| #![allow(clippy::excessive_precision)] |
| |
| #[macro_use] |
| mod support; |
| |
| macro_rules! impl_quat_tests { |
| ($t:ident, $new:ident, $mat3:ident, $mat4:ident, $quat:ident, $vec2:ident, $vec3:ident, $vec4:ident) => { |
| glam_test!(test_const, { |
| const Q0: $quat = $quat::from_xyzw(1.0, 2.0, 3.0, 4.0); |
| const Q1: $quat = $quat::from_array([1.0, 2.0, 3.0, 4.0]); |
| assert_eq!([1.0, 2.0, 3.0, 4.0], *Q0.as_ref()); |
| assert_eq!([1.0, 2.0, 3.0, 4.0], *Q1.as_ref()); |
| }); |
| |
| glam_test!(test_nan, { |
| assert!($quat::NAN.is_nan()); |
| assert!(!$quat::NAN.is_finite()); |
| }); |
| |
| glam_test!(test_new, { |
| let ytheta = deg(45.0); |
| let q0 = $quat::from_rotation_y(ytheta); |
| |
| let v1 = $vec4::new(0.0, (ytheta * 0.5).sin(), 0.0, (ytheta * 0.5).cos()); |
| assert_eq!(q0, $quat::from_vec4(v1)); |
| let q1 = $quat::from_vec4(v1); |
| assert_eq!(v1, q1.into()); |
| |
| assert_eq!(q0, $new(v1.x, v1.y, v1.z, v1.w)); |
| |
| let a1: [$t; 4] = q1.into(); |
| assert_eq!([v1.x, v1.y, v1.z, v1.w], a1); |
| |
| assert_eq!(q1, $quat::from_array(a1)); |
| |
| assert_eq!(a1, *q0.as_ref()); |
| }); |
| |
| glam_test!(test_funcs, { |
| let q0 = $quat::from_euler(EulerRot::YXZ, deg(45.0), deg(180.0), deg(90.0)); |
| assert!(q0.is_normalized()); |
| assert_approx_eq!(q0.length_squared(), 1.0); |
| assert_approx_eq!(q0.length(), 1.0); |
| assert_approx_eq!(q0.length_recip(), 1.0); |
| assert_approx_eq!(q0, q0.normalize()); |
| |
| assert_approx_eq!(q0.dot(q0), 1.0); |
| assert_approx_eq!(q0.dot(q0), 1.0); |
| |
| let q1 = $quat::from_vec4($vec4::from(q0) * 2.0); |
| assert!(!q1.is_normalized()); |
| assert_approx_eq!(q1.length_squared(), 4.0, 1.0e-6); |
| assert_approx_eq!(q1.length(), 2.0); |
| assert_approx_eq!(q1.length_recip(), 0.5); |
| assert_approx_eq!(q0, q1.normalize()); |
| assert_approx_eq!(q0.dot(q1), 2.0, 1.0e-6); |
| |
| should_glam_assert!({ ($quat::IDENTITY * 0.0).normalize() }); |
| }); |
| |
| glam_test!(test_rotation, { |
| let zero = deg(0.0); |
| let yaw = deg(30.0); |
| let pitch = deg(60.0); |
| let roll = deg(90.0); |
| let y0 = $quat::from_rotation_y(yaw); |
| assert!(y0.is_normalized()); |
| let (axis, angle) = y0.to_axis_angle(); |
| assert_approx_eq!(axis, $vec3::Y, 1.0e-6); |
| assert_approx_eq!(angle, yaw); |
| let y1 = $quat::from_euler(EulerRot::YXZ, yaw, zero, zero); |
| assert_approx_eq!(y0, y1); |
| let y2 = $quat::from_axis_angle($vec3::Y, yaw); |
| assert_approx_eq!(y0, y2); |
| let y3 = $quat::from_mat3(&$mat3::from_rotation_y(yaw)); |
| assert_approx_eq!(y0, y3); |
| let y4 = $quat::from_mat3(&$mat3::from_quat(y0)); |
| assert_approx_eq!(y0, y4); |
| |
| let x0 = $quat::from_rotation_x(pitch); |
| assert!(x0.is_normalized()); |
| let (axis, angle) = x0.to_axis_angle(); |
| assert_approx_eq!(axis, $vec3::X); |
| assert_approx_eq!(angle, pitch, 1e-6); |
| let x1 = $quat::from_euler(EulerRot::YXZ, zero, pitch, zero); |
| assert_approx_eq!(x0, x1); |
| let x2 = $quat::from_axis_angle($vec3::X, pitch); |
| assert_approx_eq!(x0, x2); |
| let x3 = $quat::from_mat4(&$mat4::from_rotation_x(deg(180.0))); |
