using Xunit;
using System;
using System.Collections.Generic;
namespace OpenTK.Tests.Math
{
///
/// Generates Quaternion test data.
///
public class QuaternionTestDataGenerator
{
///
/// Returns the single axis test cases.
/// 1. param: rotation in euler angles
/// 2. param: expected result of xyz-component of quaternion
/// 3. param: test name (Don't found a working way how to pass this to xUnit runner). I let it here for test documentation
///
/// The single axis test cases.
public static IEnumerable SingleAxisTestCases()
{
yield return new object[] { new Vector3(1, 0, 0), Vector3.UnitX, "Rotate around x axis" };
yield return new object[] { new Vector3(0, 1, 0), Vector3.UnitY, "Rotate around y axis" };
yield return new object[] { new Vector3(0, 0, 1), Vector3.UnitZ, "Rotate around z axis" };
}
///
/// Returns the single ToAxisAngle test cases.
/// 1. param: Quaternion which a definied value of xyz-component.
/// 2. param: expected result of xyz-component of quaternion
/// 3. param: test name (Don't found a working way how to pass this to xUnit runner). I let it here for test documentation
///
/// The single axis test cases.
public static IEnumerable ToAxisAngleTestCases()
{
yield return new object[] { new Quaternion(Vector3.UnitX, 0), Vector3.UnitX, "Rotate around x axis" };
yield return new object[] { new Quaternion(Vector3.UnitY, 0), Vector3.UnitY, "Rotate around y axis" };
yield return new object[] { new Quaternion(Vector3.UnitZ, 0), Vector3.UnitZ, "Rotate around z axis" };
}
}
///
/// Provides some methods which helps to verify test results
///
internal static class QuaternionTestHelper
{
///
/// Verifies the direction of an given .
///
/// false: When does contain xyz values, when it should be 0,
/// or does not contain 0 when it should be
/// To test
/// Expected directions. Values getting only 0 checked
public static bool VerifyEqualSingleDirection(Vector3 toTest, Vector3 expected)
{
//To verify the direction of an vector, just respect the 0 values and check against these.
//The length of the vectors are ignored.
if (expected.X == 0)
{
if (toTest.X != 0)
return false;
}
else
{
if (toTest.X == 0)
return false;
}
if (expected.Y == 0)
{
if (toTest.Y != 0)
return false;
}
else
{
if (toTest.Y == 0)
return false;
}
if (expected.Z == 0)
{
if (toTest.Z != 0)
return false;
}
else
{
if (toTest.Z == 0)
return false;
}
return true;
}
}
public class Quaternion_Tests
{
///
/// Checks if a single given value (either pitch, yaw or roll) get converted into correct x,y,z value of quaternion.
///
/// euler angle values
/// expected xyz component of quaternion
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.SingleAxisTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void CtorEulerAnglesFloat_SingleEulerAngleSet_RotateCorrectAxis(Vector3 eulerValues, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with "pitch/yaw/roll"
var cut = new Quaternion(eulerValues.X, eulerValues.Y, eulerValues.Z);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Vector3 resultXYZ = cut.Xyz;
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
///
/// Checks if a single given value (either pitch, yaw or roll) get converted into correct x,y,z value of quaternion.
///
/// euler angle values
/// expected xyz component of quaternion
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.SingleAxisTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void CtorEulerAnglesVector3_SingleEulerAngleSet_RotateCorrectAxis(Vector3 eulerValues, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with "pitch/yaw/roll"
var cut = new Quaternion(eulerValues.X, eulerValues.Y, eulerValues.Z);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Vector3 resultXYZ = cut.Xyz;
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
///
/// Checks if a single given value (either pitch, yaw or roll) get converted into correct x,y,z value of quaternion.
///
/// euler angle values
/// expected xyz component of quaternion
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.SingleAxisTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void FromEulerAnglesFloat_SingleEulerAngleSet_RotateCorrectAxis(Vector3 eulerValues, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with "pitch/yaw/roll"
var cut = Quaternion.FromEulerAngles(eulerValues.X, eulerValues.Y, eulerValues.Z);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Vector3 resultXYZ = cut.Xyz;
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
///
/// Checks if a single given value (either pitch, yaw or roll) get converted into correct x,y,z value of quaternion.
///
/// euler angle values
/// expected xyz component of quaternion
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.SingleAxisTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void FromEulerAnglesVector3_SingleEulerAngleSet_RotateCorrectAxis(Vector3 eulerValues, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with "pitch/yaw/roll"
var cut = Quaternion.FromEulerAngles(eulerValues);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Vector3 resultXYZ = cut.Xyz;
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
///
/// Checks if a single given value (either pitch, yaw or roll) get converted into correct x,y,z value of quaternion.
///
/// euler angle values
/// expected xyz component of quaternion
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.SingleAxisTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void FromEulerAnglesOut_SingleEulerAngleSet_RotateCorrectAxis(Vector3 eulerValues, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with "pitch/yaw/roll"
var cut = Quaternion.Identity;
Quaternion.FromEulerAngles(ref eulerValues, out cut);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Vector3 resultXYZ = cut.Xyz;
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
///
/// Check if a quaternion returns a a rotation about the correct coordinate axis
///
/// Prepared Quaternion
/// Expected result.
/// Taken from nUnit test data. Don't know how to name data driven tests for xUnit which actually works.
[Theory]
[MemberData(nameof(QuaternionTestDataGenerator.ToAxisAngleTestCases), MemberType = typeof(QuaternionTestDataGenerator))]
public void ToAxisAngle_SingleAxisSetAndAngleIgnored_RotateCorrectAxis(Quaternion cut, Vector3 expectedResult, String testName)
{
//Arrange + Act: Create Quaternion with rotation about X/Y/Z axis
Vector3 resultXYZ;
float dontCare;
cut.ToAxisAngle(out resultXYZ, out dontCare);
//Assert: Use helper, to check if part of the two correct axis is zero. I just want check the direction
Assert.True(QuaternionTestHelper.VerifyEqualSingleDirection(resultXYZ, expectedResult));
}
//TODO: Make also checks with rotation angle
}
}