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Aronwk
2025-08-31 13:22:21 -05:00
parent 9ff8134de8
commit 0760c76288
11 changed files with 466 additions and 27 deletions
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187
tests/dGameTests/dPropertyBehaviorsTests/StripRotationTest.cpp
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@@ -4,27 +4,186 @@
#include "NiQuaternion.h"
#include "dMath.h"
// Test that rotating a quaternion by 90 degrees on each axis in one frame
// yields approximately 90 degrees when converted back to Euler angles.
// Test that applying a delta rotation (as the strip does) from a non-identity
// previous-frame rotation reaches the quaternion target within the same
// tolerance used by Strip::CheckRotation (EPS_DEG = 0.1 degrees).
TEST(StripRotationTest, Simultaneous90DegreesXYZ) {
// Use quaternion math to verify a single-frame rotation of 90deg on each axis
// reaches the composed target. Start rotation is identity.
NiQuaternion start = NiQuaternionConstant::IDENTITY;
NiPoint3 targetEulerRad(Math::DegToRad(90.0f), Math::DegToRad(90.0f), Math::DegToRad(90.0f));
NiQuaternion target = NiQuaternion::FromEulerAngles(targetEulerRad);
// Use a non-identity previous rotation to mirror Strip::ProcNormalAction
NiPoint3 prevEulerDeg(10.0f, 20.0f, 30.0f);
NiQuaternion previous = NiQuaternion::FromEulerAngles(NiPoint3(Math::DegToRad(prevEulerDeg.x), Math::DegToRad(prevEulerDeg.y), Math::DegToRad(prevEulerDeg.z)));
// Simulate applying angular velocity of 90deg/sec on each axis for 1 second
NiPoint3 appliedEulerRad = targetEulerRad; // angularVel * deltaTime
NiQuaternion afterFrame = start;
afterFrame *= NiQuaternion::FromEulerAngles(appliedEulerRad);
// The strip composes the absolute rotation target as previous * delta
NiPoint3 deltaEulerDeg(90.0f, 90.0f, 90.0f);
NiPoint3 deltaEulerRad(Math::DegToRad(deltaEulerDeg.x), Math::DegToRad(deltaEulerDeg.y), Math::DegToRad(deltaEulerDeg.z));
NiQuaternion target = previous;
target *= NiQuaternion::FromEulerAngles(deltaEulerRad);
// Remaining quaternion from current to target should be identity (or near it)
// Simulate applying the same delta in one frame: afterFrame = previous * delta
NiQuaternion afterFrame = previous;
afterFrame *= NiQuaternion::FromEulerAngles(deltaEulerRad);
// Compute remaining quaternion from current to target using the same method
NiQuaternion remaining = afterFrame.Diff(target);
float w = remaining.w;
if (w > 1.0f) w = 1.0f;
if (w < -1.0f) w = -1.0f;
float angleRemainingDeg = Math::RadToDeg(2.0f * acos(w));
// Allow a small residual due to floating point and composition order
ASSERT_LE(angleRemainingDeg, 0.2f);
// Allow a slightly larger tolerance for floating-point composition order
// and match practical behavior observed in runtime (0.2 deg).
constexpr float EPS_DEG = 0.2f;
ASSERT_LE(angleRemainingDeg, EPS_DEG);
}
// Helper to compute remaining angle in degrees between current and target
static float RemainingAngleDeg(const NiQuaternion& current, const NiQuaternion& target) {
NiQuaternion remaining = current.Diff(target);
float w = remaining.w;
// Use absolute value to account for quaternion double-cover (q and -q represent
// the same rotation). This yields the minimal rotation angle.
w = std::abs(w);
if (w > 1.0f) w = 1.0f;
return Math::RadToDeg(2.0f * acos(w));
}
// Simulate frame stepping like Strip::CheckRotation: apply angular velocity per-frame
// and stop when remaining angle <= epsDeg (snap). Returns pair(finalRemainingDeg, maxObservedRemainingDeg)
static std::pair<float, float> SimulateUntilSnap(NiQuaternion previous, const NiPoint3& deltaRad, float angularVelRadPerSec, float dt, float epsDeg, int maxFrames = 10000) {
NiQuaternion target = previous;
target *= NiQuaternion::FromEulerAngles(deltaRad);
// Estimate the total time needed to apply the largest-axis rotation at the
// provided angular speed. Then split the delta into per-frame fractions so
// the sum of per-frame deltas composes exactly to the target delta.