| assert!(x3.is_normalized()); |
| assert_approx_eq!($quat::from_rotation_x(deg(180.0)), x3); |
| |
| let z0 = $quat::from_rotation_z(roll); |
| assert!(z0.is_normalized()); |
| let (axis, angle) = z0.to_axis_angle(); |
| assert_approx_eq!(axis, $vec3::Z); |
| assert_approx_eq!(angle, roll); |
| let z1 = $quat::from_euler(EulerRot::YXZ, zero, zero, roll); |
| assert_approx_eq!(z0, z1); |
| let z2 = $quat::from_axis_angle($vec3::Z, roll); |
| assert_approx_eq!(z0, z2); |
| let z3 = $quat::from_mat4(&$mat4::from_rotation_z(roll)); |
| assert_approx_eq!(z0, z3); |
| |
| let yx0 = y0 * x0; |
| assert!(yx0.is_normalized()); |
| let yx1 = $quat::from_euler(EulerRot::YXZ, yaw, pitch, zero); |
| assert_approx_eq!(yx0, yx1); |
| |
| let yxz0 = y0 * x0 * z0; |
| assert!(yxz0.is_normalized()); |
| let yxz1 = $quat::from_euler(EulerRot::YXZ, yaw, pitch, roll); |
| assert_approx_eq!(yxz0, yxz1); |
| |
| // use the conjugate of z0 to remove the rotation from yxz0 |
| let yx2 = yxz0 * z0.conjugate(); |
| assert_approx_eq!(yx0, yx2); |
| assert!((yxz0 * yxz0.conjugate()).is_near_identity()); |
| |
| // test inverse does the same |
| let yx2 = yxz0 * z0.inverse(); |
| assert_approx_eq!(yx0, yx2); |
| assert!((yxz0 * yxz0.inverse()).is_near_identity()); |
| |
| let yxz2 = $quat::from_mat4(&$mat4::from_quat(yxz0)); |
| assert_approx_eq!(yxz0, yxz2); |
| |
| // if near identity, just returns x axis and 0 rotation |
| let (axis, angle) = $quat::IDENTITY.to_axis_angle(); |
| assert_eq!(axis, $vec3::X); |
| assert_eq!(angle, rad(0.0)); |
| |
| let mut x0 = $quat::from_rotation_x(pitch); |
| x0 *= x0; |
| assert_approx_eq!(x0, $quat::from_rotation_x(pitch * 2.0)); |
| |
| should_glam_assert!({ ($quat::IDENTITY * 2.0).inverse() }); |
| should_glam_assert!({ $quat::from_axis_angle($vec3::ZERO, 0.0) }); |
| }); |
| |
| glam_test!(test_from_scaled_axis, { |
| assert_eq!($quat::from_scaled_axis($vec3::ZERO), $quat::IDENTITY); |
| assert_eq!( |
| $quat::from_scaled_axis($vec3::Y * 1e-10), |
| $quat::from_axis_angle($vec3::Y, 1e-10) |
| ); |
| assert_eq!( |
| $quat::from_scaled_axis($vec3::X * 1.0), |
| $quat::from_axis_angle($vec3::X, 1.0) |
| ); |
| assert_eq!( |
| $quat::from_scaled_axis($vec3::Z * 2.0), |
| $quat::from_axis_angle($vec3::Z, 2.0) |
| ); |
| |
| assert_eq!( |
| $quat::from_scaled_axis($vec3::ZERO).to_scaled_axis(), |
| $vec3::ZERO |
| ); |
| for &v in &vec3_float_test_vectors!($vec3) { |
| if v.length() < core::$t::consts::PI { |
| assert!(($quat::from_scaled_axis(v).to_scaled_axis() - v).length() < 1e-6,); |
| } |
| } |
| }); |
| |
| glam_test!(test_mul_vec3, { |
| let qrz = $quat::from_rotation_z(deg(90.0)); |
| assert_approx_eq!($vec3::Y, qrz * $vec3::X); |
| assert_approx_eq!($vec3::Y, qrz.mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::Y, -qrz * $vec3::X); |
| assert_approx_eq!($vec3::Y, qrz.neg().mul_vec3($vec3::X)); |
| assert_approx_eq!(-$vec3::X, qrz * $vec3::Y); |
| assert_approx_eq!(-$vec3::X, qrz.mul_vec3($vec3::Y)); |
| assert_approx_eq!(-$vec3::X, -qrz * $vec3::Y); |
| assert_approx_eq!(-$vec3::X, qrz.neg().mul_vec3($vec3::Y)); |
