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local - global orientation and ancestor retrieval tests

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devZoGok
2021-10-19 19:06:41 +03:00
parent 62c189a0c2
commit 22cf5bc3c9
5 changed files with 167 additions and 103 deletions
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bone.cpp
+1 -1
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@@ -10,7 +10,7 @@ namespace vb01{
}
void Bone::lookAt(Vector3 newDir, Vector3 newUp, Node *par){
Node::lookAt(newDir, newUp, par);
Node::lookAt(newDir, newUp);
for(int i = 0; i < 3; i++)
this->initAxis[i] = globalAxis[i];
restPos = pos;
node.cpp
+23 -41
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@@ -101,60 +101,42 @@ namespace vb01{
text->setNode(this);
}
void Node::lookAt(Vector3 newDir, Vector3 newUp, Node *node){
adjustDir(newDir, node);
adjustUp(newUp, node);
void Node::lookAt(Vector3 newDir, Vector3 newUp){
adjustDir(newDir);
adjustUp(newUp);
}
void Node::lookAt(Vector3 newDir, Node *node){
adjustDir(newDir, node);
void Node::lookAt(Vector3 newDir){
adjustDir(newDir);
}
void Node::adjustDir(Vector3 newDir, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newDir = (parAxis[0] * newDir.x + parAxis[1] * newDir.y + parAxis[2] * newDir.z).norm();
float angle = globalAxis[2].getAngleBetween(newDir);
Vector3 rotAxis = globalAxis[2].cross(newDir).norm();
void Node::adjustDir(Vector3 newDir){
float angle = Vector3(0, 0, 1).getAngleBetween(newDir);
Vector3 rotAxis = Vector3(0, 0, 1).cross(newDir).norm();
if(rotAxis == Vector3::VEC_ZERO)
rotAxis = globalAxis[1];
rotAxis = Vector3::VEC_I;
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle,rotAxis));
setOrientation(newRot * oldRot);
setOrientation(Quaternion(angle, rotAxis));
}
void Node::adjustUp(Vector3 newUp, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newUp = (parAxis[0] * newUp.x + parAxis[1] * newUp.y + parAxis[2] * newUp.z).norm();
void Node::adjustUp(Vector3 newUp){
mat3 mat;
mat[0][0] = globalAxis[0].x;
mat[1][0] = globalAxis[0].y;
mat[2][0] = globalAxis[0].z;
mat[0][1] = globalAxis[1].x;
mat[1][1] = globalAxis[1].y;
mat[2][1] = globalAxis[1].z;
mat[0][2] = globalAxis[2].x;
mat[1][2] = globalAxis[2].y;
mat[2][2] = globalAxis[2].z;
mat[0][0] = 1;
mat[1][0] = 0;
mat[2][0] = 0;
mat[0][1] = 0;
mat[1][1] = 1;
mat[2][1] = 0;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = 1;
mat = inverse(mat);
vec3 nu = vec3(newUp.x, newUp.y, newUp.z) * mat;
newUp = (globalAxis[0] * nu.x + globalAxis[1] * nu.y).norm();
float angle = globalAxis[1].getAngleBetween(newUp);
newUp = (Vector3(1, 0, 0) * nu.x + Vector3(0, 1, 0) * nu.y).norm();
float angle = Vector3(0, 1, 0).getAngleBetween(newUp);
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle * (nu.x < 0 ? 1 : -1), globalAxis[2]));
setOrientation(newRot * oldRot);
setOrientation(Quaternion(angle * (nu.x < 0 ? 1 : -1), Vector3::VEC_K));
}
void Node::getDescendants(vector<Node*> &descendants){
node.h
+4 -4
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@@ -31,8 +31,8 @@ namespace vb01{
void addLight(Light*);
void removeLight(int);
void addText(Text*);
virtual void lookAt(Vector3, Vector3, Node*);
virtual void lookAt(Vector3, Node*);
virtual void lookAt(Vector3, Vector3);
