2 * Copyright ( c ) 2014 Samsung Electronics Co., Ltd.
4 * Licensed under the Apache License, Version 2.0 ( the "License" );
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
22 #include <dali/public-api/dali-core.h>
23 #include <dali-test-suite-utils.h>
28 void utc_dali_quaternion_startup(void)
30 test_return_value = TET_UNDEF;
33 void utc_dali_quaternion_cleanup(void)
35 test_return_value = TET_PASS;
39 int UtcDaliQuaternionCtorDefaultP(void)
42 DALI_TEST_EQUALS( q.AsVector().w, 1.0f, TEST_LOCATION );
43 DALI_TEST_EQUALS( q.AsVector().x, 0.0f, TEST_LOCATION );
44 DALI_TEST_EQUALS( q.AsVector().y, 0.0f, TEST_LOCATION );
45 DALI_TEST_EQUALS( q.AsVector().z, 0.0f, TEST_LOCATION );
49 int UtcDaliQuaternionCtorCosSinThetaP(void)
51 Quaternion q( 1.0f, 0.1f, 0.2f, 0.3f );
53 DALI_TEST_EQUALS( q.AsVector().w, 1.0f, TEST_LOCATION );
54 DALI_TEST_EQUALS( q.AsVector().x, 0.1f, TEST_LOCATION );
55 DALI_TEST_EQUALS( q.AsVector().y, 0.2f, TEST_LOCATION );
56 DALI_TEST_EQUALS( q.AsVector().z, 0.3f, TEST_LOCATION );
60 int UtcDaliQuaternionCtorVector4P(void)
62 Quaternion q( Vector4( 1.0f, 0.1f, 0.2f, 0.3f ) );
64 DALI_TEST_EQUALS( q.AsVector().x, 1.0f, TEST_LOCATION );
65 DALI_TEST_EQUALS( q.AsVector().y, 0.1f, TEST_LOCATION );
66 DALI_TEST_EQUALS( q.AsVector().z, 0.2f, TEST_LOCATION );
67 DALI_TEST_EQUALS( q.AsVector().w, 0.3f, TEST_LOCATION );
71 int UtcDaliQuaternionCtorAxisAngleVector3P(void)
73 Quaternion q( Dali::ANGLE_90, Vector3( 1.0f, 2.0f, 3.0f ) );
75 // This will be normalised:
76 DALI_TEST_EQUALS( q.AsVector().w, 0.707f, 0.001, TEST_LOCATION );
77 DALI_TEST_EQUALS( q.AsVector().x, 0.189f, 0.001, TEST_LOCATION );
78 DALI_TEST_EQUALS( q.AsVector().y, 0.378f, 0.001, TEST_LOCATION );
79 DALI_TEST_EQUALS( q.AsVector().z, 0.567f, 0.001, TEST_LOCATION );
83 int UtcDaliQuaternionCtorEulerAngleP(void)
85 Quaternion q1(0.924f, 0.383f, 0.0f, 0.0f);
86 Vector4 r1(Radian(Degree(45)), 0.0f, 0.0f, 0.0f);
88 Quaternion q2(0.793f, 0.0f, 0.609f, 0.0f);
89 Vector4 r2(0.0f, Radian(Degree(75)), 0.0f, 0.0f);
91 Quaternion q3(0.383f, 0.0f, 0.0f, 0.924f);
92 Vector4 r3(0.0f, 0.0f, Radian(Degree(135)), 0.0f);
94 Quaternion q4(0.795f, 0.478f, 0.374f, 0.006f);
95 Vector4 r4(Radian(Degree(71)), Radian(Degree(36)), Radian(Degree(27)), 0.0f);
97 Quaternion q5( -0.149f, -0.697f, 0.145f, -0.686f);
98 Vector4 r5(Radian(Degree(148.0)), Radian(Degree(-88.2)), Radian(Degree(8.0)), 0.0f);
100 DALI_TEST_EQUALS(q1.EulerAngles(), r1, 0.001, TEST_LOCATION);
101 DALI_TEST_EQUALS(q2.EulerAngles(), r2, 0.001, TEST_LOCATION);
102 DALI_TEST_EQUALS(q3.EulerAngles(), r3, 0.001, TEST_LOCATION);
103 DALI_TEST_EQUALS(q4.EulerAngles(), r4, 0.01, TEST_LOCATION);
104 DALI_TEST_EQUALS(q5.EulerAngles(), r5, 0.01, TEST_LOCATION);
108 int UtcDaliQuaternionCtorMatrixP01(void)
110 // angle: 60 deg, axis: [1,2,3]
111 float Mref_raw[16] = { 0.535714f, 0.765794f, -0.355767f, 0.0f,
112 -0.622936f, 0.642857f, 0.445741f, 0.0f,
113 0.570053f, -0.0171693f, 0.821429f, 0.0f,
114 0.0f, 0.0f, 0.0f, 1.0f};
115 Matrix Mref( Mref_raw );
117 Quaternion q1( Radian(M_PI/3.0f), Vector3( 1.0f, 2.0f, 3.0f ) );
118 Quaternion q2( Mref );
120 DALI_TEST_EQUALS( q1, q2, 0.001, TEST_LOCATION );
124 int UtcDaliQuaternionCtorMatrixP02(void)
129 Matrix m( q ); // Convert to matrix
131 Quaternion q2( m ); // and back to a quaternion
133 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
134 DALI_TEST_EQUALS( m, Matrix::IDENTITY, 0.001f, TEST_LOCATION );
138 int UtcDaliQuaternionCtorMatrixP03(void)
140 // Create an arbitrary forward vector
141 for( float x=-1.0f; x<=1.0f; x+=0.1f )
143 for( float y=-1.0f; y<1.0f; y+=0.1f )
