public class TestQuaternion01NOUI {
+ static final boolean DEBUG = false;
+
+ static final Quaternion QUAT_IDENT = new Quaternion(0f, 0f, 0f, 1f);
+
+ static final float[] ZERO = new float[] { 0f, 0f, 0f };
+ static final float[] ONE = new float[] { 1f, 1f, 1f };
+ static final float[] NEG_ONE = new float[] { -1f, -1f, -1f };
+ static final float[] UNIT_X = new float[] { 1f, 0f, 0f };
+ static final float[] UNIT_Y = new float[] { 0f, 1f, 0f };
+ static final float[] UNIT_Z = new float[] { 0f, 0f, 1f };
+ static final float[] NEG_UNIT_X = new float[] { -1f, 0f, 0f };
+ static final float[] NEG_UNIT_Y = new float[] { 0f, -1f, 0f };
+ static final float[] NEG_UNIT_Z = new float[] { 0f, 0f, -1f };
+
+ static final float[] NEG_ONE_v4 = new float[] { -1f, -1f, -1f, 0f };
+ static final float[] ONE_v4 = new float[] { 1f, 1f, 1f, 0f };
+
+ static final float MACH_EPSILON = FloatUtil.getMachineEpsilon();
+
+ //
+ // Basic
+ //
+
+ @Test
+ public void test01Normalize() {
+ final Quaternion quat = new Quaternion(0, 1, 2, 3);
+ final Quaternion quat2 = new Quaternion(quat).normalize();
+ // Assert.assertTrue(Math.abs(1 - quat2.magnitude()) <= MACH_EPSILON);
+ Assert.assertEquals(0f, Math.abs(1 - quat2.magnitude()), MACH_EPSILON);
+ }
+
+ @Test
+ public void test02RotateZeroVector() {
+ final Quaternion quat = new Quaternion();
+ final float[] rotVec0 = quat.rotateVector(new float[3], 0, ZERO, 0);
+ Assert.assertArrayEquals(ZERO, rotVec0, FloatUtil.EPSILON);
+ }
+
+ @Test
+ public void test03InvertAndConj() {
+ // inversion check
+ {
+ final Quaternion quat0 = new Quaternion(0, 1, 2, 3);
+ final Quaternion quat0Inv = new Quaternion(quat0).invert();
+ Assert.assertEquals(quat0, quat0Inv.invert());
+ }
+ // conjugate check
+ {
+ final Quaternion quat0 = new Quaternion(-1f, -2f, -3f, 4f);
+ final Quaternion quat0Conj = new Quaternion( 1f, 2f, 3f, 4f).conjugate();
+ Assert.assertEquals(quat0, quat0Conj);
+ }
+ }
+
+ @Test
+ public void test04Dot() {
+ final Quaternion quat = new Quaternion(7f, 2f, 5f, -1f);
+ Assert.assertTrue(35.0f == quat.dot(3f, 1f, 2f, -2f));
+ Assert.assertTrue(-11.0f == quat.dot(new Quaternion(-1f, 1f, -1f, 1f)));
+ }
+
+
+ //
+ // Conversion
+ //
+
+ @Test
+ public void test10AngleAxis() {
+ final float[] tmpV3f = new float[3];
+ final Quaternion quat1 = new Quaternion().setFromAngleAxis(FloatUtil.HALF_PI, new float[] { 2, 0, 0 }, tmpV3f );
+ final Quaternion quat2 = new Quaternion().setFromAngleNormalAxis(FloatUtil.HALF_PI, new float[] { 1, 0, 0 } );
+
+ Assert.assertEquals(quat2, quat1);
+ // System.err.println("M "+quat2.magnitude()+", 1-M "+(1f-quat2.magnitude())+", Eps "+FloatUtil.EPSILON);
+ Assert.assertEquals(0f, 1 - quat2.magnitude(), FloatUtil.EPSILON);
+ Assert.assertTrue(1 - quat1.magnitude() <= FloatUtil.EPSILON);
+
+ final float[] vecOut1 = new float[3];
+ final float[] vecOut2 = new float[3];
+ quat1.rotateVector(vecOut1, 0, ONE, 0);
+ quat2.rotateVector(vecOut2, 0, ONE, 0);
+ Assert.assertArrayEquals(vecOut1, vecOut2, FloatUtil.EPSILON);
+ Assert.assertEquals(0f, Math.abs( VectorUtil.distance(vecOut1, vecOut2) ), FloatUtil.EPSILON );
+
+ quat1.rotateVector(vecOut1, 0, UNIT_Z, 0);
+ Assert.assertEquals(0f, Math.abs( VectorUtil.distance(NEG_UNIT_Y, vecOut1) ), FloatUtil.EPSILON );
+
+ quat2.setFromAngleAxis(FloatUtil.HALF_PI, ZERO, tmpV3f);
+ Assert.assertEquals(QUAT_IDENT, quat2);
+
+ float angle = quat1.toAngleAxis(vecOut1);
+ quat2.setFromAngleAxis(angle, vecOut1, tmpV3f);
+ Assert.assertEquals(quat1, quat2);
+
+ quat1.set(0, 0, 0, 0);
+ angle = quat1.toAngleAxis(vecOut1);
+ Assert.assertTrue(0.0f == angle);
+ Assert.assertArrayEquals(UNIT_X, vecOut1, FloatUtil.EPSILON);
+ }
+
+ @Test
+ public void test11FromVectorToVector() {
+ final float[] tmp0V3f = new float[3];
+ final float[] tmp1V3f = new float[3];