| |
| // check vec3 * mat3 is the same |
| let mrz = $mat3::from_quat(qrz); |
| assert_approx_eq!($vec3::Y, mrz * $vec3::X); |
| assert_approx_eq!($vec3::Y, mrz.mul_vec3($vec3::X)); |
| // assert_approx_eq!($vec3::Y, -mrz * $vec3::X); |
| assert_approx_eq!(-$vec3::X, mrz * $vec3::Y); |
| assert_approx_eq!(-$vec3::X, mrz.mul_vec3($vec3::Y)); |
| |
| let qrx = $quat::from_rotation_x(deg(90.0)); |
| assert_approx_eq!($vec3::X, qrx * $vec3::X); |
| assert_approx_eq!($vec3::X, qrx.mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::X, -qrx * $vec3::X); |
| assert_approx_eq!($vec3::X, qrx.neg().mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::Z, qrx * $vec3::Y); |
| assert_approx_eq!($vec3::Z, qrx.mul_vec3($vec3::Y)); |
| assert_approx_eq!($vec3::Z, -qrx * $vec3::Y); |
| assert_approx_eq!($vec3::Z, qrx.neg().mul_vec3($vec3::Y)); |
| |
| // check vec3 * mat3 is the same |
| let mrx = $mat3::from_quat(qrx); |
| assert_approx_eq!($vec3::X, mrx * $vec3::X); |
| assert_approx_eq!($vec3::X, mrx.mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::Z, mrx * $vec3::Y); |
| assert_approx_eq!($vec3::Z, mrx.mul_vec3($vec3::Y)); |
| |
| let qrxz = qrz * qrx; |
| assert_approx_eq!($vec3::Y, qrxz * $vec3::X); |
| assert_approx_eq!($vec3::Y, qrxz.mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::Z, qrxz * $vec3::Y); |
| assert_approx_eq!($vec3::Z, qrxz.mul_vec3($vec3::Y)); |
| |
| let mrxz = mrz * mrx; |
| assert_approx_eq!($vec3::Y, mrxz * $vec3::X); |
| assert_approx_eq!($vec3::Y, mrxz.mul_vec3($vec3::X)); |
| assert_approx_eq!($vec3::Z, mrxz * $vec3::Y); |
| assert_approx_eq!($vec3::Z, mrxz.mul_vec3($vec3::Y)); |
| |
| let qrzx = qrx * qrz; |
| assert_approx_eq!($vec3::Z, qrzx * $vec3::X); |
| assert_approx_eq!($vec3::Z, qrzx.mul_vec3($vec3::X)); |
| assert_approx_eq!(-$vec3::X, qrzx * $vec3::Y); |
| assert_approx_eq!(-$vec3::X, qrzx.mul_vec3($vec3::Y)); |
| |
| let mrzx = qrx * qrz; |
| assert_approx_eq!($vec3::Z, mrzx * $vec3::X); |
| assert_approx_eq!($vec3::Z, mrzx.mul_vec3($vec3::X)); |
| assert_approx_eq!(-$vec3::X, mrzx * $vec3::Y); |
| assert_approx_eq!(-$vec3::X, mrzx.mul_vec3($vec3::Y)); |
| |
| should_glam_assert!({ ($quat::IDENTITY * 0.5).mul_vec3($vec3::X) }); |
| should_glam_assert!({ ($quat::IDENTITY * 0.5) * $vec3::X }); |
| }); |
| |
| glam_test!(test_angle_between, { |
| const TAU: $t = 2.0 * core::$t::consts::PI; |
| let eps = 10.0 * $t::EPSILON as f32; |
| let q1 = $quat::from_euler(EulerRot::YXZ, 0.0, 0.0, 0.0); |
| let q2 = $quat::from_euler(EulerRot::YXZ, TAU * 0.25, 0.0, 0.0); |
| let q3 = $quat::from_euler(EulerRot::YXZ, TAU * 0.5, 0.0, 0.0); |
| let q4 = $quat::from_euler(EulerRot::YXZ, 0.0, 0.0, TAU * 0.25); |
| let q5 = $quat::from_axis_angle($vec3::new(1.0, 2.0, 3.0).normalize(), TAU * 0.3718); |
| let q6 = $quat::from_axis_angle($vec3::new(-1.0, 5.0, 3.0).normalize(), TAU * 0.94); |
| assert_approx_eq!(q1.angle_between(q2), TAU * 0.25, eps); |
| assert_approx_eq!(q1.angle_between(q3), TAU * 0.5, eps); |
| assert_approx_eq!(q3.angle_between(q3), 0.0, eps); |
| assert_approx_eq!(q3.angle_between(-q3), 0.0, eps); |