145 for( float z=-1.0f; z<1.0f; z+=0.1f )
147 Vector3 vForward( x, y, z );
148 vForward.Normalize();
150 // Construct an up vector from a sideways move
152 Vector3 vUp = vForward.Cross( Vector3( vForward.x+1.0f, vForward.y, vForward.z ) );
153 if( vUp.Length() > 0.01 )
156 vSide = vUp.Cross( vForward );
161 vSide = vForward.Cross( Vector3( vForward.x, vForward.y+1.0f, vForward.z ) );
163 vUp = vForward.Cross( vSide );
167 // Generate a matrix, and then a quaternion from it
168 Matrix rotMatrix( Matrix::IDENTITY );
169 rotMatrix.SetXAxis( vSide );
170 rotMatrix.SetYAxis( vUp );
171 rotMatrix.SetZAxis( vForward );
172 Quaternion q( rotMatrix );
174 // Generate a matrix from the quaternion, check they are the same
175 Matrix resultMatrix( q );
176 DALI_TEST_EQUALS( resultMatrix, rotMatrix, 0.001f, TEST_LOCATION );
178 // Rotate an arbitrary vector by both quaternion and rotation matrix,
179 // check the result is the same
181 Vector4 aVector( -2.983f, -3.213f, 8.2239f, 1.0f );
182 Vector3 aVectorRotatedByQ = q.Rotate( Vector3( aVector ) );
183 Vector4 aVectorRotatedByR = rotMatrix*aVector;
184 DALI_TEST_EQUALS( aVectorRotatedByQ, Vector3( aVectorRotatedByR ), 0.001f, TEST_LOCATION );
191 int UtcDaliQuaternionCtorAxesP01(void)
193 // angle: 60 deg, axis: [1,2,3]
194 float Mref_raw[16] = { 0.535714f, 0.765794f, -0.355767f, 0.0f,
195 -0.622936f, 0.642857f, 0.445741f, 0.0f,
196 0.570053f, -0.0171693f, 0.821429f, 0.0f,
197 0.0f, 0.0f, 0.0f, 1.0f};
198 Matrix Mref( Mref_raw );
200 Quaternion q1( Radian(M_PI/3.0f), Vector3( 1.0f, 2.0f, 3.0f ) );
201 Quaternion q2( Mref.GetXAxis(), Mref.GetYAxis(), Mref.GetZAxis() );
203 DALI_TEST_EQUALS( q1, q2, 0.001, TEST_LOCATION );
207 int UtcDaliQuaternionCtorAxesP02(void)
209 Vector3 xAxis( Vector3::XAXIS );
210 Vector3 yAxis( Vector3::YAXIS );
211 Vector3 zAxis( Vector3::ZAXIS );
213 Quaternion q1( xAxis, yAxis, zAxis );
215 DALI_TEST_EQUALS( q1, Quaternion::IDENTITY, TEST_LOCATION );
217 xAxis = Vector3( 1.0f, 1.0f, 0.0f );
219 yAxis = Vector3( -1.0f, 1.0f, 0.0f ); // 45 degrees anticlockwise ( +ve ) around z
221 zAxis = xAxis.Cross( yAxis );
223 Quaternion q2( xAxis, yAxis, zAxis );
225 DALI_TEST_EQUALS( q2, Quaternion( Radian( Degree( 45 ) ), Vector3::ZAXIS ), 0.001f, TEST_LOCATION );
230 int UtcDaliQuaternionCtorAxesP03(void)
232 // Create an arbitrary forward vector
233 for( float x=-1.0f; x<=1.0f; x+=0.1f )
235 for( float y=-1.0f; y<1.0f; y+=0.1f )
237 for( float z=-1.0f; z<1.0f; z+=0.1f )
239 Vector3 vForward( x, y, z );
240 vForward.Normalize();
242 // Construct an up vector from a sideways move
244 Vector3 vUp = vForward.Cross( Vector3( vForward.x+1.0f, vForward.y, vForward.z ) );
245 if( vUp.Length() > 0.01 )
248 vSide = vUp.Cross( vForward );
253 vSide = vForward.Cross( Vector3( vForward.x, vForward.y+1.0f, vForward.z ) );
255 vUp = vForward.Cross( vSide );
259 // Generate a quaternion
260 Quaternion q( vSide, vUp, vForward );
263 rotMatrix.SetXAxis( vSide );
264 rotMatrix.SetYAxis( vUp );
265 rotMatrix.SetZAxis( vForward );
267 // Generate a matrix from the quaternion, check they are the same
269 DALI_TEST_EQUALS( m.GetXAxis(), vSide, 0.001f, TEST_LOCATION );
270 DALI_TEST_EQUALS( m.GetYAxis(), vUp, 0.001f, TEST_LOCATION );
271 DALI_TEST_EQUALS( m.GetZAxis(), vForward, 0.001f, TEST_LOCATION );
273 // Rotate an arbitrary vector by both quaternion and rotation matrix,
274 // check the result is the same
276 Vector4 aVector( 2.043f, 12.8f, -3.872f, 1.0f );
277 Vector3 aVectorRotatedByQ = q.Rotate( Vector3( aVector ) );
278 Vector4 aVectorRotatedByR = rotMatrix*aVector;
279 DALI_TEST_EQUALS( aVectorRotatedByQ, Vector3( aVectorRotatedByR ), 0.001f, TEST_LOCATION );