+ final float[] vecOut = new float[3];
+ final Quaternion quat = new Quaternion();
+ quat.setFromVectors(UNIT_Z, UNIT_X, tmp0V3f, tmp1V3f);
+
+ final Quaternion quat2 = new Quaternion();
+ quat2.setFromNormalVectors(UNIT_Z, UNIT_X, tmp0V3f);
+ Assert.assertEquals(quat, quat2);
+
+ quat2.setFromAngleAxis(FloatUtil.HALF_PI, UNIT_Y, tmp0V3f);
+ Assert.assertEquals(quat2, quat);
+
+ quat.setFromVectors(UNIT_Z, NEG_UNIT_Z, tmp0V3f, tmp1V3f);
+ quat.rotateVector(vecOut, 0, UNIT_Z, 0);
+ // System.err.println("vecOut: "+Arrays.toString(vecOut));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_Z, vecOut) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.setFromVectors(UNIT_X, NEG_UNIT_X, tmp0V3f, tmp1V3f);
+ quat.rotateVector(vecOut, 0, UNIT_X, 0);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecOut) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.setFromVectors(UNIT_Y, NEG_UNIT_Y, tmp0V3f, tmp1V3f);
+ quat.rotateVector(vecOut, 0, UNIT_Y, 0);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_Y, vecOut) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.setFromVectors(ONE, NEG_ONE, tmp0V3f, tmp1V3f);
+ quat.rotateVector(vecOut, 0, ONE, 0);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_ONE, vecOut) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.setFromVectors(ZERO, ZERO, tmp0V3f, tmp1V3f);
+ Assert.assertEquals(QUAT_IDENT, quat);
+ }
+
+ @Test
+ public void test12FromAndToEulerAngles() {
+ // Y.Z.X -> X.Y.Z
+ final Quaternion quat = new Quaternion();
+ final float[] angles0Exp = new float[] { 0f, FloatUtil.HALF_PI, 0f};
+ quat.setFromEuler(angles0Exp);
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+
+ final float[] angles0Has = quat.toEuler(new float[3]);
+ // System.err.println("exp0 "+Arrays.toString(angles0Exp));
+ // System.err.println("has0 "+Arrays.toString(angles0Has));
+ Assert.assertArrayEquals(angles0Exp, angles0Has, FloatUtil.EPSILON);
+
+ final Quaternion quat2 = new Quaternion();
+ quat2.setFromEuler(angles0Has);
+ Assert.assertEquals(quat, quat2);
+
+ ///
+
+ final float[] angles1Exp = new float[] { 0f, 0f, -FloatUtil.HALF_PI };
+ quat.setFromEuler(angles1Exp);
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+
+ final float[] angles1Has = quat.toEuler(new float[3]);
+ // System.err.println("exp1 "+Arrays.toString(angles1Exp));
+ // System.err.println("has1 "+Arrays.toString(angles1Has));
+ Assert.assertArrayEquals(angles1Exp, angles1Has, FloatUtil.EPSILON);
+
+ quat2.setFromEuler(angles1Has);
+ Assert.assertEquals(quat, quat2);
+
+ ///
+
+ final float[] angles2Exp = new float[] { FloatUtil.HALF_PI, 0f, 0f };
+ quat.setFromEuler(angles2Exp);
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+
+ final float[] angles2Has = quat.toEuler(new float[3]);
+ // System.err.println("exp2 "+Arrays.toString(angles2Exp));
+ // System.err.println("has2 "+Arrays.toString(angles2Has));
+ Assert.assertArrayEquals(angles2Exp, angles2Has, FloatUtil.EPSILON);
+
+ quat2.setFromEuler(angles2Has);
+ Assert.assertEquals(quat, quat2);
+ }
+
+ @Test
+ public void test13FromEulerAnglesAndRotateVector() {
+ final Quaternion quat = new Quaternion();
+ quat.setFromEuler(0, FloatUtil.HALF_PI, 0); // 90 degrees y-axis
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+
+ final float[] v2 = quat.rotateVector(new float[3], 0, UNIT_X, 0);
+ Assert.assertEquals(0f, Math.abs(VectorUtil.distance(NEG_UNIT_Z, v2)), FloatUtil.EPSILON);
+
+ quat.setFromEuler(0, 0, -FloatUtil.HALF_PI);
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+ quat.rotateVector(v2, 0, UNIT_X, 0);
+ Assert.assertEquals(0f, Math.abs(VectorUtil.distance(NEG_UNIT_Y, v2)), FloatUtil.EPSILON);
+
+ quat.setFromEuler(FloatUtil.HALF_PI, 0, 0);
+ Assert.assertEquals(1.0f, quat.magnitude(), FloatUtil.EPSILON);
+ quat.rotateVector(v2, 0, UNIT_Y, 0);
