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…1451) * testcase and fix for issue #1388 (Quaternion javadoc is misleading) * privatize 2 methods to please Codacy * Quaternion: distinguish intrinsic-vs-extrinsic rotation order in cmts * TestIssue1388: verify intrinsic rotation order
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jme3-core/src/test/java/com/jme3/math/TestIssue1388.java
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| /* | ||
| * Copyright (c) 2020-2021 jMonkeyEngine | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are | ||
| * met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * | ||
| * * Neither the name of 'jMonkeyEngine' nor the names of its contributors | ||
| * may be used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED | ||
| * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR | ||
| * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR | ||
| * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, | ||
| * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, | ||
| * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR | ||
| * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | ||
| * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | ||
| * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
| package com.jme3.math; | ||
|
|
||
| import org.junit.Assert; | ||
| import org.junit.Test; | ||
|
|
||
| /** | ||
| * Verify the order in which Tait-Bryan angles are applied by the Quaternion | ||
| * class. This was issue #1388 at GitHub. | ||
| * | ||
| * @author Stephen Gold | ||
| */ | ||
| public class TestIssue1388 { | ||
|
|
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| @Test | ||
| public void testIssue1388() { | ||
| Vector3f in = new Vector3f(4f, 6f, 9f); // test vector, never modified | ||
| Vector3f saveIn = in.clone(); | ||
| /* | ||
| * Three arbitrary rotation angles between -PI/2 and +PI/2 | ||
| */ | ||
| final float xAngle = 1.23f; | ||
| final float yAngle = 0.765f; | ||
| final float zAngle = -0.456f; | ||
| float[] angles = new float[]{xAngle, yAngle, zAngle}; | ||
| float[] saveAngles = new float[]{xAngle, yAngle, zAngle}; | ||
| /* | ||
| * Part 1: verify that the extrinsic rotation order is x-z-y | ||
| * | ||
| * Apply extrinsic rotations to the "in" vector in x-z-y order. | ||
| */ | ||
| Quaternion qx = new Quaternion().fromAngleAxis(xAngle, Vector3f.UNIT_X); | ||
| Quaternion qy = new Quaternion().fromAngleAxis(yAngle, Vector3f.UNIT_Y); | ||
| Quaternion qz = new Quaternion().fromAngleAxis(zAngle, Vector3f.UNIT_Z); | ||
| Vector3f outXZY = qx.mult(in); | ||
| qz.mult(outXZY, outXZY); | ||
| qy.mult(outXZY, outXZY); | ||
| /* | ||
| * Construct a Quaternion using fromAngles(float, float, float), | ||
| * use it to rotate the "in" vector, and compare. | ||
| */ | ||
| Quaternion q1 = new Quaternion().fromAngles(xAngle, yAngle, zAngle); | ||
| Vector3f out1 = q1.mult(in); | ||
| assertEquals(outXZY, out1, 1e-5f); | ||
| /* | ||
| * Construct a Quaternion using fromAngles(float[]), | ||
| * use it to rotate the "in" vector, and compare. | ||
| */ | ||
| Quaternion q2 = new Quaternion().fromAngles(angles); | ||
| Vector3f out2 = q2.mult(in); | ||
| assertEquals(outXZY, out2, 1e-5f); | ||
| /* | ||
| * Construct a Quaternion using only the constructor, | ||
| * use it to rotate the "in" vector, and compare. | ||
| */ | ||
| Quaternion q3 = new Quaternion(angles); | ||
| Vector3f out3 = q3.mult(in); | ||
| assertEquals(outXZY, out3, 1e-5f); | ||
| /* | ||
| * Verify that fromAngles() reverses toAngles() for the chosen angles. | ||
| */ | ||
| float[] out4 = q1.toAngles(null); | ||
| assertEquals(angles, out4, 1e-5f); | ||
| float[] out5 = q2.toAngles(null); | ||
| assertEquals(angles, out5, 1e-5f); | ||
| float[] out6 = q3.toAngles(null); | ||
| assertEquals(angles, out6, 1e-5f); | ||
| /* | ||
| * Part 2: verify intrinsic rotation order | ||
| * | ||
| * Apply intrinsic rotations to the "in" vector in y-z'-x" order. | ||
| */ | ||
| Quaternion q4 = qy.mult(qz).mult(qx); | ||
| Vector3f out7 = q4.mult(in); | ||
| assertEquals(outXZY, out7, 1e-5f); | ||
| /* | ||
| * Verify that the values of "saveAngles" and "in" haven't changed. | ||
| */ | ||
| assertEquals(saveAngles, angles, 0f); | ||
| assertEquals(saveIn, in, 0f); | ||
| } | ||
|
|
||
| private void assertEquals(float[] expected, float[] actual, | ||
| float tolerance) { | ||
| Assert.assertEquals(expected[0], actual[0], tolerance); | ||
| Assert.assertEquals(expected[1], actual[1], tolerance); | ||
| Assert.assertEquals(expected[2], actual[2], tolerance); | ||
| } | ||
|
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| private void assertEquals(Vector3f expected, Vector3f actual, | ||
| float tolerance) { | ||
| Assert.assertEquals(expected.x, actual.x, tolerance); | ||
| Assert.assertEquals(expected.y, actual.y, tolerance); | ||
| Assert.assertEquals(expected.z, actual.z, tolerance); | ||
| } | ||
| } |