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Add test for setPitchYawRollRad rotation conventions

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This commit is contained in:
Lars Mueller 2025-05-28 19:11:35 +02:00
parent d17f22f536
commit 5bc191dd8f
2 changed files with 57 additions and 27 deletions
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82
src/unittest/test_irr_matrix4.cpp
View file

@ -6,6 +6,8 @@
#include "irrMath.h"
#include "matrix4.h"
#include "irr_v3d.h"
#include "util/numeric.h"
#include <functional>
using matrix4 = core::matrix4;
@ -17,8 +19,58 @@ constexpr v3f x{1, 0, 0};
constexpr v3f y{0, 1, 0};
constexpr v3f z{0, 0, 1};
constexpr f32 QUARTER_TURN = core::PI / 2;
static void LEFT_HANDED(const std::function<void(core::matrix4 &m, const v3f &rot_rad)> &f) {
SECTION("rotation is left-handed") {
SECTION("around the X-axis") {
matrix4 X;
f(X, {QUARTER_TURN, 0 , 0});
CHECK(X.transformVect(x).equals(x));
CHECK(X.transformVect(y).equals(z));
CHECK(X.transformVect(z).equals(-y));
}
SECTION("around the Y-axis") {
matrix4 Y;
f(Y, {0, QUARTER_TURN, 0});
CHECK(Y.transformVect(y).equals(y));
CHECK(Y.transformVect(x).equals(-z));
CHECK(Y.transformVect(z).equals(x));
}
SECTION("around the Z-axis") {
matrix4 Z;
f(Z, {0, 0, QUARTER_TURN});
CHECK(Z.transformVect(z).equals(z));
CHECK(Z.transformVect(x).equals(y));
CHECK(Z.transformVect(y).equals(-x));
}
}
}
TEST_CASE("matrix4") {
// This is in numeric.h rather than matrix4.h, but is conceptually a matrix4 method as well
SECTION("setPitchYawRollRad") {
SECTION("rotation order is YXZ (matrix notation)") {
v3f rot{1, 2, 3};
matrix4 X, Y, Z, YXZ;
setPitchYawRollRad(X, {rot.X, 0, 0});
setPitchYawRollRad(Y, {0, rot.Y, 0});
setPitchYawRollRad(Z, {0, 0, rot.Z});
setPitchYawRollRad(YXZ, rot);
CHECK(!matrix_equals(X * Y * Z, YXZ));
CHECK(!matrix_equals(X * Z * Y, YXZ));
CHECK(matrix_equals(Y * X * Z, YXZ));
CHECK(!matrix_equals(Y * Z * X, YXZ));
CHECK(!matrix_equals(Z * X * Y, YXZ));
CHECK(!matrix_equals(Z * Y * X, YXZ));
}
LEFT_HANDED(setPitchYawRollRad);
}
SECTION("setRotationRadians") {
SECTION("rotation order is ZYX (matrix notation)") {
v3f rot{1, 2, 3};
@ -35,36 +87,12 @@ SECTION("setRotationRadians") {
CHECK(matrix_equals(Z * Y * X, ZYX));
}
const f32 quarter_turn = core::PI / 2;
// See https://en.wikipedia.org/wiki/Right-hand_rule#/media/File:Cartesian_coordinate_system_handedness.svg
// for a visualization of what handedness means for rotations
SECTION("rotation is right-handed") {
SECTION("rotation around the X-axis is Z-up, counter-clockwise") {
matrix4 X;
X.setRotationRadians({quarter_turn, 0, 0});
CHECK(X.transformVect(x).equals(x));
CHECK(X.transformVect(y).equals(z));
CHECK(X.transformVect(z).equals(-y));
}
SECTION("rotation around the Y-axis is Z-up, clockwise") {
matrix4 Y;
Y.setRotationRadians({0, quarter_turn, 0});
CHECK(Y.transformVect(y).equals(y));
CHECK(Y.transformVect(x).equals(-z));
CHECK(Y.transformVect(z).equals(x));
}
SECTION("rotation around the Z-axis is Y-up, counter-clockwise") {
matrix4 Z;
Z.setRotationRadians({0, 0, quarter_turn});
CHECK(Z.transformVect(z).equals(z));
CHECK(Z.transformVect(x).equals(y));
CHECK(Z.transformVect(y).equals(-x));
}
}
LEFT_HANDED([](core::matrix4 &m, const v3f &rot_rad) {
m.setRotationRadians(rot_rad);
});
}
SECTION("getScale") {

2
src/util/numeric.h
View file

@ -478,6 +478,7 @@ inline void wrappedApproachShortest(T &current, const T target, const T stepsize
}
}
/// @note Uses YXZ (matrix notation) rotation order, left-handed rotation
void setPitchYawRollRad(core::matrix4 &m, v3f rot);
inline void setPitchYawRoll(core::matrix4 &m, v3f rot)
@ -485,6 +486,7 @@ inline void setPitchYawRoll(core::matrix4 &m, v3f rot)
setPitchYawRollRad(m, rot * core::DEGTORAD);
}
/// @see setPitchYawRollRad
v3f getPitchYawRollRad(const core::matrix4 &m);
inline v3f getPitchYawRoll(const core::matrix4 &m)