+ Assert.assertEquals(0f, Math.abs(VectorUtil.distance(UNIT_Z, v2)), FloatUtil.EPSILON);
+ }
+
+ @Test
+ public void test14Matrix() {
+ final float[] vecHas = new float[3];
+ final float[] vecOut2 = new float[4];
+ float[] mat1 = new float[4*4];
+ float[] mat2 = new float[4*4];
+ final Quaternion quat = new Quaternion();
+
+ //
+ // IDENTITY CHECK
+ //
+ FloatUtil.makeIdentityf(mat1, 0);
+ quat.set(0, 0, 0, 0);
+ quat.toMatrix(mat2, 0);
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+
+ //
+ // 90 degrees rotation on X
+ //
+
+ float a = FloatUtil.HALF_PI;
+ mat1 = new float[] { // Column Order
+ 1, 0, 0, 0, //
+ 0, FloatUtil.cos(a), FloatUtil.sin(a), 0, //
+ 0, -FloatUtil.sin(a), FloatUtil.cos(a), 0,
+ 0, 0, 0, 1 };
+ {
+ // Validate Matrix via Euler rotation on Quaternion!
+ quat.setFromEuler(a, 0f, 0f);
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "quat-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+ quat.rotateVector(vecHas, 0, UNIT_Y, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(UNIT_Z, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+ }
+ quat.setFromMatrix(mat1, 0);
+ quat.rotateVector(vecHas, 0, UNIT_Y, 0);
+ // System.err.println("exp0 "+Arrays.toString(UNIT_Z));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(UNIT_Z, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, null, "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+
+ quat.rotateVector(vecHas, 0, NEG_ONE, 0);
+ FloatUtil.multMatrixVecf(mat2, NEG_ONE_v4, vecOut2);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecHas, vecOut2) ), Quaternion.ALLOWED_DEVIANCE );
+
+ //
+ // 180 degrees rotation on X
+ //
+ a = FloatUtil.PI;
+ mat1 = new float[] { // Column Order
+ 1, 0, 0, 0, //
+ 0, FloatUtil.cos(a), FloatUtil.sin(a), 0, //
+ 0, -FloatUtil.sin(a), FloatUtil.cos(a), 0,
+ 0, 0, 0, 1 };
+ {
+ // Validate Matrix via Euler rotation on Quaternion!
+ quat.setFromEuler(a, 0f, 0f);
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "quat-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+ quat.rotateVector(vecHas, 0, UNIT_Y, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_Y, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+ }
+ quat.setFromMatrix(mat1, 0);
+ quat.rotateVector(vecHas, 0, UNIT_Y, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_Y));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_Y, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, null, "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+
+ quat.rotateVector(vecHas, 0, ONE, 0);
+ FloatUtil.multMatrixVecf(mat2, ONE_v4, vecOut2);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecHas, vecOut2) ), Quaternion.ALLOWED_DEVIANCE );
+
+ //
+ // 180 degrees rotation on Y
+ //
+ a = FloatUtil.PI;
+ mat1 = new float[] { // Column Order
+ FloatUtil.cos(a), 0, -FloatUtil.sin(a), 0, //
+ 0, 1, 0, 0, //
+ FloatUtil.sin(a), 0, FloatUtil.cos(a), 0,
+ 0, 0, 0, 1 };
+ {
+ // Validate Matrix via Euler rotation on Quaternion!
+ quat.setFromEuler(0f, a, 0f);
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "quat-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+ quat.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+ }
+ quat.setFromMatrix(mat1, 0);
+ quat.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "matr-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+
+ quat.rotateVector(vecHas, 0, NEG_ONE, 0);
+ FloatUtil.multMatrixVecf(mat2, NEG_ONE_v4, vecOut2);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecHas, vecOut2) ), Quaternion.ALLOWED_DEVIANCE );
+
+ //
+ // 180 degrees rotation on Z
+ //
+ a = FloatUtil.PI;
+ mat1 = new float[] { // Column Order
+ FloatUtil.cos(a), FloatUtil.sin(a), 0, 0, //
+ -FloatUtil.sin(a), FloatUtil.cos(a), 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1 };
+ {
+ // Validate Matrix via Euler rotation on Quaternion!