286 int UtcDaliQuaternionCtorTwoVectorsP(void)
288 Vector3 v0( 1.0f, 2.0f, 3.0f );
289 Vector3 v1( -2.0f, 10.0f, -1.0f );
292 Quaternion q( v0, v1 );
294 DALI_TEST_EQUALS( q*v0, v1, 0.001, TEST_LOCATION );
298 int UtcDaliQuaternionAsVectorP(void)
300 Vector4 v( 1.0f, 0.1f, 0.2f, 0.3f );
303 DALI_TEST_EQUALS( v, q.AsVector(), TEST_LOCATION );
307 int UtcDaliQuaternionToAxisAngleVector3P(void)
309 Quaternion q( 0.932f, 1.1f, 3.4f, 2.7f );
312 bool converted = q.ToAxisAngle( axis, angle );
313 DALI_TEST_EQUALS( converted, true, TEST_LOCATION );
314 DALI_TEST_EQUALS( angle.radian, 0.74f, 0.01f, TEST_LOCATION );
315 DALI_TEST_EQUALS( axis.x, 3.03f, 0.01f, TEST_LOCATION );
316 DALI_TEST_EQUALS( axis.y, 9.38f, 0.01f, TEST_LOCATION );
317 DALI_TEST_EQUALS( axis.z, 7.45f, 0.01f, TEST_LOCATION );
321 int UtcDaliQuaternionToAxisAngleVector3N(void)
323 Quaternion q( 1, 2, 3, 4 );
326 bool converted = q.ToAxisAngle( axis, angle );
327 DALI_TEST_EQUALS( converted, false, TEST_LOCATION );
328 DALI_TEST_EQUALS( angle.radian, 0.0f, 0.01f, TEST_LOCATION );
329 DALI_TEST_EQUALS( axis.x, 0.0f, 0.01f, TEST_LOCATION );
330 DALI_TEST_EQUALS( axis.y, 0.0f, 0.01f, TEST_LOCATION );
331 DALI_TEST_EQUALS( axis.z, 0.0f, 0.01f, TEST_LOCATION );
335 int UtcDaliQuaternionSetEulerP(void)
337 // Test from euler angles
339 e1.SetEuler( Dali::ANGLE_45, Dali::ANGLE_0, Dali::ANGLE_0 );
340 Vector4 r1( 0.383f, 0.0f, 0.0f, 0.924f );
343 e2.SetEuler( Dali::ANGLE_0, Radian( Degree( 75 ) ), Dali::ANGLE_0 );
344 Vector4 r2( 0.0f, 0.609f, 0.0f, 0.793f );
347 e3.SetEuler( Dali::ANGLE_0, Dali::ANGLE_0, Radian( Degree( 135 ) ) );
348 Vector4 r3( 0.0f, 0.0f, 0.924f, 0.383f );
351 e4.SetEuler( Radian( Degree( 71 ) ), Radian( Degree( 36 ) ), Radian( Degree( 27 ) ) );
352 Vector4 r4( 0.478f, 0.374f, 0.006f, 0.795f );
355 e5.SetEuler( Radian( Degree( -31 ) ), Radian( Degree( -91 ) ), Radian( Degree( -173 ) ) );
356 Vector4 r5( -0.697f, 0.145f, -0.686f, -0.149f );
358 DALI_TEST_EQUALS( e1.AsVector(), r1, 0.001, TEST_LOCATION );
359 DALI_TEST_EQUALS( e2.AsVector(), r2, 0.001, TEST_LOCATION );
360 DALI_TEST_EQUALS( e3.AsVector(), r3, 0.001, TEST_LOCATION );
361 DALI_TEST_EQUALS( e4.AsVector(), r4, 0.001, TEST_LOCATION );
362 DALI_TEST_EQUALS( e5.AsVector(), r5, 0.001, TEST_LOCATION );
366 int UtcDaliQuaternionEulerAnglesP(void)
368 Quaternion q1( 0.924f, 0.383f, 0.0f, 0.0f );
369 Vector4 r1( Radian( Degree( 45 ) ), 0.0f, 0.0f, 0.0f );
371 Quaternion q2( 0.793f, 0.0f, 0.609f, 0.0f );
372 Vector4 r2( 0.0f, Radian( Degree( 75 ) ), 0.0f, 0.0f );
374 Quaternion q3( 0.383f, 0.0f, 0.0f, 0.924f );
375 Vector4 r3( 0.0f, 0.0f, Radian( Degree( 135 ) ), 0.0f );
377 Quaternion q4( 0.795f, 0.478f, 0.374f, 0.006f );
378 Vector4 r4( Radian( Degree( 71 ) ), Radian( Degree( 36 ) ), Radian( Degree( 27 ) ), 0.0f );
380 Quaternion q5( -0.149f, -0.697f, 0.145f, -0.686f );
381 Vector4 r5( Radian( Degree( 148.0 ) ), Radian( Degree( -88.2 ) ), Radian( Degree( 8.0 ) ), 0.0f );
383 DALI_TEST_EQUALS( q1.EulerAngles(), r1, 0.001, TEST_LOCATION );
384 DALI_TEST_EQUALS( q2.EulerAngles(), r2, 0.001, TEST_LOCATION );
385 DALI_TEST_EQUALS( q3.EulerAngles(), r3, 0.001, TEST_LOCATION );
386 DALI_TEST_EQUALS( q4.EulerAngles(), r4, 0.01, TEST_LOCATION );
387 DALI_TEST_EQUALS( q5.EulerAngles(), r5, 0.01, TEST_LOCATION );
392 int UtcDaliQuaternionToMatrixP01(void)
394 Quaternion q( Radian( 0.69813 ), Vector3( 1.0f, 0.0f, 0.0f ) ); // 40 degree rotation around X axis
396 // Result calculated using a different maths library ( with appropriate row/col ordering )
398 float els[] = { 1.0f, 0.0f, 0.0f, 0.0f,
399 0.0f, 0.766f, 0.643f, 0.0f,
