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Fix Basis::get_euler incorrectly simplifying rotations in some cases.

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Adam
2025-01-28 21:41:31 -06:00
parent a013481b09
commit d56cbd374b
2 changed files with 29 additions and 18 deletions
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18
tests/core/math/test_basis.h
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@@ -93,9 +93,9 @@ void test_rotation(Vector3 deg_original_euler, EulerOrder rot_order) {
Basis res = to_rotation.inverse() * rotation_from_computed_euler;
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_column(2))));
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.001, vformat("Fail due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.001, vformat("Fail due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.001, vformat("Fail due to Z %s\n", String(res.get_column(2))));
// Double check `to_rotation` decomposing with XYZ rotation order.
const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(EulerOrder::XYZ);
@@ -103,9 +103,9 @@ void test_rotation(Vector3 deg_original_euler, EulerOrder rot_order) {
res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_column(2))));
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_column(2))));
INFO(vformat("Rotation order: %s\n.", get_rot_order_name(rot_order)));
INFO(vformat("Original Rotation: %s\n", String(deg_original_euler)));
@@ -176,6 +176,12 @@ TEST_CASE("[Basis] Euler conversions") {
vectors_to_test.push_back(Vector3(120.0, -150.0, -130.0));
vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
vectors_to_test.push_back(Vector3(89.9, 0.0, 0.0));
vectors_to_test.push_back(Vector3(-89.9, 0.0, 0.0));
vectors_to_test.push_back(Vector3(0.0, 89.9, 0.0));
vectors_to_test.push_back(Vector3(0.0, -89.9, 0.0));
vectors_to_test.push_back(Vector3(0.0, 0.0, 89.9));
vectors_to_test.push_back(Vector3(0.0, 0.0, -89.9));
for (int h = 0; h < euler_order_to_test.size(); h += 1) {
for (int i = 0; i < vectors_to_test.size(); i += 1) {