+ quat.setFromEuler(0f, 0f, a);
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "quat-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+ quat.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+ }
+ quat.setFromMatrix(mat1, 0);
+ quat.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecHas) ), Quaternion.ALLOWED_DEVIANCE );
+
+ quat.toMatrix(mat2, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "matr-rot", "%10.5f", mat1, 0, mat2, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(mat1, mat2, FloatUtil.EPSILON);
+
+ quat.rotateVector(vecHas, 0, ONE, 0);
+ FloatUtil.multMatrixVecf(mat2, ONE_v4, vecOut2);
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecHas, vecOut2) ), Quaternion.ALLOWED_DEVIANCE );
+
+ //
+ // Test Matrix-Columns
+ //
+
+ a = FloatUtil.QUARTER_PI;
+ float[] vecExp = new float[3];
+ float[] vecCol = new float[3];
+ mat1 = new float[] { // Column Order
+ FloatUtil.cos(a), FloatUtil.sin(a), 0, 0, //
+ -FloatUtil.sin(a), FloatUtil.cos(a), 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1 };
+ quat.setFromMatrix(mat1, 0);
+ FloatUtil.copyMatrixColumn(mat1, 0, 0, vecExp, 0);
+ quat.copyMatrixColumn(0, vecCol, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecCol));
+ Assert.assertEquals(0f, Math.abs( VectorUtil.distance(vecExp, vecCol)), FloatUtil.EPSILON);
+
+ FloatUtil.copyMatrixColumn(mat1, 0, 1, vecExp, 0);
+ quat.copyMatrixColumn(1, vecCol, 0);
+ // System.err.println("exp1 "+Arrays.toString(vecExp));
+ // System.err.println("has1 "+Arrays.toString(vecCol));
+ Assert.assertEquals(0f, Math.abs( VectorUtil.distance(vecExp, vecCol)), FloatUtil.EPSILON);
+
+ FloatUtil.copyMatrixColumn(mat1, 0, 2, vecExp, 0);
+ quat.copyMatrixColumn(2, vecCol, 0);
+ // System.err.println("exp2 "+Arrays.toString(vecExp));
+ // System.err.println("has2 "+Arrays.toString(vecCol));
+ Assert.assertEquals(0f, Math.abs( VectorUtil.distance(vecExp, vecCol)), FloatUtil.EPSILON);
+
+ quat.set(0f, 0f, 0f, 0f);
+ Assert.assertArrayEquals(UNIT_X, quat.copyMatrixColumn(0, vecCol, 0), FloatUtil.EPSILON);
+
+ }
+
+ @Test
+ public void test15aAxesAndMatrix() {
+ final float[] eulerExp = new float[] { 0f, FloatUtil.HALF_PI, 0f };
+ final float[] matExp = new float[4*4];
+ FloatUtil.makeRotationEuler(eulerExp[0], eulerExp[1], eulerExp[2], matExp, 0); // 45 degr on X, 90 degr on Y
+
+ final float[] matHas = new float[4*4];
+ final Quaternion quat1 = new Quaternion();
+ quat1.setFromEuler(eulerExp);
+ quat1.toMatrix(matHas, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "exp-has", "%10.5f", matExp, 0, matHas, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(matExp, matHas, FloatUtil.EPSILON);
+
+ final float[] eulerHas = new float[3];
+ final Quaternion quat2 = new Quaternion();
+ quat2.setFromMatrix(matExp, 0);
+ quat2.toEuler(eulerHas);
+ // System.err.println("exp-euler "+Arrays.toString(eulerExp));
+ // System.err.println("has-euler "+Arrays.toString(eulerHas));
+ Assert.assertArrayEquals(eulerExp, eulerHas, FloatUtil.EPSILON);
+
+ Assert.assertEquals(quat2, quat1);
+
+ final float[] angles = new float[3];
+ quat2.toEuler(angles);
+ quat1.setFromEuler(angles);
+ Assert.assertEquals(quat2, quat1);
+ }
+
+ @Test
+ public void test15bAxesAndMatrix() {
+ final float[] eulerExp = new float[] { FloatUtil.HALF_PI, 0f, 0f };
+ final float[] matExp = new float[4*4];
+ FloatUtil.makeRotationEuler(eulerExp[0], eulerExp[1], eulerExp[2], matExp, 0); // 45 degr on X, 90 degr on Y
+
+ final float[] matHas = new float[4*4];
+ final Quaternion quat1 = new Quaternion();
+ quat1.setFromEuler(eulerExp);