400 0.0f, -0.643f, 0.766f, 0.0f,
401 0.0f, 0.0f, 0.0f, 1.0f };
405 DALI_TEST_EQUALS( m, mRes, 0.01, TEST_LOCATION );
409 int UtcDaliQuaternionToMatrixP02(void)
411 // rotation around arbitrary axis
412 Quaternion q2( Radian( -1.23918f ), Vector3( 7.0f, -13.0f, 11.0f ) );
414 float els[] = { 0.423f, -0.746f, -0.514f, 0.00f,
415 0.384f, 0.662f, -0.644f, 0.00f,
416 0.821f, 0.075f, 0.566f, 0.00f,
417 0.000f, 0.000f, 0.000f, 1.00f };
422 DALI_TEST_EQUALS( m2, mRes2, 0.01, TEST_LOCATION );
427 int UtcDaliQuaternionOperatorAdditionP(void)
429 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
430 Quaternion q2( 0.0f, 0.609f, 0.0f, 0.793f );
432 Quaternion r1( 0.383f, 0.609f, 0.0f, 1.717f );
434 DALI_TEST_EQUALS( q1+q2, r1, 0.001f, TEST_LOCATION );
438 int UtcDaliQuaternionOperatorSubtractionP(void)
440 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
441 Quaternion q2( 0.383f, 0.690f, 0.234f, 1.917f );
443 Quaternion r1( 0.0f, 0.240f, 0.111f, 0.993f );
445 DALI_TEST_EQUALS( q2-q1, r1, 0.001f, TEST_LOCATION );
449 int UtcDaliQuaternionConjugateP(void)
451 float s1 = 0.784f; Vector3 v1( 0.045f, 0.443f, 0.432f );
452 float s2 = 0.697f; Vector3 v2( 0.612, 0.344, -0.144 );
454 Quaternion q1( s1, v1.x, v1.y, v1.z );
455 Quaternion q2( s2, v2.x, v2.y, v2.z );
459 Quaternion r1( s1, -v1.x, -v1.y, -v1.z );
460 Quaternion r2( s2, -v2.x, -v2.y, -v2.z );
462 DALI_TEST_EQUALS( q1, r1, 0.001f, TEST_LOCATION );
463 DALI_TEST_EQUALS( q2, r2, 0.001f, TEST_LOCATION );
467 int UtcDaliQuaternionOperatorMultiplicationQuaternionP(void)
469 float s1=0.784f; Vector3 v1( 0.045f, 0.443f, 0.432f );
470 float s2=0.697f; Vector3 v2( 0.612, 0.344, -0.144 );
472 Quaternion q1( s1, v1.x, v1.y, v1.z );
473 Quaternion q2( s2, v2.x, v2.y, v2.z );
475 Vector3 vp = v1.Cross( v2 ) + v2*s1 + v1*s2;
476 Quaternion r1( s1*s2-v1.Dot( v2 ), vp.x, vp.y, vp.z );
478 DALI_TEST_EQUALS( q1*q2, r1, 0.001f, TEST_LOCATION );
482 // Quaternion * vector == Vector rotation
483 int UtcDaliQuaternionOperatorMultiplicationVector3P(void)
485 // Rotation of vector p = ( x,y,z ) by Quaternion q == q [0,p] q^-1
486 Vector3 v( 2, 3, 4 );
487 Quaternion q( Radian( Degree( 72 ) ), Vector3::ZAXIS );
490 Quaternion qv( 0.0f, v.x, v.y, v.z );
491 Quaternion r1 = ( q * qv ) * qI;
495 DALI_TEST_EQUALS( r1.mVector.x, r2.x, 0.001, TEST_LOCATION );
496 DALI_TEST_EQUALS( r1.mVector.y, r2.y, 0.001, TEST_LOCATION );
497 DALI_TEST_EQUALS( r1.mVector.z, r2.z, 0.001, TEST_LOCATION );
501 int UtcDaliQuaternionOperatorMultiplicationFloatP01(void)
503 // Rotation of vector p = ( x,y,z ) by Quaternion q == q [0,p] q^-1
504 Quaternion q( Vector4( 0.1f, 0.2f, 0.3f, 1.0f ) );
505 Quaternion q2 = q * 2.f;
506 Vector4 v2( 0.2f, 0.4f, 0.6f, 2.0f );
508 DALI_TEST_EQUALS( q2.AsVector(), v2, 0.001, TEST_LOCATION );
512 int UtcDaliQuaternionOperatorMultiplicationFloatP02(void)
514 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
515 Quaternion r1( 2.0f* 0.383f, 0.0f, 0.0f, 2.0f * 0.924f );
517 DALI_TEST_EQUALS( q1 * 2.0f, r1, 0.001f, TEST_LOCATION );
521 int UtcDaliQuaternionOperatorMultiplicationFloatP03(void)
523 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
524 Quaternion r1( 0.5f* 0.383f, 0.0f, 0.0f, 0.5f * 0.924f );
526 DALI_TEST_EQUALS( q1 / 2.0f, r1, 0.001f, TEST_LOCATION );
530 int UtcDaliQuaternionOperatorDivisionQuaternionP(void)
532 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
533 Quaternion q2( 0.0f, 0.609f, 0.0f, 0.793f );
535 // q1 / q2 = q1 * q2^-1
536 // q2^-1 = q2* / ||q2||^2
537 // = Conjugate of q2 / Square of Norm of q2
541 r1 *= 1.0f/q2.LengthSquared();
542 Quaternion r2 = q1 * r1;