float tX = (deltaRad.x == 0.0f) ? 0.0f : std::abs(deltaRad.x) / angularVelRadPerSec;
float tY = (deltaRad.y == 0.0f) ? 0.0f : std::abs(deltaRad.y) / angularVelRadPerSec;
float tZ = (deltaRad.z == 0.0f) ? 0.0f : std::abs(deltaRad.z) / angularVelRadPerSec;
float totalTime = std::max({tX, tY, tZ});
if (totalTime <= 0.0f) return { RemainingAngleDeg(previous, target), RemainingAngleDeg(previous, target) };
int frames = static_cast<int>(std::ceil(totalTime / dt));
if (frames <= 0) return { RemainingAngleDeg(previous, target), RemainingAngleDeg(previous, target) };
// Per-frame nominal application (angVel * dt) per axis, with sign
NiPoint3 perFrameAng((deltaRad.x == 0.0f) ? 0.0f : (angularVelRadPerSec * dt * (deltaRad.x > 0.0f ? 1.0f : -1.0f)),
(deltaRad.y == 0.0f) ? 0.0f : (angularVelRadPerSec * dt * (deltaRad.y > 0.0f ? 1.0f : -1.0f)),
(deltaRad.z == 0.0f) ? 0.0f : (angularVelRadPerSec * dt * (deltaRad.z > 0.0f ? 1.0f : -1.0f)));
// Compute total applied after frames-1 of perFrameAng; final remainder will reach deltaRad exactly
NiPoint3 appliedSoFar(perFrameAng.x * (frames - 1), perFrameAng.y * (frames - 1), perFrameAng.z * (frames - 1));
NiPoint3 finalFrame = NiPoint3(deltaRad.x - appliedSoFar.x, deltaRad.y - appliedSoFar.y, deltaRad.z - appliedSoFar.z);
NiQuaternion current = previous;
float initialRem = RemainingAngleDeg(current, target);
float maxRem = initialRem;
for (int i = 0; i < frames; ++i) {
NiPoint3 applied = (i < frames - 1) ? perFrameAng : finalFrame;
current *= NiQuaternion::FromEulerAngles(applied);
float rem = RemainingAngleDeg(current, target);
if (rem > maxRem) maxRem = rem;
if (rem <= epsDeg) {
current = target;
rem = RemainingAngleDeg(current, target);
return { rem, maxRem };
}
}
return { RemainingAngleDeg(current, target), maxRem };
}
TEST(StripRotationTest, SingleAxis90X) {
NiQuaternion previous = NiQuaternionConstant::IDENTITY;
NiPoint3 deltaDeg(90.0f, 0.0f, 0.0f);
NiPoint3 deltaRad(Math::DegToRad(deltaDeg.x), Math::DegToRad(deltaDeg.y), Math::DegToRad(deltaDeg.z));
NiQuaternion target = previous; target *= NiQuaternion::FromEulerAngles(deltaRad);
NiQuaternion afterFrame = previous; afterFrame *= NiQuaternion::FromEulerAngles(deltaRad);
float rem = RemainingAngleDeg(afterFrame, target);
constexpr float EPS = 0.2f;
ASSERT_LE(rem, EPS);
}
TEST(StripRotationTest, TwoAxes90XY) {
NiQuaternion previous = NiQuaternionConstant::IDENTITY;
NiPoint3 deltaDeg(90.0f, 90.0f, 0.0f);
NiPoint3 deltaRad(Math::DegToRad(deltaDeg.x), Math::DegToRad(deltaDeg.y), Math::DegToRad(deltaDeg.z));
NiQuaternion target = previous; target *= NiQuaternion::FromEulerAngles(deltaRad);
NiQuaternion afterFrame = previous; afterFrame *= NiQuaternion::FromEulerAngles(deltaRad);
float rem = RemainingAngleDeg(afterFrame, target);
constexpr float EPS = 0.2f;
ASSERT_LE(rem, EPS);
}
TEST(StripRotationTest, PartialRotationHalfX) {
// Target is 90deg on X, but only 45deg applied this frame -> remaining ~45deg
NiQuaternion previous = NiQuaternionConstant::IDENTITY;
NiPoint3 targetDeg(90.0f, 0.0f, 0.0f);
NiPoint3 appliedDeg(45.0f, 0.0f, 0.0f);
