mirror of
https://github.com/ApfelTeeSaft/vb01.git
synced 2026-08-26 19:33:45 +00:00
local - global orientation and ancestor retrieval tests
This commit is contained in:
devZoGok
+131
-48
@@ -12,10 +12,11 @@ namespace vb01{
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void NodeTest::setUp(){
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rootNode = Root::getSingleton()->getRootNode();
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nodeA = new Node();
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nodeB = new Node();
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nodeC = new Node();
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nodeD = new Node();
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lookNodeParent = new Node();
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rootNode->attachChild(lookNodeParent);
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lookNode = new Node();
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lookNodeParent->attachChild(lookNode);
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firstChainNode = new Node();
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rootNode->attachChild(firstChainNode);
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@@ -23,16 +24,27 @@ namespace vb01{
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firstChainNode->attachChild(secondChainNode);
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thirdChainNode = new Node();
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secondChainNode->attachChild(thirdChainNode);
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ancestorA = new Node();
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ancestorB = new Node();
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ancestorC = new Node();
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ancestorD = new Node();
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rootNode->attachChild(ancestorA);
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ancestorA->attachChild(ancestorB);
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ancestorB->attachChild(ancestorC);
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ancestorC->attachChild(ancestorD);
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}
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void NodeTest::tearDown(){
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/*
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delete nodeD;
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delete nodeC;
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delete nodeB;
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nodeA->dettachChild(nodeB);
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delete nodeA;
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*/
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}
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void NodeTest::testGetAncestors(){
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vector<Node*> ancestors = ancestorD->getAncestors();
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CPPUNIT_ASSERT(ancestors[ancestors.size() - 1] == rootNode);
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ancestors = ancestorD->getAncestors(ancestorB);
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CPPUNIT_ASSERT(ancestors[ancestors.size() - 1] == ancestorB);
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}
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void NodeTest::testLocalToGlobalPosition(){
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@@ -105,9 +117,6 @@ namespace vb01{
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CPPUNIT_ASSERT(thirdChainNode->globalToLocalPosition(Vector3::VEC_ZERO) == -pos3);
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}
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void NodeTest::testGlobalToLocalOrientation(){
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}
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void NodeTest::testLocalToGlobalOrientation(){
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firstChainNode->setOrientation(Quaternion::QUAT_W);
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secondChainNode->setOrientation(Quaternion::QUAT_W);
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@@ -117,13 +126,88 @@ namespace vb01{
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CPPUNIT_ASSERT(secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
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CPPUNIT_ASSERT(thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
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Quaternion q0 = Quaternion(.2, Vector3(0, 1, 0));
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thirdChainNode->setOrientation(q0);
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CPPUNIT_ASSERT(thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W) == q0);
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float eps = .001;
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float an = .2;
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Vector3 ax = Vector3(0, 1, 0).norm();
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Quaternion q0 = Quaternion(an, ax);
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secondChainNode->setOrientation(q0);
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thirdChainNode->setOrientation(Quaternion::QUAT_W);
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Quaternion ltg0 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion ltg01 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg0.getAxis()) < eps && fabs(an - ltg0.getAngle()) < eps);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg01.getAxis()) < eps && fabs(an - ltg01.getAngle()) < eps);
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Quaternion q1 = Quaternion(an, ax);
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secondChainNode->setOrientation(Quaternion::QUAT_W);
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thirdChainNode->setOrientation(q1);
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Quaternion ltg1 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion ltg11 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ltg1 == Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg11.getAxis()) < eps && fabs(an - ltg11.getAngle()) < eps);
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an = .3;
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ax = Vector3(1, 0, 1).norm();
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Quaternion q2 = Quaternion(an, ax);
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Quaternion q21 = Quaternion(an, ax);
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secondChainNode->setOrientation(q2);
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thirdChainNode->setOrientation(q21);
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Quaternion ltg2 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion ltg21 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion refQuat = q21 * q2;
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg2.getAxis()) < eps && fabs(an - ltg2.getAngle()) < eps);
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CPPUNIT_ASSERT(refQuat.getAxis().getAngleBetween(ltg21.getAxis()) < eps && fabs(refQuat.getAngle() - ltg21.getAngle()) < eps);
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Quaternion q3 = Quaternion(an, ax);
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firstChainNode->setOrientation(q3);
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secondChainNode->setOrientation(Quaternion::QUAT_W);
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thirdChainNode->setOrientation(Quaternion::QUAT_W);
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Quaternion ltg4 = firstChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion ltg41 = secondChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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Quaternion ltg42 = thirdChainNode->localToGlobalOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg4.getAxis()) < eps && fabs(an - ltg4.getAngle()) < eps);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg41.getAxis()) < eps && fabs(an - ltg41.getAngle()) < eps);
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CPPUNIT_ASSERT(ax.getAngleBetween(ltg42.getAxis()) < eps && fabs(an - ltg42.getAngle()) < eps);
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}
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void NodeTest::testDetachChild(){
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nodeA->dettachChild(nodeB);
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CPPUNIT_ASSERT(nodeA->getChild(0) != nodeB);
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void NodeTest::testGlobalToLocalOrientation(){
