248 lines
6.1 KiB
Lua
248 lines
6.1 KiB
Lua
local quat = require "modules.quat"
|
|
local vec3 = require "modules.vec3"
|
|
local utils = require "modules.utils"
|
|
|
|
describe("quat:", function()
|
|
it("creates an identity quaternion", function()
|
|
local a = quat()
|
|
assert.is.equal(0, a.x)
|
|
assert.is.equal(0, a.y)
|
|
assert.is.equal(0, a.z)
|
|
assert.is.equal(1, a.w)
|
|
assert.is_true(a:is_quat())
|
|
assert.is_true(a:is_real())
|
|
end)
|
|
|
|
it("creates a quaternion from numbers", function()
|
|
local a = quat(0, 0, 0, 0)
|
|
assert.is.equal(0, a.x)
|
|
assert.is.equal(0, a.y)
|
|
assert.is.equal(0, a.z)
|
|
assert.is.equal(0, a.w)
|
|
assert.is_true(a:is_zero())
|
|
assert.is_true(a:is_imaginary())
|
|
end)
|
|
|
|
it("creates a quaternion from a list", function()
|
|
local a = quat { 2, 3, 4, 1 }
|
|
assert.is.equal(2, a.x)
|
|
assert.is.equal(3, a.y)
|
|
assert.is.equal(4, a.z)
|
|
assert.is.equal(1, a.w)
|
|
end)
|
|
|
|
it("creates a quaternion from a record", function()
|
|
local a = quat { x=2, y=3, z=4, w=1 }
|
|
assert.is.equal(2, a.x)
|
|
assert.is.equal(3, a.y)
|
|
assert.is.equal(4, a.z)
|
|
assert.is.equal(1, a.w)
|
|
end)
|
|
|
|
it("creates a quaternion from a direction", function()
|
|
local v = vec3():normalize(vec3(-80, 80, -80))
|
|
local a = quat.from_direction(v, vec3.unit_z)
|
|
assert.is_true(utils.tolerance(-0.577-a.x, 0.001))
|
|
assert.is_true(utils.tolerance(-0.577-a.y, 0.001))
|
|
assert.is_true(utils.tolerance( 0 -a.z, 0.001))
|
|
assert.is_true(utils.tolerance( 0.423-a.w, 0.001))
|
|
end)
|
|
|
|
it("clones a quaternion", function()
|
|
local a = quat()
|
|
local b = a:clone()
|
|
assert.is.equal(a.x, b.x)
|
|
assert.is.equal(a.y, b.y)
|
|
assert.is.equal(a.z, b.z)
|
|
assert.is.equal(a.w, b.w)
|
|
end)
|
|
|
|
it("adds a quaternion to another", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local b = quat(3, 6, 9, 1)
|
|
local c = quat():add(a, b)
|
|
local d = a + b
|
|
assert.is.equal(5, c.x)
|
|
assert.is.equal(9, c.y)
|
|
assert.is.equal(13, c.z)
|
|
assert.is.equal(2, c.w)
|
|
assert.is.equal(c, d)
|
|
end)
|
|
|
|
it("subtracts a quaternion from another", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local b = quat(3, 6, 9, 1)
|
|
local c = quat():sub(a, b)
|
|
local d = a - b
|
|
assert.is.equal(-1, c.x)
|
|
assert.is.equal(-3, c.y)
|
|
assert.is.equal(-5, c.z)
|
|
assert.is.equal( 0, c.w)
|
|
assert.is.equal(c, d)
|
|
end)
|
|
|
|
it("multiplies a quaternion by another", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local b = quat(3, 6, 9, 1)
|
|
local c = quat():mul(a, b)
|
|
local d = a * b
|
|
assert.is.equal( 8, c.x)
|
|
assert.is.equal( 3, c.y)
|
|
assert.is.equal( 16, c.z)
|
|
assert.is.equal(-59, c.w)
|
|
assert.is.equal(c, d)
|
|
end)
|
|
|
|
it("multiplies a quaternion by a scale factor", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local s = 3
|
|
local b = quat():scale(a, s)
|
|
local c = a * s
|
|
assert.is.equal(6, b.x)
|
|
assert.is.equal(9, b.y)
|
|
assert.is.equal(12, b.z)
|
|
assert.is.equal(3, b.w)
|
|
assert.is.equal(b, c)
|
|
end)
|
|
|
|
it("inverts a quaternion", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local b = -a
|
|
assert.is.equal(-a.x, b.x)
|
|
assert.is.equal(-a.y, b.y)
|
|
assert.is.equal(-a.z, b.z)
|
|
assert.is.equal(-a.w, b.w)
|
|
end)
|
|
|
|
it("multiplies a quaternion by a vec3", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local v = vec3(3, 4, 5)
|
|