+ quat1.toMatrix(matHas, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "exp-has", "%10.5f", matExp, 0, matHas, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(matExp, matHas, FloatUtil.EPSILON);
+
+ final float[] eulerHas = new float[3];
+ final Quaternion quat2 = new Quaternion();
+ quat2.setFromMatrix(matExp, 0);
+ quat2.toEuler(eulerHas);
+ // System.err.println("exp-euler "+Arrays.toString(eulerExp));
+ // System.err.println("has-euler "+Arrays.toString(eulerHas));
+ Assert.assertArrayEquals(eulerExp, eulerHas, FloatUtil.EPSILON);
+
+ Assert.assertEquals(quat2, quat1);
+
+ final float[] angles = new float[3];
+ quat2.toEuler(angles);
+ quat1.setFromEuler(angles);
+ Assert.assertEquals(quat2, quat1);
+ }
+
+ @Test
+ public void test15cAxesAndMatrix() {
+ final float[] eulerExp = new float[] { FloatUtil.QUARTER_PI, FloatUtil.HALF_PI, 0f };
+ final float[] matExp = new float[4*4];
+ FloatUtil.makeRotationEuler(eulerExp[0], eulerExp[1], eulerExp[2], matExp, 0); // 45 degr on X, 90 degr on Y
+
+ final float[] matHas = new float[4*4];
+ final Quaternion quat1 = new Quaternion();
+ quat1.setFromEuler(eulerExp);
+ quat1.toMatrix(matHas, 0);
+ // System.err.println(FloatUtil.matrixToString(null, "exp-has", "%10.5f", matExp, 0, matHas, 0, 4, 4, false).toString());
+ Assert.assertArrayEquals(matExp, matHas, FloatUtil.EPSILON);
+
+ final float[] eulerHas = new float[3];
+ final Quaternion quat2 = new Quaternion();
+ quat2.setFromMatrix(matExp, 0);
+ quat2.toEuler(eulerHas);
+ // System.err.println("exp-euler "+Arrays.toString(eulerExp));
+ // System.err.println("has-euler "+Arrays.toString(eulerHas));
+ Assert.assertArrayEquals(eulerExp, eulerHas, FloatUtil.EPSILON);
+
+ Assert.assertEquals(quat2, quat1);
+
+ final float[] angles = new float[3];
+ quat2.toEuler(angles);
+ quat1.setFromEuler(angles);
+ Assert.assertEquals(quat2, quat1);
+ }
+
+ //
+ // Functions
+ //
+
+ @Test
+ public void test20AddSubtract() {
+ final Quaternion quatExp1 = new Quaternion(1, 2, 3, 4);
+ final Quaternion quat1 = new Quaternion(0, 1, 2, 3);
+ final Quaternion quat2 = new Quaternion(1, 1, 1, 1);
+
+ final Quaternion quatHas = new Quaternion();
+ quatHas.set(quat1);
+ quatHas.add(quat2); // q3 = q1 + q2
+ Assert.assertEquals(quatExp1, quatHas);
+
+ quat1.set(0, 1, 2, 3);
+ quat2.set(1, 1, 1, 1);
+ quatHas.set(quat1);
+ quatHas.subtract(quat2); // q3 = q1 - q2
+ Assert.assertEquals(new Quaternion(-1, 0, 1, 2), quatHas);
+ }
+
+ @Test
+ public void test21Multiply() {
+ final Quaternion quat1 = new Quaternion(0.5f, 1f, 2f, 3f);
+ final Quaternion quat2 = new Quaternion();
+
+ quat2.set(quat1);
+ quat2.scale(2f); // q2 = q1 * 2f
+ Assert.assertEquals(new Quaternion(1, 2, 4, 6), quat2);
+
+ quat2.set(quat1);
+ quat2.scale(4f); // q2 = q1 * 4f
+ Assert.assertEquals(new Quaternion(2, 4, 8, 12), quat2);
+
+ //
+ // mul and cmp rotated vector
+ //
+ quat1.setFromAngleNormalAxis(FloatUtil.QUARTER_PI, UNIT_Y); // 45 degr on Y
+ quat2.set(quat1);
+ quat2.mult(quat1); // q2 = q1 * q1 -> 2 * 45 degr -> 90 degr on Y
+
+ final float[] vecOut = new float[3];
+ quat2.rotateVector(vecOut, 0, UNIT_Z, 0);
+ Assert.assertTrue( Math.abs( VectorUtil.distance(UNIT_X, vecOut)) <= Quaternion.ALLOWED_DEVIANCE);
+
+ quat2.setFromAngleNormalAxis(FloatUtil.HALF_PI, UNIT_Y); // 90 degr on Y
+ quat1.mult(quat1); // q1 = q1 * q1 -> 2 * 45 degr -> 90 degr on Y
+ quat1.mult(quat2); // q1 = q1 * q2 -> 2 * 90 degr -> 180 degr on Y
+ quat1.rotateVector(vecOut, 0, UNIT_Z, 0);
+ Assert.assertTrue( Math.abs( VectorUtil.distance(NEG_UNIT_Z, vecOut)) <= Quaternion.ALLOWED_DEVIANCE);
+
+ quat2.setFromEuler(0f, FloatUtil.HALF_PI, 0f);
