mirror of
https://github.com/luanti-org/luanti.git
synced 2025-07-02 16:38:41 +00:00
67 lines
1.7 KiB
Lua
67 lines
1.7 KiB
Lua
|
local function describe(_, func)
|
||
|
|
func()
|
||
|
|
end
|
||
|
|
|
||
|
|
local function it(section_name, func)
|
||
|
|
print("Running test: " .. section_name)
|
||
|
|
func()
|
||
|
|
end
|
||
|
|
|
||
|
|
local function assert_close(expected, actual)
|
||
|
|
assert(expected:angle_to(actual) < 1e-4)
|
||
|
|
end
|
||
|
|
|
||
|
|
describe("constructors", function()
|
||
|
|
it("identity", function()
|
||
|
|
local rot = Rotation.identity()
|
||
|
|
assert.same({0, 0, 0, 1}, {rot:to_quaternion()})
|
||
|
|
end)
|
||
|
|
it("quaternion", function()
|
||
|
|
local rot = Rotation.quaternion(0, 0, 0, 1)
|
||
|
|
assert_close(rot, Rotation.identity())
|
||
|
|
end)
|
||
|
|
it("axis angle", function() end)
|
||
|
|
it("axis-angle shorthands", function()
|
||
|
|
|
||
|
|
end)
|
||
|
|
end)
|
||
|
|
|
||
|
|
describe("composition", function()
|
||
|
|
it("is the identity for an empty argument list", function()
|
||
|
|
assert_close(Rotation.identity(), Rotation.compose())
|
||
|
|
end)
|
||
|
|
it("is the same rotation for a single argument", function()
|
||
|
|
local rot = Rotation.x(math.pi / 2)
|
||
|
|
assert_close(rot, rot:compose())
|
||
|
|
end)
|
||
|
|
it("is consistent with application", function()
|
||
|
|
|
||
|
|
end)
|
||
|
|
end)
|
||
|
|
|
||
|
|
local function random_quaternion()
|
||
|
|
local x = math.random()
|
||
|
|
local y = math.random()
|
||
|
|
local z = math.random()
|
||
|
|
local w = math.random()
|
||
|
|
return Rotation.quaternion(x, y, z, w)
|
||
|
|
end
|
||
|
|
|
||
|
|
describe("inversion", function()
|
||
|
|
it("random quaternions", function()
|
||
|
|
for _ = 1, 100 do
|
||
|
|
local rot = random_quaternion()
|
||
|
|
assert_close(Rotation.identity(), rot:inverse():compose(rot))
|
||
|
|
assert_close(Rotation.identity(), rot:compose(rot:inverse()))
|
||
|
|
end
|
||
|
|
end)
|
||
|
|
it("inverts the angle", function()
|
||
|
|
for _ = 1, 100 do
|
||
|
|
local rot = random_quaternion()
|
||
|
|
local axis, angle = rot:axis_angle()
|
||
|
|
local inv_axis, inv_angle = rot:inverse():axis_angle()
|
||
|
|
assert(axis:distance(inv_axis) < 1e-4)
|
||
|
|
assert(math.abs(angle + inv_angle) < 1e-4)
|
||
|
|
end
|
||
|
|
end)
|
||
|
|
end)
|