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From J.P. Delport, added units tests to pick up on erroneous Matrix::get(Quat&) computation.

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This commit is contained in:
Robert Osfield 2006-07-27 11:13:56 +00:00
parent d9b6d87d5a
commit 032bba78fa
1 changed files with 115 additions and 1 deletions
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116
examples/osgunittests/osgunittests.cpp
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@ -124,6 +124,119 @@ void sizeOfTest()
}
/// Exercises the Matrix.get(Quat&) function, printout is generated on problems only
void testGetQuatFromMatrix() {
// acceptable error range
double eps=1e-3;
#if 1
// wide range
double rol1start = 0.0;
double rol1stop = 360.0;
double rol1step = 30.0;
double pit1start = 0.0;
double pit1stop = 90.0;
double pit1step = 30.0;
double yaw1start = 0.0;
double yaw1stop = 360.0;
double yaw1step = 30.0;
double rol2start = 0.0;
double rol2stop = 360.0;
double rol2step = 30.0;
double pit2start = 0.0;
double pit2stop = 90.0;
double pit2step = 30.0;
double yaw2start = 0.0;
double yaw2stop = 360.0;
double yaw2step = 30.0;
#else
// focussed range
double rol1start = 0.0;
double rol1stop = 0.0;
double rol1step = 0.1;
double pit1start = 0.0;
double pit1stop = 5.0;
double pit1step = 5.0;
double yaw1start = 89.0;
double yaw1stop = 91.0;
double yaw1step = 0.1;
double rol2start = 0.0;
double rol2stop = 0.0;
double rol2step = 0.1;
double pit2start = 0.0;
double pit2stop = 0.0;
double pit2step = 0.1;
double yaw2start = 89.0;
double yaw2stop = 91.0;
double yaw2step = 0.1;
#endif
for (double rol1 = rol1start; rol1 <= rol1stop; rol1 += rol1step) {
for (double pit1 = pit1start; pit1 <= pit1stop; pit1 += pit1step) {
for (double yaw1 = yaw1start; yaw1 <= yaw1stop; yaw1 += yaw1step) {
for (double rol2 = rol2start; rol2 <= rol2stop; rol2 += rol2step) {
for (double pit2 = pit2start; pit2 <= pit2stop; pit2 += pit2step) {
for (double yaw2 = yaw2start; yaw2 <= yaw2stop; yaw2 += yaw2step) {
// create two quats based on the roll, pitch and yaw values
osg::Quat rot_quat1 =
osg::Quat(osg::DegreesToRadians(rol1),osg::Vec3d(1,0,0),
osg::DegreesToRadians(pit1),osg::Vec3d(0,1,0),
osg::DegreesToRadians(yaw1),osg::Vec3d(0,0,1));
osg::Quat rot_quat2 =
osg::Quat(osg::DegreesToRadians(rol2),osg::Vec3d(1,0,0),
osg::DegreesToRadians(pit2),osg::Vec3d(0,1,0),
osg::DegreesToRadians(yaw2),osg::Vec3d(0,0,1));
// create an output quat using quaternion math
osg::Quat out_quat1;
out_quat1 = rot_quat2 * rot_quat1;
// create two matrices based on the input quats
osg::Matrixd mat1,mat2;
mat1.set(rot_quat1);
mat2.set(rot_quat2);
// create an output quat by matrix multiplication and get
osg::Matrixd out_mat;
out_mat = mat2 * mat1;
osg::Quat out_quat2;
out_mat.get(out_quat2);
// if the output quat length is not one
// or if the component magnitudes do not match,
// something is amiss
if (fabs(1.0-out_quat2.length()) > eps ||
(fabs(out_quat1.x())-fabs(out_quat2.x())) > eps ||
(fabs(out_quat1.y())-fabs(out_quat2.y())) > eps ||
(fabs(out_quat1.z())-fabs(out_quat2.z())) > eps ||
(fabs(out_quat1.w())-fabs(out_quat2.w())) > eps) {
std::cout << "problem at: r1=" << rol1
<< " p1=" << pit1
<< " y1=" << yaw1
<< " r2=" << rol2
<< " p2=" << pit2
<< " y2=" << yaw2 << "\n";
std::cout << "quats: " << out_quat1 << " length: " << out_quat1.length() << "\n";
std::cout << "mats and get: " << out_quat2 << " length: " << out_quat2.length() << "\n\n";
}
}
}
}
}
}
}
}
void testQuatRotate(const osg::Vec3d& from, const osg::Vec3d& to)
{
@ -180,7 +293,8 @@ void testQuat()
testQuatRotate(osg::Vec3d(0.0,-1.0,0.0),osg::Vec3d(0.0,1.0,0.0));
testQuatRotate(osg::Vec3d(0.0,0.0,1.0),osg::Vec3d(0.0,0.0,-1.0));
testQuatRotate(osg::Vec3d(0.0,0.0,-1.0),osg::Vec3d(0.0,0.0,1.0));
testGetQuatFromMatrix();
}
int main( int argc, char** argv )