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glm/test/gtx/gtx_euler_angle.cpp

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///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// Restrictions:
/// By making use of the Software for military purposes, you choose to make
/// a Bunny unhappy.
///
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @file test/gtx/gtx_euler_angle.cpp
/// @date 2013-10-25 / 2014-11-25
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////
// Code sample from Filippo Ramaciotti
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/epsilon.hpp>
#include <glm/gtx/string_cast.hpp>
#include <glm/gtx/euler_angles.hpp>
#include <cstdio>
namespace test_eulerAngleX
{
int test()
{
int Error = 0;
float const Angle(glm::pi<float>() * 0.5f);
glm::vec3 const X(1.0f, 0.0f, 0.0f);
glm::vec4 const Y(0.0f, 1.0f, 0.0f, 1.0f);
glm::vec4 const Y1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Y;
glm::vec4 const Y2 = glm::eulerAngleX(Angle) * Y;
glm::vec4 const Y3 = glm::eulerAngleXY(Angle, 0.0f) * Y;
glm::vec4 const Y4 = glm::eulerAngleYX(0.0f, Angle) * Y;
glm::vec4 const Y5 = glm::eulerAngleXZ(Angle, 0.0f) * Y;
glm::vec4 const Y6 = glm::eulerAngleZX(0.0f, Angle) * Y;
glm::vec4 const Y7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Y;
Error += glm::all(glm::epsilonEqual(Y1, Y2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Y1, Y3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Y1, Y4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Y1, Y5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Y1, Y6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Y1, Y7, 0.00001f)) ? 0 : 1;
glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f);
glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Z;
glm::vec4 const Z2 = glm::eulerAngleX(Angle) * Z;
glm::vec4 const Z3 = glm::eulerAngleXY(Angle, 0.0f) * Z;
glm::vec4 const Z4 = glm::eulerAngleYX(0.0f, Angle) * Z;
glm::vec4 const Z5 = glm::eulerAngleXZ(Angle, 0.0f) * Z;
glm::vec4 const Z6 = glm::eulerAngleZX(0.0f, Angle) * Z;
glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Z;
Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleX
namespace test_eulerAngleY
{
int test()
{
int Error = 0;
float const Angle(glm::pi<float>() * 0.5f);
glm::vec3 const Y(0.0f, 1.0f, 0.0f);
glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Y) * X;
glm::vec4 const X2 = glm::eulerAngleY(Angle) * X;
glm::vec4 const X3 = glm::eulerAngleYX(Angle, 0.0f) * X;
glm::vec4 const X4 = glm::eulerAngleXY(0.0f, Angle) * X;
glm::vec4 const X5 = glm::eulerAngleYZ(Angle, 0.0f) * X;
glm::vec4 const X6 = glm::eulerAngleZY(0.0f, Angle) * X;
glm::vec4 const X7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * X;
Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1;
glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f);
glm::vec4 const Z1 = glm::eulerAngleY(Angle) * Z;
glm::vec4 const Z2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * Z;
glm::vec4 const Z3 = glm::eulerAngleYX(Angle, 0.0f) * Z;
glm::vec4 const Z4 = glm::eulerAngleXY(0.0f, Angle) * Z;
glm::vec4 const Z5 = glm::eulerAngleYZ(Angle, 0.0f) * Z;
glm::vec4 const Z6 = glm::eulerAngleZY(0.0f, Angle) * Z;
glm::vec4 const Z7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * Z;
Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleY
namespace test_eulerAngleZ
{
int test()
{
int Error = 0;
float const Angle(glm::pi<float>() * 0.5f);
glm::vec3 const Z(0.0f, 0.0f, 1.0f);
glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * X;
glm::vec4 const X2 = glm::eulerAngleZ(Angle) * X;
glm::vec4 const X3 = glm::eulerAngleZX(Angle, 0.0f) * X;
glm::vec4 const X4 = glm::eulerAngleXZ(0.0f, Angle) * X;
glm::vec4 const X5 = glm::eulerAngleZY(Angle, 0.0f) * X;
glm::vec4 const X6 = glm::eulerAngleYZ(0.0f, Angle) * X;
glm::vec4 const X7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * X;
Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1;
glm::vec4 const Y(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * Y;
glm::vec4 const Z2 = glm::eulerAngleZ(Angle) * Y;
glm::vec4 const Z3 = glm::eulerAngleZX(Angle, 0.0f) * Y;
glm::vec4 const Z4 = glm::eulerAngleXZ(0.0f, Angle) * Y;
glm::vec4 const Z5 = glm::eulerAngleZY(Angle, 0.0f) * Y;
glm::vec4 const Z6 = glm::eulerAngleYZ(0.0f, Angle) * Y;
glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * Y;
Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleZ
namespace test_eulerAngleXY
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleY(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V;
glm::vec4 const V2 = glm::eulerAngleXY(AngleX, AngleY) * V;
glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleY(AngleY) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleXY
namespace test_eulerAngleYX
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleY(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V;
glm::vec4 const V2 = glm::eulerAngleYX(AngleY, AngleX) * V;
glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleX(AngleX) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleYX
namespace test_eulerAngleXZ
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V;
glm::vec4 const V2 = glm::eulerAngleXZ(AngleX, AngleZ) * V;
glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleZ(AngleZ) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleXZ
namespace test_eulerAngleZX
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V;
glm::vec4 const V2 = glm::eulerAngleZX(AngleZ, AngleX) * V;
glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleX(AngleX) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleZX
namespace test_eulerAngleYZ
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleY(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V;
glm::vec4 const V2 = glm::eulerAngleYZ(AngleY, AngleZ) * V;
glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleZ(AngleZ) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleYZ
namespace test_eulerAngleZY
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleY(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V;
glm::vec4 const V2 = glm::eulerAngleZY(AngleZ, AngleY) * V;
glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleY(AngleY) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleZY
namespace test_eulerAngleYXZ
{
int test()
{
glm::f32 first = 1.046f;
glm::f32 second = 0.52f;
glm::f32 third = -0.785f;
glm::fmat4 rotationEuler = glm::eulerAngleYXZ(first, second, third);
glm::fmat4 rotationInvertedY = glm::eulerAngleY(-1.f*first) * glm::eulerAngleX(second) * glm::eulerAngleZ(third);
glm::fmat4 rotationDumb = glm::fmat4();
rotationDumb = glm::rotate(rotationDumb, first, glm::fvec3(0,1,0));
rotationDumb = glm::rotate(rotationDumb, second, glm::fvec3(1,0,0));
rotationDumb = glm::rotate(rotationDumb, third, glm::fvec3(0,0,1));
std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler)).c_str());
std::printf("%s\n", glm::to_string(glm::fmat3(rotationDumb)).c_str());
std::printf("%s\n", glm::to_string(glm::fmat3(rotationInvertedY)).c_str());
std::printf("\nRESIDUAL\n");
std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler-(rotationDumb))).c_str());
std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler-(rotationInvertedY))).c_str());
return 0;
}
}//namespace eulerAngleYXZ
int main()
{
int Error = 0;
Error += test_eulerAngleX::test();
Error += test_eulerAngleY::test();
Error += test_eulerAngleZ::test();
Error += test_eulerAngleXY::test();
Error += test_eulerAngleYX::test();
Error += test_eulerAngleXZ::test();
Error += test_eulerAngleZX::test();
Error += test_eulerAngleYZ::test();
Error += test_eulerAngleZY::test();
Error += test_eulerAngleYXZ::test();
return Error;
}