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firstChainNode->setOrientation(Quaternion::QUAT_W);
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secondChainNode->setOrientation(Quaternion::QUAT_W);
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thirdChainNode->setOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(firstChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
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CPPUNIT_ASSERT(secondChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
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CPPUNIT_ASSERT(thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W) == Quaternion::QUAT_W);
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float eps = .001;
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float an = .4;
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Vector3 ax = Vector3(1, 1, 0).norm();
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Quaternion q0 = Quaternion(an, ax);
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thirdChainNode->setOrientation(q0);
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Quaternion gtl0 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ax.getAngleBetween(-gtl0.getAxis()) < eps && fabs(an - gtl0.getAngle()) < eps);
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Quaternion q2 = Quaternion(an, ax);
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Quaternion q21 = Quaternion(an, ax);
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secondChainNode->setOrientation(q2);
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thirdChainNode->setOrientation(q21);
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Quaternion gtl21 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
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Quaternion refQuat = q21 * q2;
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CPPUNIT_ASSERT(refQuat.getAxis().getAngleBetween(-gtl21.getAxis()) < eps && fabs(refQuat.getAngle() - gtl21.getAngle()) < eps);
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Quaternion q3 = Quaternion(an, ax);
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firstChainNode->setOrientation(q3);
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secondChainNode->setOrientation(Quaternion::QUAT_W);
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thirdChainNode->setOrientation(Quaternion::QUAT_W);
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Quaternion gtl3 = firstChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
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Quaternion gtl31 = secondChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
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Quaternion gtl32 = thirdChainNode->globalToLocalOrientation(Quaternion::QUAT_W);
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CPPUNIT_ASSERT(ax.getAngleBetween(-gtl3.getAxis()) < eps && fabs(an - gtl3.getAngle()) < eps);
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CPPUNIT_ASSERT(ax.getAngleBetween(-gtl31.getAxis()) < eps && fabs(an - gtl31.getAngle()) < eps);
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CPPUNIT_ASSERT(ax.getAngleBetween(-gtl32.getAxis()) < eps && fabs(an - gtl32.getAngle()) < eps);
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}
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void NodeTest::testAdjustDir(){
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@@ -139,48 +223,47 @@ namespace vb01{
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int numDirs = sizeof(dir) / sizeof(Vector3);
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for(int i = 0; i < numDirs; i++){
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nodeA->lookAt(dir[i], rootNode);
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CPPUNIT_ASSERT(nodeA->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
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lookNode->lookAt(dir[i]);
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CPPUNIT_ASSERT(lookNode->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
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}
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Quaternion rotQuat = Quaternion(.707, Vector3(1, 0 ,0));
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lookNodeParent->setOrientation(rotQuat);
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for(int i = 0; i < numDirs; i++){
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lookNode->lookAt(dir[i]);
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CPPUNIT_ASSERT(lookNode->getGlobalAxis(2).getAngleBetween(rotQuat * dir[i]) < maxAngle);
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}
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}
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void NodeTest::testAdjustUp(){
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float maxAngle = .001;
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Vector3 dir[]{
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Vector3(0, 1, 0),
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Vector3 up[]{
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Vector3(1, 0, 0),
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Vector3(.8, .2, 0).norm(),
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Vector3(-.6, 0, .9).norm(),
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Vector3(0, -1, -.4).norm(),
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Vector3(1, 1, 1).norm()
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};
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int numDirs = sizeof(dir) / sizeof(Vector3);
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int numDirs = sizeof(up) / sizeof(Vector3);
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lookNodeParent->setOrientation(Quaternion::QUAT_W);
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for(int i = 0; i < numDirs; i++){
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/*
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nodeA->lookAt(dir[i], rootNode);
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CPPUNIT_ASSERT(nodeA->getGlobalAxis(2).getAngleBetween(dir[i]) < maxAngle);
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*/
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lookNode->lookAt(Vector3::VEC_K, up[i]);
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Vector3 upClamped = Vector3(up[i].x, up[i].y, 0).norm();
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CPPUNIT_ASSERT(lookNode->getGlobalAxis(1).getAngleBetween(upClamped) < maxAngle);
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}
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Quaternion rotQuat = Quaternion(.707, Vector3(1, 0 ,0));
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lookNodeParent->setOrientation(rotQuat);
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for(int i = 0; i < numDirs; i++){
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lookNode->lookAt(Vector3::VEC_K, up[i]);
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Vector3 upClamped = Vector3(up[i].x, up[i].y, 0).norm();
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CPPUNIT_ASSERT(lookNode->getGlobalAxis(1).getAngleBetween(rotQuat * upClamped) < maxAngle);
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}
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}
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void NodeTest::testGetDescendants(){
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vector<Node*> parentADescendants;
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vector<Node*> parentBDescendants;
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vector<Node*> parentCDescendants;
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vector<Node*> parentDDescendants;
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/*
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parentA->getDescendants(parentADescendants);
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parentB->getDescendants(parentBDescendants);
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parentC->getDescendants(parentCDescendants);
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parentD->getDescendants(parentDDescendants);
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parentD->getDescendants(parentDDescendants);
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CPPUNIT_ASSERT(parentDDescendants[0] == childD0);
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CPPUNIT_ASSERT(parentDDescendants[1] == childD1);
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CPPUNIT_ASSERT(parentDDescendants[2] == childD2);
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*/
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}
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}
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