virtual void lookAt(Vector3);
void updateAxis();
void setOrientation(Quaternion);
void getDescendants(std::vector<Node*>&);
@@ -64,8 +64,8 @@ namespace vb01{
inline std::string getName(){return name;}
inline void setVisible(bool v){this->visible = v;}
private:
void adjustUp(Vector3, Node*);
void adjustDir(Vector3, Node*);
void adjustUp(Vector3);
void adjustDir(Vector3);
Quaternion adjustRot(std::vector<Node*>, Quaternion, bool);
protected:
void updateShaders();
nodeTest.cpp
+131 -48
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@@ -12,10 +12,11 @@ namespace vb01{
void NodeTest::setUp(){
rootNode = Root::getSingleton()->getRootNode();
nodeA = new Node();
nodeB = new Node();
nodeC = new Node();
nodeD = new Node();
lookNodeParent = new Node();
rootNode->attachChild(lookNodeParent);
lookNode = new Node();
lookNodeParent->attachChild(lookNode);
firstChainNode = new Node();
rootNode->attachChild(firstChainNode);
@@ -23,16 +24,27 @@ namespace vb01{
firstChainNode->attachChild(secondChainNode);
thirdChainNode = new Node();
secondChainNode->attachChild(thirdChainNode);
ancestorA = new Node();
ancestorB = new Node();
ancestorC = new Node();
ancestorD = new Node();
rootNode->attachChild(ancestorA);
ancestorA->attachChild(ancestorB);
ancestorB->attachChild(ancestorC);
ancestorC->attachChild(ancestorD);
}
void NodeTest::tearDown(){
/*
delete nodeD;
delete nodeC;
delete nodeB;
nodeA->dettachChild(nodeB);
delete nodeA;
*/
}
void NodeTest::testGetAncestors(){
vector<Node*> ancestors = ancestorD->getAncestors();
CPPUNIT_ASSERT(ancestors[ancestors.size() - 1] == rootNode);
ancestors = ancestorD->getAncestors(ancestorB);
CPPUNIT_ASSERT(ancestors[ancestors.size() - 1] == ancestorB);
}
void NodeTest::testLocalToGlobalPosition(){
@@ -105,9 +117,6 @@ namespace vb01{
CPPUNIT_ASSERT(thirdChainNode->globalToLocalPosition(Vector3::VEC_ZERO) == -pos3);
}
void NodeTest::testGlobalToLocalOrientation(){
}
void NodeTest::testLocalToGlobalOrientation(){
firstChainNode->setOrientation(Quaternion::QUAT_W);
secondChainNode->setOrientation(Quaternion::QUAT_W);
@@ -117,13 +126,88 @@ namespace vb01{
CPPUNIT_ASSERT(secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
CPPUNIT_ASSERT(thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
Quaternion q0 = Quaternion(.2, Vector3(0, 1, 0));
thirdChainNode->setOrientation(q0);
CPPUNIT_ASSERT(thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == q0);
float eps = .001;
float an = .2;
Vector3 ax = Vector3(0, 1, 0).norm();
Quaternion q0 = Quaternion(an, ax);
secondChainNode->setOrientation(q0);
thirdChainNode->setOrientation(Quaternion::QUAT_W);
Quaternion ltg0 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion ltg01 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg0.getAxis()) < eps && fabs(an - ltg0.getAngle()) < eps);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg01.getAxis()) < eps && fabs(an - ltg01.getAngle()) < eps);
Quaternion q1 = Quaternion(an, ax);
secondChainNode->setOrientation(Quaternion::QUAT_W);
thirdChainNode->setOrientation(q1);
Quaternion ltg1 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion ltg11 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(ltg1 == Quaternion::QUAT_W);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg11.getAxis()) < eps && fabs(an - ltg11.getAngle()) < eps);