544 DALI_TEST_EQUALS( q1 / q2, r2, 0.001f, TEST_LOCATION );
548 int UtcDaliQuaternionOperatorDivisionFloatP(void)
550 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
551 Quaternion r1( 2.0f* 0.383f, 0.0f, 0.0f, 2.0f * 0.924f );
553 DALI_TEST_EQUALS( q1, r1/2.0f, 0.001f, TEST_LOCATION );
557 int UtcDaliQuaternionOperatorDivideAssignedFloatP(void)
559 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
560 Quaternion r1( 2.0f* 0.383f, 0.0f, 0.0f, 2.0f * 0.924f );
563 DALI_TEST_EQUALS( q1, r1, 0.001f, TEST_LOCATION );
567 int UtcDaliQuaternionOperatorNegationP(void)
569 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
570 Quaternion r1( -0.383f, -0.0f, -0.0f, -0.924f );
572 DALI_TEST_EQUALS( -q1, r1, 0.001f, TEST_LOCATION );
576 int UtcDaliQuaternionOperatorAddAssignP(void)
578 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
579 Quaternion q2( 0.0f, 0.609f, 0.0f, 0.793f );
581 Quaternion r1( 0.383f, 0.609f, 0.0f, 1.717f );
584 DALI_TEST_EQUALS( q1, r1, 0.001f, TEST_LOCATION );
588 int UtcDaliQuaternionOperatorSubtractAssignP(void)
590 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
591 Quaternion q2( 0.383f, 0.690f, 0.234f, 1.917f );
593 Quaternion r1( 0.0f, 0.240f, 0.111f, 0.993f );
595 DALI_TEST_EQUALS( q2, r1, 0.001f, TEST_LOCATION );
599 int UtcDaliQuaternionOperatorMultiplyAssignQuaternionP(void)
601 float s1=0.784f; Vector3 v1( 0.045f, 0.443f, 0.432f );
602 float s2=0.697f; Vector3 v2( 0.612, 0.344, -0.144 );
604 Quaternion q1( s1, v1.x, v1.y, v1.z );
605 Quaternion q2( s2, v2.x, v2.y, v2.z );
607 Quaternion r3 = q2 * q1;
609 DALI_TEST_EQUALS( q2, r3, 0.001f, TEST_LOCATION );
613 int UtcDaliQuaternionOperatorMultiplyAssignFloatP01(void)
615 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
617 Quaternion r1( scale*0.383f, scale*0.450f, scale*0.123f, scale*0.924f );
619 DALI_TEST_EQUALS( q1, r1, 0.001f, TEST_LOCATION );
623 int UtcDaliQuaternionOperatorMultiplyAssignFloatP02(void)
625 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
627 Quaternion r1( 0.383f/scale, 0.450f/scale, 0.123f/scale, 0.924f/scale );
629 DALI_TEST_EQUALS( q1, r1, 0.001f, TEST_LOCATION );
633 int UtcDaliQuaternionOperatorEqualityP(void)
635 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
636 Quaternion q2( 0.383f, 0.450f, 0.123f, 0.924f );
637 Quaternion q3( 0.383f, 0.450f, 0.123f, 0.800f );
638 Quaternion q4( 0.383f, 0.450f, 0.100f, 0.800f );
639 Quaternion q5( 0.383f, 0.100f, 0.100f, 0.800f );
640 Quaternion q6( 0.100f, 0.100f, 0.100f, 0.800f );
642 Quaternion q7( -0.383f, -0.450f, -0.123f, -0.924f );
643 Quaternion q8( -0.383f, -0.450f, -0.123f, 0.924f );
644 Quaternion q9( -0.383f, -0.450f, 0.123f, 0.924f );
645 Quaternion q10( -0.383f, 0.450f, 0.123f, 0.924f );
647 DALI_TEST_CHECK( q1 == q2 );
648 DALI_TEST_CHECK( !( q1 == q3 ) );
649 DALI_TEST_CHECK( !( q1 == q4 ) );
650 DALI_TEST_CHECK( !( q1 == q5 ) );
651 DALI_TEST_CHECK( !( q1 == q6 ) );
652 DALI_TEST_CHECK( ( q1 == q7 ) );
653 DALI_TEST_CHECK( !( q1 == q8 ) );
654 DALI_TEST_CHECK( !( q1 == q9 ) );
655 DALI_TEST_CHECK( !( q1 == q10 ) );
659 int UtcDaliQuaternionOperatorInequalityP(void)
661 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
662 Quaternion q2( 0.383f, 0.450f, 0.123f, 0.924f );
663 Quaternion q3( -0.383f, -0.0f, -0.0f, -0.924f );
664 DALI_TEST_CHECK( !( q1 != q2 ) );
665 DALI_TEST_CHECK( q1 != q3 );
669 int UtcDaliQuaternionLengthP(void)
671 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
672 float length = sqrtf( 0.383f*0.383f + 0.450f*0.450f + 0.123f*0.123f + 0.924f*0.924f );
673 DALI_TEST_EQUALS( q1.Length(), length, 0.001f, TEST_LOCATION );
677 int UtcDaliQuaternionLengthSquaredP(void)