+ quat1.mult(quat2); // q1 = q1 * q2 = q1 * rotMat(0, 90degr, 0)
+ quat1.rotateVector(vecOut, 0, UNIT_Z, 0);
+ Assert.assertTrue( Math.abs( VectorUtil.distance(NEG_UNIT_X, vecOut)) <= Quaternion.ALLOWED_DEVIANCE);
+ }
+
+ @Test
+ public void test22InvertMultNormalAndConj() {
+ final Quaternion quat0 = new Quaternion(0, 1, 2, 3);
+ final Quaternion quat1 = new Quaternion(quat0);
+ final Quaternion quat2 = new Quaternion(quat0);
+ quat1.invert(); // q1 = invert(q0)
+ quat2.mult(quat1); // q2 = q0 * q1 = q0 * invert(q0)
+ Assert.assertEquals(QUAT_IDENT, quat2);
+ quat1.invert();
+ Assert.assertEquals(quat0, quat1);
+
+ // normalized version
+ quat0.setFromAngleNormalAxis(FloatUtil.QUARTER_PI, UNIT_Y);
+ quat1.set(quat0);
+ quat1.invert(); // q1 = invert(q0)
+ quat2.set(quat0);
+ quat2.mult(quat1); // q2 = q0 * q1 = q0 * invert(q0)
+ Assert.assertEquals(QUAT_IDENT, quat2);
+ quat1.invert();
+ Assert.assertEquals(quat0, quat1);
+
+ // conjugate check
+ quat0.set(-1f, -2f, -3f, 4f);
+ quat1.set( 1f, 2f, 3f, 4f);
+ quat2.set(quat1);
+ quat2.conjugate();
+ Assert.assertEquals(quat0, quat2);
+ }
+
+ @Test
+ public void test23RotationOrder() {
+ {
+ final Quaternion quat1 = new Quaternion().setFromEuler( -2f*FloatUtil.HALF_PI, 0f, 0f); // -180 degr X
+ final Quaternion quat2 = new Quaternion().rotateByAngleX( -2f * FloatUtil.HALF_PI); // angle: -180 degrees, axis X
+ Assert.assertEquals(quat1, quat2);
+ }
+ {
+ final Quaternion quat1 = new Quaternion().setFromEuler( FloatUtil.HALF_PI, 0f, 0f); // 90 degr X
+ final Quaternion quat2 = new Quaternion().rotateByAngleX( FloatUtil.HALF_PI); // angle: 90 degrees, axis X
+ Assert.assertEquals(quat1, quat2);
+ }
+ {
+ final Quaternion quat1 = new Quaternion().setFromEuler( FloatUtil.HALF_PI, FloatUtil.QUARTER_PI, 0f);
+ final Quaternion quat2 = new Quaternion().rotateByAngleY(FloatUtil.QUARTER_PI).rotateByAngleX(FloatUtil.HALF_PI);
+ Assert.assertEquals(quat1, quat2);
+ }
+ {
+ final Quaternion quat1 = new Quaternion().setFromEuler( FloatUtil.PI, FloatUtil.QUARTER_PI, FloatUtil.HALF_PI);
+ final Quaternion quat2 = new Quaternion().rotateByAngleY(FloatUtil.QUARTER_PI).rotateByAngleZ(FloatUtil.HALF_PI).rotateByAngleX(FloatUtil.PI);
+ Assert.assertEquals(quat1, quat2);
+ }
+
+
+ float[] vecExp = new float[3];
+ float[] vecRot = new float[3];
+ final Quaternion quat = new Quaternion();
+
+ // Try a new way with new angles...
+ quat.setFromEuler(FloatUtil.HALF_PI, FloatUtil.QUARTER_PI, FloatUtil.PI);
+ vecRot = new float[] { 1f, 1f, 1f };
+ quat.rotateVector(vecRot, 0, vecRot, 0);
+
+ // expected
+ vecExp = new float[] { 1f, 1f, 1f };
+ final Quaternion worker = new Quaternion();
+ // put together matrix, then apply to vector, so YZX
+ worker.rotateByAngleY(FloatUtil.QUARTER_PI).rotateByAngleZ(FloatUtil.PI).rotateByAngleX(FloatUtil.HALF_PI);
+ quat.rotateVector(vecExp, 0, vecExp, 0);
+ Assert.assertEquals(0f, VectorUtil.distance(vecExp, vecRot), FloatUtil.EPSILON);
+
+ // test axis rotation methods against general purpose
+ // X AXIS
+ vecExp = new float[] { 1f, 1f, 1f };
+ vecRot = new float[] { 1f, 1f, 1f };
+ worker.setIdentity().rotateByAngleX(FloatUtil.QUARTER_PI).rotateVector(vecExp, 0, vecExp, 0);
+ worker.setIdentity().rotateByAngleNormalAxis(FloatUtil.QUARTER_PI, 1f, 0f, 0f).rotateVector(vecRot, 0, vecRot, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp)+", len "+VectorUtil.length(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecRot)+", len "+VectorUtil.length(vecRot));
+ Assert.assertEquals(0f, VectorUtil.distance(vecExp, vecRot), FloatUtil.EPSILON);
+
+ // Y AXIS
+ vecExp = new float[] { 1f, 1f, 1f };