an = .3;
ax = Vector3(1, 0, 1).norm();
Quaternion q2 = Quaternion(an, ax);
Quaternion q21 = Quaternion(an, ax);
secondChainNode->setOrientation(q2);
thirdChainNode->setOrientation(q21);
Quaternion ltg2 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion ltg21 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion refQuat = q21 * q2;
CPPUNIT_ASSERT(ax.getAngleBetween(ltg2.getAxis()) < eps && fabs(an - ltg2.getAngle()) < eps);
CPPUNIT_ASSERT(refQuat.getAxis().getAngleBetween(ltg21.getAxis()) < eps && fabs(refQuat.getAngle() - ltg21.getAngle()) < eps);
Quaternion q3 = Quaternion(an, ax);
firstChainNode->setOrientation(q3);
secondChainNode->setOrientation(Quaternion::QUAT_W);
thirdChainNode->setOrientation(Quaternion::QUAT_W);
Quaternion ltg4 = firstChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion ltg41 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
Quaternion ltg42 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg4.getAxis()) < eps && fabs(an - ltg4.getAngle()) < eps);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg41.getAxis()) < eps && fabs(an - ltg41.getAngle()) < eps);
CPPUNIT_ASSERT(ax.getAngleBetween(ltg42.getAxis()) < eps && fabs(an - ltg42.getAngle()) < eps);
}
void NodeTest::testDetachChild(){
nodeA->dettachChild(nodeB);
CPPUNIT_ASSERT(nodeA->getChild(0) != nodeB);
void NodeTest::testGlobalToLocalOrientation(){
firstChainNode->setOrientation(Quaternion::QUAT_W);
secondChainNode->setOrientation(Quaternion::QUAT_W);
thirdChainNode->setOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(firstChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
CPPUNIT_ASSERT(secondChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
CPPUNIT_ASSERT(thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
float eps = .001;
float an = .4;
Vector3 ax = Vector3(1, 1, 0).norm();
Quaternion q0 = Quaternion(an, ax);
thirdChainNode->setOrientation(q0);
Quaternion gtl0 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(ax.getAngleBetween(-gtl0.getAxis()) < eps && fabs(an - gtl0.getAngle()) < eps);
Quaternion q2 = Quaternion(an, ax);
Quaternion q21 = Quaternion(an, ax);
secondChainNode->setOrientation(q2);
thirdChainNode->setOrientation(q21);
Quaternion gtl21 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
Quaternion refQuat = q21 * q2;
CPPUNIT_ASSERT(refQuat.getAxis().getAngleBetween(-gtl21.getAxis()) < eps && fabs(refQuat.getAngle() - gtl21.getAngle()) < eps);
Quaternion q3 = Quaternion(an, ax);
firstChainNode->setOrientation(q3);
secondChainNode->setOrientation(Quaternion::QUAT_W);
thirdChainNode->setOrientation(Quaternion::QUAT_W);
Quaternion gtl3 = firstChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
Quaternion gtl31 = secondChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
Quaternion gtl32 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
CPPUNIT_ASSERT(ax.getAngleBetween(-gtl3.getAxis()) < eps && fabs(an - gtl3.getAngle()) < eps);
CPPUNIT_ASSERT(ax.getAngleBetween(-gtl31.getAxis()) < eps && fabs(an - gtl31.getAngle()) < eps);
CPPUNIT_ASSERT(ax.getAngleBetween(-gtl32.getAxis()) < eps && fabs(an - gtl32.getAngle()) < eps);
}
void NodeTest::testAdjustDir(){
