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// Copyright 2016 The Chromium Authors
// Use of this source code is governed by a BSD-style license that can be
// found in the LICENSE file.
#include "third_party/blink/renderer/platform/transforms/rotation.h"
#include "testing/gtest/include/gtest/gtest.h"
#include "third_party/blink/renderer/platform/wtf/math_extras.h"
#include "ui/gfx/geometry/point3_f.h"
#include "ui/gfx/geometry/vector3d_f.h"
namespace blink {
const double kAxisTolerance = 1e-6;
const double kAngleTolerance = 1e-4;
#define EXPECT_AXIS(expected, actual) \
do { \
EXPECT_NEAR(expected.x(), actual.x(), kAxisTolerance); \
EXPECT_NEAR(expected.y(), actual.y(), kAxisTolerance); \
EXPECT_NEAR(expected.z(), actual.z(), kAxisTolerance); \
} while (false)
#define EXPECT_ANGLE(expected, actual) \
EXPECT_NEAR(expected, actual, kAngleTolerance)
TEST(RotationTest, GetCommonAxisTest) {
gfx::Vector3dF axis;
double angle_a;
double angle_b;
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(0, 0, 0), 0),
Rotation(gfx::Vector3dF(1, 2, 3), 100),
axis, angle_a, angle_b));
gfx::Vector3dF expected_axis(1, 2, 3);
expected_axis.GetNormalized(&expected_axis);
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(0, angle_a);
EXPECT_EQ(100, angle_b);
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(1, 2, 3), 100),
Rotation(gfx::Vector3dF(0, 0, 0), 0),
axis, angle_a, angle_b));
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(100, angle_a);
EXPECT_EQ(0, angle_b);
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(0, 0, 0), 100),
Rotation(gfx::Vector3dF(1, 2, 3), 100),
axis, angle_a, angle_b));
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(0, angle_a);
EXPECT_EQ(100, angle_b);
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(3, 2, 1), 0),
Rotation(gfx::Vector3dF(1, 2, 3), 100),
axis, angle_a, angle_b));
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(0, angle_a);
EXPECT_EQ(100, angle_b);
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(1, 2, 3), 50),
Rotation(gfx::Vector3dF(1, 2, 3), 100),
axis, angle_a, angle_b));
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(50, angle_a);
EXPECT_EQ(100, angle_b);
EXPECT_TRUE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(1, 2, 3), 50),
Rotation(gfx::Vector3dF(2, 4, 6), 100),
axis, angle_a, angle_b));
EXPECT_AXIS(expected_axis, axis);
EXPECT_EQ(50, angle_a);
EXPECT_EQ(100, angle_b);
EXPECT_FALSE(Rotation::GetCommonAxis(Rotation(gfx::Vector3dF(1, 2, 3), 50),
Rotation(gfx::Vector3dF(3, 2, 1), 100),
axis, angle_a, angle_b));
EXPECT_FALSE(Rotation::GetCommonAxis(
Rotation(gfx::Vector3dF(1, 2, 3), 50),
Rotation(gfx::Vector3dF(-1, -2, -3), 100), axis, angle_a, angle_b));
}
TEST(RotationTest, AddTest) {
// Test accumulation around common axis.
Rotation x_rotation = Rotation::Add(Rotation(gfx::Vector3dF(1, 0, 0), 60),
Rotation(gfx::Vector3dF(1, 0, 0), 30));
EXPECT_AXIS(gfx::Vector3dF(1, 0, 0), x_rotation.axis);
EXPECT_ANGLE(90, x_rotation.angle);
Rotation y_rotation = Rotation::Add(Rotation(gfx::Vector3dF(0, 1, 0), 60),
Rotation(gfx::Vector3dF(0, 1, 0), 30));
EXPECT_AXIS(gfx::Vector3dF(0, 1, 0), y_rotation.axis);
EXPECT_ANGLE(90, y_rotation.angle);
Rotation z_rotation = Rotation::Add(Rotation(gfx::Vector3dF(0, 0, 1), 60),
Rotation(gfx::Vector3dF(0, 0, 1), 30));
EXPECT_AXIS(gfx::Vector3dF(0, 0, 1), z_rotation.axis);
EXPECT_ANGLE(90, z_rotation.angle);
// Test axis pairs
Rotation xy_rotation = Rotation::Add(Rotation(gfx::Vector3dF(1, 0, 0), 90),
Rotation(gfx::Vector3dF(0, 1, 0), 90));
double root3_inv = 1 / std::sqrt(3);
gfx::Vector3dF expected_axis(root3_inv, root3_inv, root3_inv);
EXPECT_AXIS(expected_axis, xy_rotation.axis);
EXPECT_ANGLE(120, xy_rotation.angle);
Rotation yz_rotation = Rotation::Add(Rotation(gfx::Vector3dF(0, 1, 0), 90),
Rotation(gfx::Vector3dF(0, 0, 1), 90));
EXPECT_AXIS(expected_axis, yz_rotation.axis);
EXPECT_ANGLE(120, yz_rotation.angle);
Rotation zx_rotation = Rotation::Add(Rotation(gfx::Vector3dF(0, 0, 1), 90),
Rotation(gfx::Vector3dF(1, 0, 0), 90));
EXPECT_AXIS(expected_axis, zx_rotation.axis);
EXPECT_ANGLE(120, zx_rotation.angle);
}
TEST(RotationTest, SlerpTest) {
// Common axis case.
Rotation x_rotation =
Rotation::Slerp(Rotation(gfx::Vector3dF(1, 0, 0), 30),
Rotation(gfx::Vector3dF(1, 0, 0), 60), 0.5);
EXPECT_AXIS(gfx::Vector3dF(1, 0, 0), x_rotation.axis);
EXPECT_ANGLE(45, x_rotation.angle);
// General case without a common rotation axis.
Rotation xy_rotation =
Rotation::Slerp(Rotation(gfx::Vector3dF(1, 0, 0), 90),
Rotation(gfx::Vector3dF(0, 1, 0), 90), 0.5);
double root2_inv = 1 / std::sqrt(2); // half angle is 60 degrees
EXPECT_AXIS(gfx::Vector3dF(root2_inv, root2_inv, 0), xy_rotation.axis);
double expected_angle = Rad2deg(std::acos(1.0 / 3.0));
EXPECT_ANGLE(expected_angle, xy_rotation.angle);
}
} // namespace blink
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