679 Quaternion q1( 0.383f, 0.450f, 0.123f, 0.924f );
680 float lengthSquared = 0.383f*0.383f + 0.450f*0.450f + 0.123f*0.123f + 0.924f*0.924f;
681 DALI_TEST_EQUALS( q1.LengthSquared(), lengthSquared, 0.01f, TEST_LOCATION );
685 int UtcDaliQuaternionNormalizeP(void)
687 Quaternion q1( 0.118f, 0.692f, -0.127f, 0.701f );
691 DALI_TEST_EQUALS( q1, q2, 0.001f, TEST_LOCATION );
695 int UtcDaliQuaternionNormalizedP(void)
697 Quaternion q1( 0.118f, 0.692f, -0.127f, 0.701f );
700 DALI_TEST_EQUALS( q1, q2.Normalized(), 0.001f, TEST_LOCATION );
704 int UtcDaliQuaternionIsIdentityP(void)
706 Quaternion q( 1.0f, 0.0f, 0.0f, 0.0f );
707 DALI_TEST_EQUALS( q.IsIdentity(), true, TEST_LOCATION );
711 int UtcDaliQuaternionIsIdentityN(void)
713 Quaternion q( 1.0f, 0.1f, 0.0f, 0.0f );
714 DALI_TEST_EQUALS( q.IsIdentity(), false, TEST_LOCATION );
718 int UtcDaliQuaternionInvertP(void)
720 Quaternion q1( 0.383f, 0.0f, 0.0f, 0.924f );
722 // q1^-1 = q1* / ||q1||^2
723 // = Conjugate of q1 / Square of Norm of q1
727 r1 *= 1.0f/q1.LengthSquared();
731 DALI_TEST_EQUALS( q2, r1, 0.001f, TEST_LOCATION );
736 int UtcDaliQuaternionDotP(void)
738 // q.q' = s*s' + v dot v'
739 float s1 = 0.784f; Vector3 v1( 0.045f, 0.443f, 0.432f );
740 float s2 = 0.697f; Vector3 v2( 0.612, 0.344, -0.144 );
742 Quaternion q1( s1, v1.x, v1.y, v1.z );
743 Quaternion q2( s2, v2.x, v2.y, v2.z );
745 float r1 = s1*s2 + v1.Dot( v2 );
747 DALI_TEST_EQUALS( Quaternion::Dot( q1, q2 ), r1, TEST_LOCATION );
752 int UtcDaliQuaternionRotateVector3P(void)
754 // Rotation of vector p = ( x,y,z ) by Quaternion q == q [0,p] q^-1
755 Vector3 v( 2, 3, 4 );
756 Quaternion q( Radian( Degree( 72 ) ), Vector3::ZAXIS );
759 Quaternion qv( 0.0f, v.x, v.y, v.z );
760 Quaternion r1 = q * qv * qI;
762 Vector3 r2 = q.Rotate( v );
764 DALI_TEST_EQUALS( r1.mVector.x, r2.x, 0.001f, TEST_LOCATION );
765 DALI_TEST_EQUALS( r1.mVector.y, r2.y, 0.001f, TEST_LOCATION );
766 DALI_TEST_EQUALS( r1.mVector.z, r2.z, 0.001f, TEST_LOCATION );
768 DALI_TEST_EQUALS( q.Rotate( v ), q*v, 0.001f, TEST_LOCATION );
773 int UtcDaliQuaternionRotateVector4P(void)
775 // Rotation of vector p = ( x,y,z ) by Quaternion q == q [0,p] q^-1
776 Vector4 v( 2, 3, 4, 5 );
777 Quaternion q( Radian( Degree( 72 ) ), Vector3::ZAXIS );
780 Quaternion qv( 0.0f, v.x, v.y, v.z );
781 Quaternion r1 = q * qv * qI;
783 Vector4 r2 = q.Rotate( v );
785 DALI_TEST_EQUALS( r1.mVector.x, r2.x, 0.001f, TEST_LOCATION );
786 DALI_TEST_EQUALS( r1.mVector.y, r2.y, 0.001f, TEST_LOCATION );
787 DALI_TEST_EQUALS( r1.mVector.z, r2.z, 0.001f, TEST_LOCATION );
788 DALI_TEST_EQUALS( r1.mVector.w, 0.0f, 0.001f, TEST_LOCATION );
793 int UtcDaliQuaternionExpP01(void)
795 Quaternion q1( 0.0f, 1.0f, 1.2f, 1.3f );
796 Quaternion q2 = q1.Exp();
797 Quaternion r2( -0.4452, 0.4406, 0.5287, 0.5728 );
799 DALI_TEST_EQUALS( q2.Length(), 1.0f, 0.01f, TEST_LOCATION );
801 DALI_TEST_EQUALS( q2, r2, 0.001f, TEST_LOCATION );
803 // Note, this trick only works when |v| < pi, which it is!
804 Quaternion q3 = q2.Log();
805 DALI_TEST_EQUALS( q1, q3, 0.01f, TEST_LOCATION );
810 int UtcDaliQuaternionExpP02(void)
812 Quaternion q1( 0.0f, 0.0f, 0.0f, 0.0f );
813 Quaternion q2 = q1.Exp();
814 Quaternion r2( 1.0f, 0.0f, 0.0f, 0.0f );
816 DALI_TEST_EQUALS( q2.Length(), 1.0f, 0.01f, TEST_LOCATION );
818 DALI_TEST_EQUALS( q2, r2, 0.001f, TEST_LOCATION );
820 // Note, this trick only works when |v| < pi, which it is!
821 Quaternion q3 = q2.Log();
822 DALI_TEST_EQUALS( q1, q3, 0.01f, TEST_LOCATION );
827 int UtcDaliQuaternionExpN(void)
829 Quaternion q( Radian( 0.0f ), Vector3(5.0f, 6.0f, 7.0f) );
831 // q.w is non-zero. Should assert.