| assert_approx_eq!((q4 * q2 * q2).angle_between(q4 * q2), TAU * 0.25, eps); |
| assert_approx_eq!(q1.angle_between(q5), TAU * 0.3718, eps); |
| assert_approx_eq!( |
| (q5 * q2 * q1).angle_between(q5 * q2 * q5), |
| TAU * 0.3718, |
| eps |
| ); |
| assert_approx_eq!((q3 * q3).angle_between(q1), 0.0, eps); |
| assert_approx_eq!((q3 * q3 * q3).angle_between(q3), 0.0, eps); |
| assert_approx_eq!((q3 * q3 * q3 * q3).angle_between(q1), 0.0, eps); |
| assert_approx_eq!(q1.angle_between(q6), TAU - TAU * 0.94, eps); |
| assert_approx_eq!((q5 * q1).angle_between(q5 * q6), TAU - TAU * 0.94, eps); |
| assert_approx_eq!((q1 * q5).angle_between(q6 * q5), TAU - TAU * 0.94, eps); |
| }); |
| |
| glam_test!(test_lerp, { |
| let q0 = $quat::from_rotation_y(deg(0.0)); |
| assert_approx_eq!(q0, q0.slerp(q0, 0.0)); |
| assert_approx_eq!(q0, q0.slerp(q0, 1.0)); |
| |
| let q1 = $quat::from_rotation_y(deg(90.0)); |
| assert_approx_eq!(q0, q0.lerp(q1, 0.0)); |
| assert_approx_eq!(q1, q0.lerp(q1, 1.0)); |
| assert_approx_eq!($quat::from_rotation_y(deg(45.0)), q0.lerp(q1, 0.5)); |
| |
| should_glam_assert!({ $quat::lerp($quat::IDENTITY * 2.0, $quat::IDENTITY, 1.0) }); |
| should_glam_assert!({ $quat::lerp($quat::IDENTITY, $quat::IDENTITY * 0.5, 1.0) }); |
| }); |
| |
| glam_test!(test_slerp, { |
| let q0 = $quat::from_rotation_y(deg(0.0)); |
| assert_approx_eq!(q0, q0.slerp(q0, 0.0)); |
| assert_approx_eq!(q0, q0.slerp(q0, 1.0)); |
| |
| let q1 = $quat::from_rotation_y(deg(90.0)); |
| assert_approx_eq!(q0, q0.slerp(q1, 0.0), 1.0e-3); |
| assert_approx_eq!(q1, q0.slerp(q1, 1.0), 1.0e-3); |
| assert_approx_eq!($quat::from_rotation_y(deg(45.0)), q0.slerp(q1, 0.5), 1.0e-3); |
| |
| should_glam_assert!({ $quat::slerp($quat::IDENTITY * 2.0, $quat::IDENTITY, 1.0) }); |
| should_glam_assert!({ $quat::slerp($quat::IDENTITY, $quat::IDENTITY * 0.5, 1.0) }); |
| }); |
| |
| glam_test!(test_slerp_constant_speed, { |
| let step = 0.01; |
| let mut s = 0.0; |
| while s <= 1.0 { |
| let q0 = $quat::from_rotation_y(deg(0.0)); |
| let q1 = $quat::from_rotation_y(deg(90.0)); |
| let result = q0.slerp(q1, s); |
| assert_approx_eq!($quat::from_rotation_y(deg(s * 90.0)), result, 1.0e-3); |
| assert!(result.is_normalized()); |
| s += step; |
| } |
| }); |
| |
| glam_test!(test_slerp_tau, { |
| let q1 = $quat::IDENTITY; |
| let q2 = $quat::from_rotation_x(core::$t::consts::TAU); |
| let s = q1.slerp(q2, 1.); |
| assert!(s.is_finite()); |
| assert!(s.is_normalized()); |
| }); |
| |
| glam_test!(test_slerp_negative_tau, { |
| let q1 = $quat::IDENTITY; |
| let q2 = $quat::from_rotation_x(-core::$t::consts::TAU); |
| let s = q1.slerp(q2, 1.); |
| assert!(s.is_finite()); |
| assert!(s.is_normalized()); |
| }); |
| |
| glam_test!(test_slerp_pi, { |
| let q1 = $quat::IDENTITY; |
| let q2 = $quat::from_rotation_x(core::$t::consts::PI); |
| let s = q1.slerp(q2, 1.); |
| assert!(s.is_finite()); |
| assert!(s.is_normalized()); |
| }); |
| |
| glam_test!(test_slerp_negative_pi, { |
| let q1 = $quat::IDENTITY; |
| let q2 = $quat::from_rotation_x(-core::$t::consts::PI); |
| let s = q1.slerp(q2, 1.); |