+ vecRot = new float[] { 1f, 1f, 1f };
+ worker.setIdentity().rotateByAngleY(FloatUtil.QUARTER_PI).rotateVector(vecExp, 0, vecExp, 0);
+ worker.setIdentity().rotateByAngleNormalAxis(FloatUtil.QUARTER_PI, 0f, 1f, 0f).rotateVector(vecRot, 0, vecRot, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecRot));
+ Assert.assertEquals(0f, VectorUtil.distance(vecExp, vecRot), FloatUtil.EPSILON);
+
+ // Z AXIS
+ vecExp = new float[] { 1f, 1f, 1f };
+ vecRot = new float[] { 1f, 1f, 1f };
+ worker.setIdentity().rotateByAngleZ(FloatUtil.QUARTER_PI).rotateVector(vecExp, 0, vecExp, 0);
+ worker.setIdentity().rotateByAngleNormalAxis(FloatUtil.QUARTER_PI, 0f, 0f, 1f).rotateVector(vecRot, 0, vecRot, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecRot));
+ Assert.assertEquals(0f, VectorUtil.distance(vecExp, vecRot), FloatUtil.EPSILON);
+
+ quat.set(worker);
+ worker.rotateByAngleNormalAxis(0f, 0f, 0f, 0f);
+ Assert.assertEquals(quat, worker);
+ }
+
+ @Test
+ public void test24Axes() {
+ final Quaternion quat0 = new Quaternion().rotateByAngleX(FloatUtil.QUARTER_PI).rotateByAngleY(FloatUtil.HALF_PI);
+ final float[] rotMat = new float[4*4];
+ quat0.toMatrix(rotMat, 0);
+ final float[] xAxis = new float[3];
+ final float[] yAxis = new float[3];
+ final float[] zAxis = new float[3];
+ FloatUtil.copyMatrixColumn(rotMat, 0, 0, xAxis, 0);
+ FloatUtil.copyMatrixColumn(rotMat, 0, 1, yAxis, 0);
+ FloatUtil.copyMatrixColumn(rotMat, 0, 2, zAxis, 0);
+
+ final Quaternion quat1 = new Quaternion().setFromAxes(xAxis, yAxis, zAxis);
+ Assert.assertEquals(quat0, quat1);
+ final Quaternion quat2 = new Quaternion().setFromMatrix(rotMat, 0);
+ Assert.assertEquals(quat2, quat1);
+
+ quat1.toAxes(xAxis, yAxis, zAxis, rotMat);
+ quat2.setFromAxes(xAxis, yAxis, zAxis);
+ Assert.assertEquals(quat0, quat2);
+ Assert.assertEquals(quat1, quat2);
+ }
+
+ @Test
+ public void test25Slerp() {
+ final Quaternion quat1 = new Quaternion(); // angle: 0 degrees
+ final Quaternion quat2 = new Quaternion().rotateByAngleY(FloatUtil.HALF_PI); // angle: 90 degrees, axis Y
+
+ float[] vecExp = new float[] { FloatUtil.sin(FloatUtil.QUARTER_PI), 0f, FloatUtil.sin(FloatUtil.QUARTER_PI) };
+ final float[] vecHas = new float[3];
+ final Quaternion quatS = new Quaternion();
+ // System.err.println("Slerp #01: 1/2 * 90 degrees Y");
+ quatS.setSlerp(quat1, quat2, 0.5f);
+ quatS.rotateVector(vecHas, 0, UNIT_Z, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecExp, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+ // delta == 100%
+ quat2.setIdentity().rotateByAngleZ(FloatUtil.PI); // angle: 180 degrees, axis Z
+ // System.err.println("Slerp #02: 1 * 180 degrees Z");
+ quatS.setSlerp(quat1, quat2, 1.0f);
+ quatS.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(NEG_UNIT_X, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+ quat2.setIdentity().rotateByAngleZ(FloatUtil.PI); // angle: 180 degrees, axis Z
+ // System.err.println("Slerp #03: 1/2 * 180 degrees Z");
+ quatS.setSlerp(quat1, quat2, 0.5f);
+ quatS.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(UNIT_Y));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(UNIT_Y, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+ // delta == 0%
+ quat2.setIdentity().rotateByAngleZ(FloatUtil.PI); // angle: 180 degrees, axis Z
+ // System.err.println("Slerp #04: 0 * 180 degrees Z");
+ quatS.setSlerp(quat1, quat2, 0.0f);
+ quatS.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(UNIT_X, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+ // a==b
+ quat2.setIdentity();
+ // System.err.println("Slerp #05: 1/4 * 0 degrees");