835 DALI_TEST_CHECK( false );
837 catch( DaliException& e )
839 DALI_TEST_CHECK( true );
845 int UtcDaliQuaternionLogP01(void)
847 Quaternion q( Radian( Math::PI*0.73f ), Vector3(2,3,4) );
851 Quaternion r = q2.Log();
852 DALI_TEST_EQUALS( r.mVector.w, 0.0f, 0.01f, TEST_LOCATION );
854 Quaternion r2 = r.Exp();
855 DALI_TEST_EQUALS( r2, q2, 0.01f, TEST_LOCATION );
859 int UtcDaliQuaternionLogP02(void)
861 Quaternion q1( 1.0f, 0.0f, 0.0f, 0.0f );
862 Quaternion r1( 0.0f, 0.0f, 0.0f, 0.0f );
864 Quaternion q2 = q1.Log();
866 DALI_TEST_EQUALS( q2, r1, 0.01f, TEST_LOCATION );
868 Quaternion q3 = q2.Exp();
869 DALI_TEST_EQUALS( q1, q3, 0.01f, TEST_LOCATION );
873 int UtcDaliQuaternionLerpP(void)
875 Quaternion q1( Radian( Degree( -80 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
876 Quaternion q2( Radian( Degree( 80 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
878 Quaternion p = Quaternion::Lerp( q1, q2, 0.0f );
879 DALI_TEST_EQUALS( p, q1, 0.001f, TEST_LOCATION );
881 p = Quaternion::Lerp( q1, q2, 1.0f );
882 DALI_TEST_EQUALS( p, q2, 0.001f, TEST_LOCATION );
884 p = Quaternion::Lerp( q1, q2, 0.5f );
885 Quaternion r1 = ( q1 + q2 ) * 0.5f;
887 DALI_TEST_EQUALS( p, r1, 0.001f, TEST_LOCATION );
891 int UtcDaliQuaternionSlerpP01(void)
893 Quaternion q1(Radian(M_PI/4.0f), Vector3(0.0f, 0.0f, 1.0f));
894 Quaternion q2(Radian(-M_PI/4.0f), Vector3(0.0f, 0.0f, 1.0f));
896 Quaternion q = Quaternion::Slerp( q1, q2, 0.0f );
897 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
899 q = Quaternion::Slerp( q1, q2, 1.0f );
900 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
902 // @ 25%, will be at M_PI/8
903 q = Quaternion::Slerp( q1, q2, 0.25f );
906 bool converted = q.ToAxisAngle( axis, angle );
907 DALI_TEST_EQUALS( converted, true, TEST_LOCATION );
908 DALI_TEST_EQUALS( angle.radian, Math::PI/8.0f, 0.001, TEST_LOCATION );
909 DALI_TEST_EQUALS( axis.x, 0.0f, 0.001, TEST_LOCATION );
910 DALI_TEST_EQUALS( axis.y, 0.0f, 0.001, TEST_LOCATION );
911 DALI_TEST_EQUALS( axis.z, 1.0f, 0.001, TEST_LOCATION );
917 int UtcDaliQuaternionSlerpP02(void)
919 Quaternion q1( Dali::ANGLE_30, Vector3(0.0f, 0.0f, 1.0f));
920 Quaternion q2( Dali::ANGLE_90, Vector3(0.0f, 0.0f, 1.0f));
922 Quaternion q = Quaternion::Slerp( q1, q2, 0.0f );
924 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
926 q = Quaternion::Slerp( q1, q2, 1.0f );
928 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
930 // @ 50%, will be at M_PI/3 around z
931 q = Quaternion::Slerp( q1, q2, 0.5f );
933 Quaternion r( Dali::ANGLE_60, Vector3( 0.0f, 0.0f, 1.0f));
934 DALI_TEST_EQUALS( q, r, 0.001, TEST_LOCATION );
939 int UtcDaliQuaternionSlerpP03(void)
941 Quaternion q1( Radian( Degree( 125 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
942 Quaternion q2( Radian( Degree( -125 ) ), Vector3( 0.002f, 0.001f, 1.001f ) );
944 Quaternion q = Quaternion::Slerp( q1, q2, 0.0f );
945 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
947 q = Quaternion::Slerp( q1, q2, 1.0f );
948 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
950 q = Quaternion::Slerp(q1, q2, 0.05f);
953 bool converted = q.ToAxisAngle(axis, angle);
954 DALI_TEST_EQUALS(converted, true, TEST_LOCATION);
956 DALI_TEST_EQUALS( axis.x, 0.0f, 0.01, TEST_LOCATION );
957 DALI_TEST_EQUALS( axis.y, 0.0f, 0.01, TEST_LOCATION );
958 DALI_TEST_EQUALS( axis.z, 1.0f, 0.01, TEST_LOCATION );
964 int UtcDaliQuaternionSlerpP04(void)
966 Quaternion q1( Radian( Degree( 120 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
967 Quaternion q2( Radian( Degree( 130 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
969 Quaternion q = Quaternion::Slerp( q1, q2, 0.0f );
970 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
972 q = Quaternion::Slerp( q1, q2, 1.0f );
973 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
975 q = Quaternion::Slerp(q1, q2, 0.5f);
978 bool converted = q.ToAxisAngle(axis, angle);
979 DALI_TEST_EQUALS(converted, true, TEST_LOCATION);
980 DALI_TEST_EQUALS(angle.radian, float(Radian(Degree(125))), 0.01f, TEST_LOCATION);
981 DALI_TEST_EQUALS(axis.x, 0.0f, 0.01, TEST_LOCATION);
982 DALI_TEST_EQUALS(axis.y, 0.0f, 0.01, TEST_LOCATION);
983 DALI_TEST_EQUALS(axis.z, 1.0f, 0.01, TEST_LOCATION);
989 int UtcDaliQuaternionSlerpNoInvertP01(void)
991 Quaternion q1( Dali::ANGLE_45, Vector3(0.0f, 0.0f, 1.0f));
992 Quaternion q2(-Dali::ANGLE_45, Vector3(0.0f, 0.0f, 1.0f));
994 Quaternion q = Quaternion::SlerpNoInvert( q1, q2, 0.0f );
995 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
997 q = Quaternion::SlerpNoInvert( q1, q2, 1.0f );
998 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
1000 // @ 25%, will be at M_PI/8
1001 q = Quaternion::SlerpNoInvert(q1, q2, 0.25f);
1004 bool converted = q.ToAxisAngle(axis, angle);
1005 DALI_TEST_EQUALS(converted, true, TEST_LOCATION);
1006 DALI_TEST_EQUALS(angle.radian, Math::PI/8.0f, 0.001, TEST_LOCATION);
1007 DALI_TEST_EQUALS(axis.x, 0.0f, 0.001, TEST_LOCATION);
1008 DALI_TEST_EQUALS(axis.y, 0.0f, 0.001, TEST_LOCATION);
1009 DALI_TEST_EQUALS(axis.z, 1.0f, 0.001, TEST_LOCATION);
1014 int UtcDaliQuaternionSlerpNoInvertP02(void)
1016 Quaternion q1( Radian( Degree( 120 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
1017 Quaternion q2( Radian( Degree( 130 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
1019 Quaternion q = Quaternion::SlerpNoInvert( q1, q2, 0.0f );
1020 DALI_TEST_EQUALS( q, q1, 0.001, TEST_LOCATION );
1022 q = Quaternion::SlerpNoInvert( q1, q2, 1.0f );
1023 DALI_TEST_EQUALS( q, q2, 0.001, TEST_LOCATION );
1025 q = Quaternion::SlerpNoInvert(q1, q2, 0.5f);
1028 bool converted = q.ToAxisAngle(axis, angle);
1029 DALI_TEST_EQUALS(converted, true, TEST_LOCATION);
1030 DALI_TEST_EQUALS(angle.radian, float(Radian(Degree(125))), 0.01f, TEST_LOCATION);
1031 DALI_TEST_EQUALS(axis.x, 0.0f, 0.01, TEST_LOCATION);
1032 DALI_TEST_EQUALS(axis.y, 0.0f, 0.01, TEST_LOCATION);
1033 DALI_TEST_EQUALS(axis.z, 1.0f, 0.01, TEST_LOCATION);
1038 int UtcDaliQuaternionSquadP(void)
1040 Quaternion q1( Radian( Degree( 45 ) ), Vector3( 0.0f, 0.0f, 1.0f ) );
1041 Quaternion q1out( Radian( Degree( 40 ) ), Vector3( 0.0f, 1.0f, 2.0f ) );
1042 Quaternion q2in( Radian( Degree( 35 ) ), Vector3( 0.0f, 2.0f, 3.0f ) );
1043 Quaternion q2( Radian( Degree( 30 ) ), Vector3( 0.0f, 1.0f, 3.0f ) );
1045 Quaternion q = Quaternion::Squad( q1, q2, q1out, q2in, 0.0f );
1046 DALI_TEST_EQUALS( q, q1, 0.001f, TEST_LOCATION );
1048 q = Quaternion::Squad( q1, q2, q1out, q2in, 1.0f );
1049 DALI_TEST_EQUALS( q, q2, 0.001f, TEST_LOCATION );
1051 // Don't know what actual value should be, but can make some informed guesses.