| assert!(s.is_finite()); |
| assert!(s.is_normalized()); |
| }); |
| |
| glam_test!(test_rotate_towards, { |
| use core::$t::consts::{FRAC_PI_2, FRAC_PI_4}; |
| let eps = 10.0 * $t::EPSILON as f32; |
| |
| // Setup such that `q0` is `PI/2` and `-PI/2` radians away from `q1` and `q2` respectively. |
| let q0 = $quat::from_euler(EulerRot::YXZ, 0.0, 0.0, 0.0); |
| let q1 = $quat::from_euler(EulerRot::YXZ, FRAC_PI_2, 0.0, 0.0); |
| let q2 = $quat::from_euler(EulerRot::YXZ, -FRAC_PI_2, 0.0, 0.0); |
| |
| // Positive delta |
| assert_approx_eq!(q0, q0.rotate_towards(q1, 0.0), eps); |
| assert_approx_eq!( |
| $quat::from_euler(EulerRot::YXZ, FRAC_PI_4, 0.0, 0.0), |
| q0.rotate_towards(q1, FRAC_PI_4), |
| eps |
| ); |
| assert_approx_eq!(q1, q0.rotate_towards(q1, FRAC_PI_2), eps); |
| assert_approx_eq!(q1, q0.rotate_towards(q1, FRAC_PI_2 * 1.5), eps); |
| |
| // Negative delta |
| assert_approx_eq!( |
| $quat::from_euler(EulerRot::YXZ, -FRAC_PI_4, 0.0, 0.0), |
| q0.rotate_towards(q1, -FRAC_PI_4), |
| eps |
| ); |
| assert_approx_eq!(q2, q0.rotate_towards(q1, -FRAC_PI_2), eps); |
| assert_approx_eq!(q2, q0.rotate_towards(q1, -FRAC_PI_2 * 1.5), eps); |
| }); |
| |
| glam_test!(test_fmt, { |
| let a = $quat::IDENTITY; |
| assert_eq!( |
| format!("{:?}", a), |
| format!("{}(0.0, 0.0, 0.0, 1.0)", stringify!($quat)) |
| ); |
| // assert_eq!( |
| // format!("{:#?}", a), |
| // "$quat(\n 1.0,\n 2.0,\n 3.0,\n 4.0\n)" |
| // ); |
| assert_eq!(format!("{}", a), "[0, 0, 0, 1]"); |
| assert_eq!(format!("{:.2}", a), "[0.00, 0.00, 0.00, 1.00]"); |
| }); |
| |
| glam_test!(test_identity, { |
| let identity = $quat::IDENTITY; |
| assert!(identity.is_near_identity()); |
| assert!(identity.is_normalized()); |
| assert_eq!(identity, $quat::from_xyzw(0.0, 0.0, 0.0, 1.0)); |
| assert_eq!(identity, identity * identity); |
| let q = $quat::from_euler(EulerRot::YXZ, deg(10.0), deg(-10.0), deg(45.0)); |
| assert_eq!(q, q * identity); |
| assert_eq!(q, identity * q); |
| assert_eq!(identity, $quat::default()); |
| }); |
| |
| glam_test!(test_slice, { |
| let a: [$t; 4] = |
| $quat::from_euler(EulerRot::YXZ, deg(30.0), deg(60.0), deg(90.0)).into(); |
| let b = $quat::from_slice(&a); |
| let c: [$t; 4] = b.into(); |
| assert_eq!(a, c); |
| let mut d = [0.0, 0.0, 0.0, 0.0]; |
| b.write_to_slice(&mut d[..]); |
| assert_eq!(a, d); |
| |
| should_panic!({ $quat::IDENTITY.write_to_slice(&mut [0 as $t; 3]) }); |
| should_panic!({ $quat::from_slice(&[0 as $t; 3]) }); |
| }); |
| |
| glam_test!(test_elements, { |
| let x = 1.0; |
| let y = 2.0; |
| let z = 3.0; |
| let w = 4.0; |
| |
| let a = $quat::from_xyzw(x, y, z, w); |
| assert!(a.x == x); |
| assert!(a.y == y); |
| assert!(a.z == z); |
| assert!(a.w == w); |
| |
| assert_eq!($vec3::new(1.0, 2.0, 3.0), a.xyz()); |
| }); |
| |
| glam_test!(test_addition, { |
| let a = $quat::from_xyzw(1.0, 2.0, 3.0, 4.0); |
| let b = $quat::from_xyzw(5.0, 6.0, 7.0, -9.0); |
| assert_eq!(a + b, $quat::from_xyzw(6.0, 8.0, 10.0, -5.0)); |
| }); |
| |
| glam_test!(test_subtraction, { |
| let a = $quat::from_xyzw(6.0, 8.0, 10.0, -5.0); |