@@ -139,48 +223,47 @@ namespace vb01{
int numDirs = sizeof(dir) / sizeof(Vector3);
for(int i = 0; i < numDirs; i++){
nodeA->lookAt(dir[i], rootNode);
CPPUNIT_ASSERT(nodeA->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
lookNode->lookAt(dir[i]);
CPPUNIT_ASSERT(lookNode->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
}
Quaternion rotQuat = Quaternion(.707, Vector3(1, 0 ,0));
lookNodeParent->setOrientation(rotQuat);
for(int i = 0; i < numDirs; i++){
lookNode->lookAt(dir[i]);
CPPUNIT_ASSERT(lookNode->getGlobalAxis(2).getAngleBetween(rotQuat * dir[i]) < maxAngle);
}
}
void NodeTest::testAdjustUp(){
float maxAngle = .001;
Vector3 dir[]{
Vector3(0, 1, 0),
Vector3 up[]{
Vector3(1, 0, 0),
Vector3(.8, .2, 0).norm(),
Vector3(-.6, 0, .9).norm(),
Vector3(0, -1, -.4).norm(),
Vector3(1, 1, 1).norm()
};
int numDirs = sizeof(dir) / sizeof(Vector3);
int numDirs = sizeof(up) / sizeof(Vector3);
lookNodeParent->setOrientation(Quaternion::QUAT_W);
for(int i = 0; i < numDirs; i++){
/*
nodeA->lookAt(dir[i], rootNode);
CPPUNIT_ASSERT(nodeA->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
*/
lookNode->lookAt(Vector3::VEC_K, up[i]);
Vector3 upClamped = Vector3(up[i].x, up[i].y, 0).norm();
CPPUNIT_ASSERT(lookNode->getGlobalAxis(1).getAngleBetween(upClamped) < maxAngle);
}
Quaternion rotQuat = Quaternion(.707, Vector3(1, 0 ,0));
lookNodeParent->setOrientation(rotQuat);
for(int i = 0; i < numDirs; i++){
lookNode->lookAt(Vector3::VEC_K, up[i]);
Vector3 upClamped = Vector3(up[i].x, up[i].y, 0).norm();
CPPUNIT_ASSERT(lookNode->getGlobalAxis(1).getAngleBetween(rotQuat * upClamped) < maxAngle);
}
}
void NodeTest::testGetDescendants(){
vector<Node*> parentADescendants;
vector<Node*> parentBDescendants;
vector<Node*> parentCDescendants;
vector<Node*> parentDDescendants;
/*
parentA->getDescendants(parentADescendants);
parentB->getDescendants(parentBDescendants);
parentC->getDescendants(parentCDescendants);
parentD->getDescendants(parentDDescendants);
parentD->getDescendants(parentDDescendants);
CPPUNIT_ASSERT(parentDDescendants[0] == childD0);
CPPUNIT_ASSERT(parentDDescendants[1] == childD1);
CPPUNIT_ASSERT(parentDDescendants[2] == childD2);
*/
}
}
nodeTest.h
+8 -9
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@@ -9,12 +9,9 @@ namespace vb01{
class NodeTest : public CppUnit::TestFixture{
CPPUNIT_TEST_SUITE(NodeTest);
/*
CPPUNIT_TEST(testDetachChild);
CPPUNIT_TEST(testGetAncestors);
CPPUNIT_TEST(testAdjustDir);
CPPUNIT_TEST(testAdjustUp);
CPPUNIT_TEST(testGetDescendants);
*/
CPPUNIT_TEST(testLocalToGlobalPosition);
CPPUNIT_TEST(testGlobalToLocalPosition);
CPPUNIT_TEST(testLocalToGlobalOrientation);
@@ -29,17 +26,19 @@ namespace vb01{
void testAdjustDir();
void testAdjustUp();
void testDetachChild();
void testGetDescendants();
void testGetAncestors();
void testLocalToGlobalPosition();
void testGlobalToLocalPosition();
void testLocalToGlobalOrientation();
void testGlobalToLocalOrientation();
Node *rootNode = nullptr,
*nodeA = nullptr,
*nodeB = nullptr,
*nodeC = nullptr,
*nodeD = nullptr,
*ancestorA = nullptr,
*ancestorB = nullptr,
*ancestorC = nullptr,
*ancestorD = nullptr,
*lookNodeParent = nullptr,
*lookNode = nullptr,
*firstChainNode = nullptr,
*secondChainNode = nullptr,
*thirdChainNode = nullptr;