1052 q = Quaternion::Squad(q1, q2, q1out, q2in, 0.5f);
1056 q.ToAxisAngle( axis, angle );
1060 q = -q; // Might get negative quat
1061 q.ToAxisAngle( axis, angle );
1063 float deg = Degree(angle).degree;
1064 DALI_TEST_CHECK(deg >= 0 && deg <= 90);
1065 DALI_TEST_CHECK(axis.y > 0);
1066 DALI_TEST_CHECK(axis.z > 0);
1070 int UtcDaliAngleBetweenP(void)
1072 Quaternion q1( ANGLE_45, ANGLE_0, ANGLE_0 );
1073 Quaternion q2(Radian(Degree(47)), ANGLE_0, ANGLE_0 );
1074 DALI_TEST_EQUALS(Quaternion::AngleBetween(q1, q2), fabsf(Radian(Degree(45)) - Radian(Degree(47))), 0.001f, TEST_LOCATION);
1076 Quaternion q3( Radian( Degree( 80 ) ), Vector3::YAXIS );
1077 Quaternion q4( Radian( Degree( 90 ) ), Vector3::YAXIS );
1078 DALI_TEST_EQUALS( Quaternion::AngleBetween( q3, q4 ), fabsf( Radian( Degree( 80 ) ) - Radian( Degree( 90 ) ) ), 0.001f, TEST_LOCATION );
1080 Quaternion q5( Radian( Degree( 0 ) ), Vector3::YAXIS );
1081 Quaternion q6( Radian( Degree( 90 ) ), Vector3::XAXIS );
1082 DALI_TEST_EQUALS( Quaternion::AngleBetween( q5, q6 ), fabsf( Radian( Degree( 0 ) ) - Radian( Degree( 90 ) ) ), 0.001f, TEST_LOCATION );
1084 Quaternion q7( Radian( Degree( 0 ) ), Vector3::YAXIS );
1085 Quaternion q8( Radian( Degree( 0 ) ), Vector3::XAXIS );
1086 DALI_TEST_EQUALS( Quaternion::AngleBetween( q7, q8 ), fabsf( Radian( Degree( 0 ) ) - Radian( Degree( 0 ) ) ), 0.001f, TEST_LOCATION );
1088 Quaternion q9( Radian( Degree( 0 ) ), Vector3::XAXIS );
1089 Quaternion q10( Radian( Degree( 180 ) ), Vector3::XAXIS );
1090 DALI_TEST_EQUALS( Quaternion::AngleBetween( q9, q10 ), fabsf( Radian( Degree( 0 ) ) - Radian( Degree( 180 ) ) ), 0.001f, TEST_LOCATION );
1092 Quaternion q11( Radian( Degree( 1 ) ), Vector3::YAXIS );
1093 Quaternion q12( Radian( Degree( 240 ) ), Vector3::YAXIS );
1094 DALI_TEST_EQUALS( Quaternion::AngleBetween( q11, q12 ), fabsf( Radian( Degree( 1 - 240 + 360 ) ) ), 0.001f, TEST_LOCATION );
1096 Quaternion q13( Radian( Degree( 240 ) ), Vector3::YAXIS );
1097 Quaternion q14( Radian( Degree( 1 ) ), Vector3::YAXIS );
1098 DALI_TEST_EQUALS( Quaternion::AngleBetween( q13, q14 ), fabsf( Radian( Degree( 240 - 1 - 360 ) ) ), 0.001f, TEST_LOCATION );
1100 Quaternion q15( Radian( Degree( 240 ) ), Vector3::YAXIS );
1101 Quaternion q16( Radian( Degree( 1 ) ), Vector3::ZAXIS );
1102 DALI_TEST_EQUALS( Quaternion::AngleBetween( q15, q16 ), Quaternion::AngleBetween( q16, q15 ), 0.001f, TEST_LOCATION );
1106 int UtcDaliQuaternionOStreamOperatorP(void)
1108 std::ostringstream oss;
1110 Quaternion quaternion( Dali::ANGLE_180, Vector3::YAXIS );
1114 std::string expectedOutput = "[ Axis: [0, 1, 0], Angle: 180 degrees ]";
1116 DALI_TEST_EQUALS( oss.str(), expectedOutput, TEST_LOCATION );