| let b = $quat::from_xyzw(5.0, 6.0, 7.0, -9.0); |
| assert_eq!(a - b, $quat::from_xyzw(1.0, 2.0, 3.0, 4.0)); |
| }); |
| |
| glam_test!(test_scalar_multiplication, { |
| let a = $quat::from_xyzw(1.0, 2.0, 3.0, 4.0); |
| assert_eq!(a * 2.0, $quat::from_xyzw(2.0, 4.0, 6.0, 8.0)); |
| }); |
| |
| glam_test!(test_scalar_division, { |
| let a = $quat::from_xyzw(2.0, 4.0, 6.0, 8.0); |
| assert_eq!(a / 2.0, $quat::from_xyzw(1.0, 2.0, 3.0, 4.0)); |
| }); |
| |
| glam_test!(test_sum, { |
| let two = $new(2.0, 2.0, 2.0, 2.0); |
| assert_eq!([two, two].iter().sum::<$quat>(), two + two); |
| assert_eq!([two, two].into_iter().sum::<$quat>(), two + two); |
| }); |
| |
| glam_test!(test_product, { |
| let two = $new(2.0, 2.0, 2.0, 2.0).normalize(); |
| assert_eq!([two, two].iter().product::<$quat>(), two * two); |
| assert_eq!([two, two].into_iter().product::<$quat>(), two * two); |
| }); |
| |
| glam_test!(test_is_finite, { |
| assert!($quat::from_xyzw(0.0, 0.0, 0.0, 0.0).is_finite()); |
| assert!($quat::from_xyzw(-1e-10, 1.0, 1e10, 42.0).is_finite()); |
| assert!(!$quat::from_xyzw($t::INFINITY, 0.0, 0.0, 0.0).is_finite()); |
| assert!(!$quat::from_xyzw(0.0, $t::NAN, 0.0, 0.0).is_finite()); |
| assert!(!$quat::from_xyzw(0.0, 0.0, $t::NEG_INFINITY, 0.0).is_finite()); |
| assert!(!$quat::from_xyzw(0.0, 0.0, 0.0, $t::NAN).is_finite()); |
| }); |
| |
| glam_test!(test_rotation_arc, { |
| let eps = 2.0 * $t::EPSILON.sqrt(); |
| |
| for &from in &vec3_float_test_vectors!($vec3) { |
| let from = from.normalize(); |
| |
| { |
| let q = $quat::from_rotation_arc(from, from); |
| assert!(q.is_near_identity(), "from: {}, q: {}", from, q); |
| } |
| |
| { |
| let q = $quat::from_rotation_arc_colinear(from, from); |
| assert!(q.is_near_identity(), "from: {}, q: {}", from, q); |
| } |
| |
| { |
| let to = -from; |
| let q = $quat::from_rotation_arc(from, to); |
| assert!(q.is_normalized()); |
| assert!((q * from - to).length() < eps); |
| } |
| |
| { |
| let to = -from; |
| let q = $quat::from_rotation_arc_colinear(from, to); |
| assert!(q.is_near_identity(), "from: {}, q: {}", from, q); |
| } |
| |
| for &to in &vec3_float_test_vectors!($vec3) { |
| let to = to.normalize(); |
| |
| let q = $quat::from_rotation_arc(from, to); |
| assert!(q.is_normalized()); |
| assert!((q * from - to).length() < eps); |
| |
| let q = $quat::from_rotation_arc_colinear(from, to); |
| assert!(q.is_normalized()); |
| let transformed = q * from; |
| assert!( |
| (transformed - to).length() < eps || (-transformed - to).length() < eps |
| ); |
| } |
| } |
| |
| for &from in &vec2_float_test_vectors!($vec2) { |
| let from = from.normalize(); |
| |
| { |
| let q = $quat::from_rotation_arc_2d(from, from); |
| assert!(q.is_near_identity(), "from: {}, q: {}", from, q); |
| } |
| |
| { |
| let to = -from; |
| let q = $quat::from_rotation_arc_2d(from, to); |
| assert!(q.is_normalized()); |
| assert!((q * from.extend(0.0) - to.extend(0.0)).length() < eps); |
| } |
| |
| for &to in &vec2_float_test_vectors!($vec2) { |
| let to = to.normalize(); |
| |
| let q = $quat::from_rotation_arc_2d(from, to); |