local b = quat.mul_vec3(vec3(), a, v)
|
|
local c = a * v
|
|
assert.is.equal(-21, c.x)
|
|
assert.is.equal( 4, c.y)
|
|
assert.is.equal( 17, c.z)
|
|
assert.is.equal(b, c)
|
|
end)
|
|
|
|
it("multiplies a quaternion by an exponent", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local e = 2
|
|
local b = quat():pow(a, e)
|
|
local c = a^e
|
|
assert.is.equal( 4, b.x)
|
|
assert.is.equal( 14, b.y)
|
|
assert.is.equal( 24, b.z)
|
|
assert.is.equal(-145, b.w)
|
|
assert.is.equal(b, c)
|
|
end)
|
|
|
|
it("inverts a quaternion", function()
|
|
local a = quat(1, 1, 1, 1)
|
|
local b = quat():inverse(a)
|
|
assert.is.equal(-0.5, b.x)
|
|
assert.is.equal(-0.5, b.y)
|
|
assert.is.equal(-0.5, b.z)
|
|
assert.is.equal( 0.5, b.w)
|
|
end)
|
|
|
|
it("normalizes a quaternion", function()
|
|
local a = quat(1, 1, 1, 1)
|
|
local b = quat():normalize(a)
|
|
assert.is.equal(0.5, b.x)
|
|
assert.is.equal(0.5, b.y)
|
|
assert.is.equal(0.5, b.z)
|
|
assert.is.equal(0.5, b.w)
|
|
end)
|
|
|
|
it("dots two quaternions", function()
|
|
local a = quat(1, 1, 1, 1)
|
|
local b = quat(4, 4, 4, 4)
|
|
local c = a:dot(b)
|
|
assert.is.equal(16, c)
|
|
end)
|
|
|
|
it("gets the length of a quaternion", function()
|
|
local a = quat(2, 3, 4, 5)
|
|
local b = a:len()
|
|
assert.is.equal(math.sqrt(54), b)
|
|
end)
|
|
|
|
it("gets the square length of a quaternion", function()
|
|
local a = quat(2, 3, 4, 5)
|
|
local b = a:len2()
|
|
assert.is.equal(54, b)
|
|
end)
|
|
|
|
it("interpolates between two quaternions", function()
|
|
local a = quat(3, 3, 3, 3)
|
|
local b = quat(6, 6, 6, 6)
|
|
local s = 0.1
|
|
local c = quat():lerp(a, b, s)
|
|
assert.is.equal(0.5, c.x)
|
|
assert.is.equal(0.5, c.y)
|
|
assert.is.equal(0.5, c.z)
|
|
assert.is.equal(0.5, c.w)
|
|
end)
|
|
|
|
it("interpolates between two quaternions (spherical)", function()
|
|
local a = quat(3, 3, 3, 3)
|
|
local b = quat(6, 6, 6, 6)
|
|
local s = 0.1
|
|
local c = quat():slerp(a, b, s)
|
|
assert.is.equal(0.5, c.x)
|
|
assert.is.equal(0.5, c.y)
|
|
assert.is.equal(0.5, c.z)
|
|
assert.is.equal(0.5, c.w)
|
|
end)
|
|
|
|
it("unpacks a quaternion", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local x, y, z, w = a:unpack()
|
|
assert.is.equal(2, x)
|
|
assert.is.equal(3, y)
|
|
assert.is.equal(4, z)
|
|
assert.is.equal(1, w)
|
|
end)
|
|
|
|
it("converts quaternion to a vec3", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local v = a:to_vec3()
|
|
assert.is.equal(2, v.x)
|
|
assert.is.equal(3, v.y)
|
|
assert.is.equal(4, v.z)
|
|
end)
|
|
|
|
it("gets the conjugate quaternion", function()
|
|
local a = quat(2, 3, 4, 1)
|
|
local b = quat():conjugate(a)
|
|
assert.is.equal(-2, b.x)
|
|
assert.is.equal(-3, b.y)
|
|
assert.is.equal(-4, b.z)
|
|
assert.is.equal( 1, b.w)
|
|
end)
|
|
|
|
it("gets the reciprocal quaternion", function()
|
|
local a = quat(1, 1, 1, 1)
|
|
local b = quat():reciprocal(a)
|
|
local c = quat():reciprocal(b)
|
|
|
|
assert.is_not.equal(a.x, b.x)
|
|
assert.is_not.equal(a.y, b.y)
|
|
assert.is_not.equal(a.z, b.z)
|
|
assert.is_not.equal(a.w, b.w)
|
|
|
|
assert.is.equal(a.x, c.x)
|
|
assert.is.equal(a.y, c.y)
|
|
assert.is.equal(a.z, c.z)
|
|
assert.is.equal(a.w, c.w)
|
|
end)
|
|
|
|
it("converts between a quaternion and angle/axis", function()
|
|
local a = quat.from_angle_axis(math.pi, vec3.unit_z)
|
|
local angle, axis = a:to_angle_axis()
|
|
assert.is.equal(math.pi, angle)
|
|
assert.is.equal(vec3.unit_z, axis)
|
|
end)
|
|
end)
|