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Add SLERP test for floats, use second yest too.

This commit is contained in:
Kyle Isom 2019-08-07 01:54:11 +00:00
parent eaed085fdb
commit bbaa497a71
1 changed files with 58 additions and 2 deletions
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60
test/quaternion_test.cc
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@ -111,10 +111,10 @@ TEST(Quaterniond, ShortestSLERP)
{ {
// Our starting point is an orientation that is yawed 45° - our // Our starting point is an orientation that is yawed 45° - our
// orientation is pointed π/4 radians in the X axis. // orientation is pointed π/4 radians in the X axis.
geom::Quaterniond p = geom::Quaterniond {0.382683, 0, 0, 0.92388}; geom::Quaterniond p {0.382683, 0, 0, 0.92388};
// Our ending point is an orientation that is yawed -45° - or // Our ending point is an orientation that is yawed -45° - or
// pointed -π/4 radians in the X axis. // pointed -π/4 radians in the X axis.
geom::Quaterniond q = geom::Quaterniond {-0.382683, 0, 0, 0.92388}; geom::Quaterniond q {-0.382683, 0, 0, 0.92388};
// The halfway point should be oriented midway about the X axis. It turns // The halfway point should be oriented midway about the X axis. It turns
// out this is an identity quaternion. // out this is an identity quaternion.
geom::Quaterniond r; geom::Quaterniond r;
@ -125,6 +125,25 @@ TEST(Quaterniond, ShortestSLERP)
} }
TEST(Quaterniond, ShortestSLERP2)
{
// Start with an orientation pointing forward, all Euler angles
// set to 0.
geom::Quaterniond start {0.0, 0.0, 0.0, 1.0};
// The goal is to end up face up, or 90º pitch (still facing forward).
geom::Quaterniond end {0, -0.707107, 0, 0.707107};
// Halfway to the endpoint should be a 45º pitch.
geom::Quaterniond halfway {0, -0.382683, 0, 0.92388 };
// 2/3 of the way should be 60º pitch.
geom::Quaterniond twoThirds {0, -0.5, 0, 0.866025};
EXPECT_EQ(ShortestSLERP(start, end, 0.0), start);
EXPECT_EQ(ShortestSLERP(start, end, 1.0), end);
EXPECT_EQ(ShortestSLERP(start, end, 0.5), halfway);
EXPECT_EQ(ShortestSLERP(start, end, 2.0/3.0), twoThirds);
}
TEST(Quaterniond, Unit) TEST(Quaterniond, Unit)
{ {
geom::Quaterniond q(geom::Vector4d{0.5773502691896258, 0.5773502691896258, 0.5773502691896258, 0.0}); geom::Quaterniond q(geom::Vector4d{0.5773502691896258, 0.5773502691896258, 0.5773502691896258, 0.0});
@ -228,6 +247,43 @@ TEST(Quaternionf, Rotate)
} }
TEST(Quaternionf, ShortestSLERP)
{
// Our starting point is an orientation that is yawed 45° - our
// orientation is pointed π/4 radians in the X axis.
geom::Quaternionf p {0.382683, 0, 0, 0.92388};
// Our ending point is an orientation that is yawed -45° - or
// pointed -π/4 radians in the X axis.
geom::Quaternionf q {-0.382683, 0, 0, 0.92388};
// The halfway point should be oriented midway about the X axis. It turns
// out this is an identity quaternion.
geom::Quaternionf r;
EXPECT_EQ(geom::ShortestSLERP(p, q, (float)0.0), p);
EXPECT_EQ(geom::ShortestSLERP(p, q, (float)1.0), q);
EXPECT_EQ(geom::ShortestSLERP(p, q, (float)0.5), r);
}
TEST(Quaternionf, ShortestSLERP2)
{
// Start with an orientation pointing forward, all Euler angles
// set to 0.
geom::Quaternionf start {0.0, 0.0, 0.0, 1.0};
// The goal is to end up face up, or 90º pitch (still facing forward).
geom::Quaternionf end {0, -0.707107, 0, 0.707107};
// Halfway to the endpoint should be a 45º pitch.
geom::Quaternionf halfway {0, -0.382683, 0, 0.92388 };
// 2/3 of the way should be 60º pitch.
geom::Quaternionf twoThirds {0, -0.5, 0, 0.866025};
EXPECT_EQ(ShortestSLERP(start, end, (float)0.0), start);
EXPECT_EQ(ShortestSLERP(start, end, (float)1.0), end);
EXPECT_EQ(ShortestSLERP(start, end, (float)0.5), halfway);
EXPECT_EQ(ShortestSLERP(start, end, (float)(2.0/3.0)), twoThirds);
}
TEST(Quaternionf, Unit) TEST(Quaternionf, Unit)
{ {
geom::Quaternionf q(geom::Vector4f{0.5773502691896258, 0.5773502691896258, 0.5773502691896258, 0.0}); geom::Quaternionf q(geom::Vector4f{0.5773502691896258, 0.5773502691896258, 0.5773502691896258, 0.0});