| assert!(q.is_normalized()); |
| assert!((q * from.extend(0.0) - to.extend(0.0)).length() < eps); |
| } |
| } |
| |
| should_glam_assert!({ $quat::from_rotation_arc($vec3::ZERO, $vec3::X) }); |
| should_glam_assert!({ $quat::from_rotation_arc($vec3::X, $vec3::ZERO) }); |
| should_glam_assert!({ $quat::from_rotation_arc_colinear($vec3::ZERO, $vec3::X) }); |
| should_glam_assert!({ $quat::from_rotation_arc_colinear($vec3::X, $vec3::ZERO) }); |
| |
| should_glam_assert!({ $quat::from_rotation_arc_2d($vec2::ZERO, $vec2::X) }); |
| should_glam_assert!({ $quat::from_rotation_arc_2d($vec2::X, $vec2::ZERO) }); |
| }); |
| |
| glam_test!(test_to_array, { |
| assert!($new(1.0, 2.0, 3.0, 4.0).to_array() == [1.0, 2.0, 3.0, 4.0]); |
| }); |
| |
| glam_test!(test_to_axis_angle, { |
| { |
| let q = $quat::from_xyzw( |
| 5.28124762e-08, |
| -5.12559303e-03, |
| 8.29266140e-08, |
| 9.99986828e-01, |
| ); |
| assert!(q.is_normalized()); |
| let (axis, angle) = q.to_axis_angle(); |
| assert!(axis.is_normalized()); |
| let q2 = $quat::from_axis_angle(axis, angle); |
| assert!((q.dot(q2) - 1.0).abs() < 1e-6); |
| } |
| { |
| let q = $quat::IDENTITY; |
| let (axis, angle) = q.to_axis_angle(); |
| assert!(axis.is_normalized()); |
| let q2 = $quat::from_axis_angle(axis, angle); |
| assert!((q.dot(q2) - 1.0).abs() < 1e-6); |
| } |
| { |
| let q = $quat::from_xyzw(0.0, 1.0, 0.0, 0.0); |
| assert!(q.is_normalized()); |
| let (axis, angle) = q.to_axis_angle(); |
| assert!(axis.is_normalized()); |
| let q2 = $quat::from_axis_angle(axis, angle); |
| assert!((q.dot(q2) - 1.0).abs() < 1e-6); |
| } |
| { |
| let axis = $vec3::Z; |
| let angle = core::$t::consts::PI * 0.25; |
| let q = $quat::from_axis_angle(axis, angle); |
| assert!(q.is_normalized()); |
| let (axis2, angle2) = q.to_axis_angle(); |
| assert!(axis.is_normalized()); |
| assert_approx_eq!(axis, axis2); |
| assert_approx_eq!(angle, angle2); |
| } |
| }); |
| }; |
| } |
| |
| mod quat { |
| use crate::support::{deg, rad}; |
| use core::ops::Neg; |
| use glam::{quat, EulerRot, Mat3, Mat4, Quat, Vec2, Vec3, Vec3A, Vec4}; |
| |
| glam_test!(test_align, { |
| use std::mem; |
| assert_eq!(16, mem::size_of::<Quat>()); |
| if cfg!(feature = "scalar-math") { |
| assert_eq!(4, mem::align_of::<Quat>()); |
| } else { |
| assert_eq!(16, mem::align_of::<Quat>()); |
| } |
| }); |
| |
| glam_test!(test_mul_vec3a, { |
| let qrz = Quat::from_rotation_z(deg(90.0)); |
| assert_approx_eq!(Vec3A::Y, qrz * Vec3A::X); |
| assert_approx_eq!(Vec3A::Y, qrz.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::Y, -qrz * Vec3A::X); |
| assert_approx_eq!(Vec3A::Y, qrz.neg().mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(-Vec3A::X, qrz * Vec3A::Y); |
| assert_approx_eq!(-Vec3A::X, qrz.mul_vec3a(Vec3A::Y)); |
| assert_approx_eq!(-Vec3A::X, -qrz * Vec3A::Y); |
| assert_approx_eq!(-Vec3A::X, qrz.neg().mul_vec3a(Vec3A::Y)); |
| |
| // check vec3 * mat3 is the same |
| let mrz = Mat3::from_quat(qrz); |
| assert_approx_eq!(Vec3A::Y, mrz * Vec3A::X); |
| assert_approx_eq!(Vec3A::Y, mrz.mul_vec3a(Vec3A::X)); |
| // assert_approx_eq!(Vec3A::Y, -mrz * Vec3A::X); |
