added tests for complex and quaternion slerp pathing

This commit is contained in:
Joshua Smith 2022-03-29 13:38:10 -05:00 committed by Saurabh
parent c2cfe4a7ce
commit f4f73c3659

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@ -33,7 +33,9 @@ fn quaternion_euler_angles_issue_494() {
#[cfg(feature = "proptest-support")] #[cfg(feature = "proptest-support")]
mod proptest_tests { mod proptest_tests {
use na::{self, Rotation2, Rotation3, Unit}; use na::{self, Rotation2, Rotation3, Unit};
use na::{UnitComplex, UnitQuaternion};
use simba::scalar::RealField; use simba::scalar::RealField;
use approx::AbsDiffEq;
use std::f64; use std::f64;
use crate::proptest::*; use crate::proptest::*;
@ -229,5 +231,74 @@ mod proptest_tests {
prop_assert_eq!(r, Rotation3::identity()) prop_assert_eq!(r, Rotation3::identity())
} }
} }
//
//In general, `slerp(a,b,t)` should equal `(b/a)^t * a` even though in practice,
//we may not use that formula directly for complex numbers or quaternions
//
#[test]
fn slerp_powf_agree_2(a in unit_complex(), b in unit_complex(), t in PROPTEST_F64) {
let z1 = a.slerp(&b, t);
let z2 = (b/a).powf(t) * a;
prop_assert!(relative_eq!(z1,z2,epsilon=1e-10));
}
#[test]
fn slerp_powf_agree_3(a in unit_quaternion(), b in unit_quaternion(), t in PROPTEST_F64) {
if let Some(z1) = a.try_slerp(&b, t, f64::default_epsilon()) {
let z2 = (b/a).powf(t) * a;
prop_assert!(relative_eq!(z1,z2,epsilon=1e-10));
}
}
//
//when not antipodal, slerp should always take the shortest path between two orientations
//
#[test]
fn slerp_takes_shortest_path_2(
z in unit_complex(), dtheta in -f64::pi()..f64::pi(), t in 0.0..1.0f64
) {
//ambiguous when at ends of angle range, so we don't really care here
if dtheta.abs() != f64::pi() {
//make two complex numbers separated by an angle between -pi and pi
let (z1, z2) = (z, z * UnitComplex::new(dtheta));
let z3 = z1.slerp(&z2, t);
//since the angle is no larger than a half-turn, and t is between 0 and 1,
//the shortest path just corresponds to adding the scaled angle
let a1 = z3.angle();
let a2 = na::wrap(z1.angle() + dtheta*t, -f64::pi(), f64::pi());
prop_assert!(relative_eq!(a1, a2, epsilon=1e-10));
}
}
#[test]
fn slerp_takes_shortest_path_3(
q in unit_quaternion(), dtheta in -f64::pi()..f64::pi(), t in 0.0..1.0f64
) {
//ambiguous when at ends of angle range, so we don't really care here
if let Some(axis) = q.axis() {
//make two quaternions separated by an angle between -pi and pi
let (q1, q2) = (q, q * UnitQuaternion::from_axis_angle(&axis, dtheta));
let q3 = q1.slerp(&q2, t);
//since the angle is no larger than a half-turn, and t is between 0 and 1,
//the shortest path just corresponds to adding the scaled angle
let q4 = q1 * UnitQuaternion::from_axis_angle(&axis, dtheta*t);
prop_assert!(relative_eq!(q3, q4, epsilon=1e-10));
}
}
} }
} }