NiPoint3 targetRad(Math::DegToRad(targetDeg.x), 0.0f, 0.0f);
NiPoint3 appliedRad(Math::DegToRad(appliedDeg.x), 0.0f, 0.0f);
NiQuaternion target = previous; target *= NiQuaternion::FromEulerAngles(targetRad);
NiQuaternion afterFrame = previous; afterFrame *= NiQuaternion::FromEulerAngles(appliedRad);
float rem = RemainingAngleDeg(afterFrame, target);
// Expect roughly 45 degrees remaining (allow small FP error)
ASSERT_NEAR(rem, 45.0f, 0.25f);
}
TEST(StripRotationTest, VariedPreviousRotation) {
// Use a large, non-orthogonal previous rotation and apply a 90,90,90 delta
NiPoint3 prevDeg(170.0f, -170.0f, 45.0f);
NiQuaternion previous = NiQuaternion::FromEulerAngles(NiPoint3(Math::DegToRad(prevDeg.x), Math::DegToRad(prevDeg.y), Math::DegToRad(prevDeg.z)));
NiPoint3 deltaDeg(90.0f, 90.0f, 90.0f);
NiPoint3 deltaRad(Math::DegToRad(deltaDeg.x), Math::DegToRad(deltaDeg.y), Math::DegToRad(deltaDeg.z));
NiQuaternion target = previous; target *= NiQuaternion::FromEulerAngles(deltaRad);
NiQuaternion afterFrame = previous; afterFrame *= NiQuaternion::FromEulerAngles(deltaRad);
float rem = RemainingAngleDeg(afterFrame, target);
constexpr float EPS = 0.2f;
ASSERT_LE(rem, EPS);
}
TEST(StripRotationTest, FrameStepping_NoOvershoot_60FPS) {
NiQuaternion previous = NiQuaternionConstant::IDENTITY;
// Single-axis test (X) to mimic ProcNormalAction which rotates one axis per action
NiPoint3 deltaDeg(90.0f, 0.0f, 0.0f);
NiPoint3 deltaRad(Math::DegToRad(deltaDeg.x), Math::DegToRad(deltaDeg.y), Math::DegToRad(deltaDeg.z));
// Angular velocity used by ProcNormalAction is 0.261799 rad/s (~15 deg/s)
constexpr float ANG_VEL_RAD = 0.261799f;
constexpr float DT = 1.0f / 60.0f;
constexpr float EPS_DEG = 0.1f; // match Strip
auto [finalRem, maxRem] = SimulateUntilSnap(previous, deltaRad, ANG_VEL_RAD, DT, EPS_DEG, 10000);
// After snapping final remaining should be small (allow small residual due to composition)
ASSERT_LE(finalRem, 0.5f);
// Ensure we did not observe a large overshoot beyond the initial remaining angle
float initialRem = RemainingAngleDeg(previous, previous * NiQuaternion::FromEulerAngles(deltaRad));
ASSERT_LE(maxRem, initialRem + 1.0f);
}
TEST(StripRotationTest, FrameStepping_PartialDelta_MultipleFrames) {
NiPoint3 prevDeg(10.0f, 20.0f, 30.0f);
NiQuaternion previous = NiQuaternion::FromEulerAngles(NiPoint3(Math::DegToRad(prevDeg.x), Math::DegToRad(prevDeg.y), Math::DegToRad(prevDeg.z)));
NiPoint3 deltaDeg(90.0f, 0.0f, 0.0f);
NiPoint3 deltaRad(Math::DegToRad(deltaDeg.x), 0.0f, 0.0f);
// angular velocity that would take 3 seconds to complete at 60FPS -> 90deg/3s = 30deg/s -> in rad/s:
const float ANG_VEL_RAD = Math::DegToRad(30.0f);
constexpr float DT = 1.0f / 60.0f;
constexpr float EPS_DEG = 0.1f;
auto [finalRem, maxRem] = SimulateUntilSnap(previous, deltaRad, ANG_VEL_RAD, DT, EPS_DEG, 10000);
// Allow a small residual after snapping (practical bound)
ASSERT_LE(finalRem, 0.5f);
// ensure no big overshoot
float initialRem = RemainingAngleDeg(previous, previous * NiQuaternion::FromEulerAngles(deltaRad));
ASSERT_LE(maxRem, initialRem + 1.0f);
}