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#include <cxxtest/TestSuite.h>
#include "math/matrix4.h"
class Rotation3DTestSuite : public CxxTest::TestSuite {
public:
void test_eulerXYX() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_XYX);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_XYX);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerXYZ() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_XYZ);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_XYZ);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerXZX() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_XZX);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_XZX);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerXZY() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_XZY);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_XZY);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerYXY() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_YXY);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_YXY);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerYXZ() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_YXZ);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_YXZ);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerYZX() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_YZX);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_YZX);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerYZY() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy ,zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_YZY);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_YZY);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerZXY() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_ZXY);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_ZXY);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerZXZ() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_ZXZ);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_ZXZ);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerZYX() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_ZYX);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_ZYX);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
void test_eulerZYZ() {
Math::Angle x(20);
Math::Angle y(30);
Math::Angle z(40);
Math::Angle xx, yy, zz;
// Test going to matrix and back
Math::Matrix4 rotMat;
rotMat.buildFromEuler(x, y, z, Math::EO_ZYZ);
rotMat.getEuler(&xx, &yy, &zz, Math::EO_ZYZ);
TS_ASSERT(x == xx);
TS_ASSERT(y == yy);
TS_ASSERT(z == zz);
}
};
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