+ quatS.setSlerp(quat1, quat2, 0.25f); // 1/4 of identity .. NOP
+ quatS.rotateVector(vecHas, 0, UNIT_X, 0);
+ // System.err.println("exp0 "+Arrays.toString(UNIT_X));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(UNIT_X, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+ // negative dot product
+ vecExp = new float[] { 0f, -FloatUtil.sin(FloatUtil.QUARTER_PI), FloatUtil.sin(FloatUtil.QUARTER_PI) };
+ quat1.setIdentity().rotateByAngleX( -2f * FloatUtil.HALF_PI); // angle: -180 degrees, axis X
+ quat2.setIdentity().rotateByAngleX( FloatUtil.HALF_PI); // angle: 90 degrees, axis X
+ // System.err.println("Slerp #06: 1/2 * 270 degrees");
+ quatS.setSlerp(quat1, quat2, 0.5f);
+ quatS.rotateVector(vecHas, 0, UNIT_Y, 0);
+ // System.err.println("exp0 "+Arrays.toString(vecExp));
+ // System.err.println("has0 "+Arrays.toString(vecHas));
+ Assert.assertEquals( 0f, Math.abs( VectorUtil.distance(vecExp, vecHas)), Quaternion.ALLOWED_DEVIANCE);
+
+
+ }
+
+ @Test
+ public void test26LookAt() {
+ final float[] direction = new float[3];
+ final float[] xAxis = new float[3];
+ final float[] yAxis = new float[3];
+ final float[] zAxis = new float[3];
+ final float[] vecHas = new float[3];
+
+ if( DEBUG ) System.err.println("LookAt #01");
+ VectorUtil.copyVec3(direction, 0, NEG_UNIT_X, 0);
+ final Quaternion quat = new Quaternion().setLookAt(direction, UNIT_Y, xAxis, yAxis, zAxis);
+ Assert.assertEquals(0f, VectorUtil.distance(direction, quat.rotateVector(vecHas, 0, UNIT_Z, 0)), Quaternion.ALLOWED_DEVIANCE);
+
+ if( DEBUG ) System.err.println("LookAt #02");
+ VectorUtil.normalize(VectorUtil.copyVec3(direction, 0, ONE, 0));
+ quat.setLookAt(direction, UNIT_Y, xAxis, yAxis, zAxis);
+ if( DEBUG )System.err.println("quat0 "+quat);
+ quat.rotateVector(vecHas, 0, UNIT_Z, 0);
+ if( DEBUG ) {
+ System.err.println("xAxis "+Arrays.toString(xAxis)+", len "+VectorUtil.length(xAxis));
+ System.err.println("yAxis "+Arrays.toString(yAxis)+", len "+VectorUtil.length(yAxis));
+ System.err.println("zAxis "+Arrays.toString(zAxis)+", len "+VectorUtil.length(zAxis));
+ System.err.println("exp0 "+Arrays.toString(direction)+", len "+VectorUtil.length(direction));
+ System.err.println("has0 "+Arrays.toString(vecHas)+", len "+VectorUtil.length(vecHas));
+ }
+ // Assert.assertEquals(0f, VectorUtil.distance(direction, quat.rotateVector(vecHas, 0, UNIT_Z, 0)), Quaternion.ALLOWED_DEVIANCE);
+ Assert.assertEquals(0f, VectorUtil.distance(direction, vecHas), Quaternion.ALLOWED_DEVIANCE);
+
+ if( DEBUG )System.err.println("LookAt #03");
+ VectorUtil.normalize(VectorUtil.copyVec3(direction, 0, new float[] { -1f, 2f, -1f }, 0));
+ quat.setLookAt(direction, UNIT_Y, xAxis, yAxis, zAxis);
+ if( DEBUG )System.err.println("quat0 "+quat);
+ quat.rotateVector(vecHas, 0, UNIT_Z, 0);
+ if( DEBUG ) {
+ System.err.println("xAxis "+Arrays.toString(xAxis)+", len "+VectorUtil.length(xAxis));
+ System.err.println("yAxis "+Arrays.toString(yAxis)+", len "+VectorUtil.length(yAxis));
+ System.err.println("zAxis "+Arrays.toString(zAxis)+", len "+VectorUtil.length(zAxis));
+ System.err.println("exp0 "+Arrays.toString(direction)+", len "+VectorUtil.length(direction));
+ System.err.println("has0 "+Arrays.toString(vecHas)+", len "+VectorUtil.length(vecHas));
+ }
+ // Assert.assertEquals(0f, VectorUtil.distance(direction, quat.rotateVector(vecHas, 0, UNIT_Z, 0)), Quaternion.ALLOWED_DEVIANCE);
+ Assert.assertEquals(0f, VectorUtil.distance(direction, vecHas), Quaternion.ALLOWED_DEVIANCE);
+ }
+
+ public static void main(String args[]) {
+ org.junit.runner.JUnitCore.main(TestQuaternion01NOUI.class.getName());
+ }
+}
|