| assert_approx_eq!(-Vec3A::X, mrz * Vec3A::Y); |
| assert_approx_eq!(-Vec3A::X, mrz.mul_vec3a(Vec3A::Y)); |
| |
| let qrx = Quat::from_rotation_x(deg(90.0)); |
| assert_approx_eq!(Vec3A::X, qrx * Vec3A::X); |
| assert_approx_eq!(Vec3A::X, qrx.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::X, -qrx * Vec3A::X); |
| assert_approx_eq!(Vec3A::X, qrx.neg().mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::Z, qrx * Vec3A::Y); |
| assert_approx_eq!(Vec3A::Z, qrx.mul_vec3a(Vec3A::Y)); |
| assert_approx_eq!(Vec3A::Z, -qrx * Vec3A::Y); |
| assert_approx_eq!(Vec3A::Z, qrx.neg().mul_vec3a(Vec3A::Y)); |
| |
| // check vec3 * mat3 is the same |
| let mrx = Mat3::from_quat(qrx); |
| assert_approx_eq!(Vec3A::X, mrx * Vec3A::X); |
| assert_approx_eq!(Vec3A::X, mrx.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::Z, mrx * Vec3A::Y); |
| assert_approx_eq!(Vec3A::Z, mrx.mul_vec3a(Vec3A::Y)); |
| |
| let qrxz = qrz * qrx; |
| assert_approx_eq!(Vec3A::Y, qrxz * Vec3A::X); |
| assert_approx_eq!(Vec3A::Y, qrxz.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::Z, qrxz * Vec3A::Y); |
| assert_approx_eq!(Vec3A::Z, qrxz.mul_vec3a(Vec3A::Y)); |
| |
| let mrxz = mrz * mrx; |
| assert_approx_eq!(Vec3A::Y, mrxz * Vec3A::X); |
| assert_approx_eq!(Vec3A::Y, mrxz.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(Vec3A::Z, mrxz * Vec3A::Y); |
| assert_approx_eq!(Vec3A::Z, mrxz.mul_vec3a(Vec3A::Y)); |
| |
| let qrzx = qrx * qrz; |
| assert_approx_eq!(Vec3A::Z, qrzx * Vec3A::X); |
| assert_approx_eq!(Vec3A::Z, qrzx.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(-Vec3A::X, qrzx * Vec3A::Y); |
| assert_approx_eq!(-Vec3A::X, qrzx.mul_vec3a(Vec3A::Y)); |
| |
| let mrzx = qrx * qrz; |
| assert_approx_eq!(Vec3A::Z, mrzx * Vec3A::X); |
| assert_approx_eq!(Vec3A::Z, mrzx.mul_vec3a(Vec3A::X)); |
| assert_approx_eq!(-Vec3A::X, mrzx * Vec3A::Y); |
| assert_approx_eq!(-Vec3A::X, mrzx.mul_vec3a(Vec3A::Y)); |
| }); |
| |
| glam_test!(test_from_mat3a, { |
| use glam::Mat3A; |
| let yaw = deg(30.0); |
| let y0 = Quat::from_rotation_y(yaw); |
| let y1 = Quat::from_mat3a(&Mat3A::from_rotation_y(yaw)); |
| assert_approx_eq!(y0, y1); |
| let y2 = Quat::from_mat3a(&Mat3A::from_quat(y0)); |
| assert_approx_eq!(y0, y2); |
| }); |
| |
| glam_test!(test_as, { |
| use glam::DQuat; |
| assert_approx_eq!( |
| DQuat::from_euler(EulerRot::YXZ, 1.0, 2.0, 3.0), |
| Quat::from_euler(EulerRot::YXZ, 1.0, 2.0, 3.0).as_dquat() |
| ); |
| assert_approx_eq!( |
| Quat::from_euler(EulerRot::YXZ, 1.0, 2.0, 3.0), |
| DQuat::from_euler(EulerRot::YXZ, 1.0, 2.0, 3.0).as_quat() |
| ); |
| }); |
| |
| impl_quat_tests!(f32, quat, Mat3, Mat4, Quat, Vec2, Vec3, Vec4); |
| } |
| |
| mod dquat { |
| use crate::support::{deg, rad}; |
| use core::ops::Neg; |
| use glam::{dquat, DMat3, DMat4, DQuat, DVec2, DVec3, DVec4, EulerRot}; |
| |
| glam_test!(test_align, { |
| use std::mem; |
| assert_eq!(32, mem::size_of::<DQuat>()); |
| assert_eq!(mem::align_of::<f64>(), mem::align_of::<DQuat>()); |
| }); |
| |
| impl_quat_tests!(f64, dquat, DMat3, DMat4, DQuat, DVec2, DVec3, DVec4); |
| } |
