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Added unit tests for adjusted trackers rotation, another rotation cor…
…rection alghorithm Added version number to the title to reduce confusion
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257 changes: 257 additions & 0 deletions
257
src/test/java/io/eiren/unit/ReferenceAdjustmentsFullTests.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,257 @@ | ||
| package io.eiren.unit; | ||
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| import com.jme3.math.FastMath; | ||
| import com.jme3.math.Quaternion; | ||
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| import io.eiren.math.FloatMath; | ||
| import io.eiren.util.StringUtils; | ||
| import io.eiren.vr.processor.TransformNode; | ||
| import io.eiren.vr.trackers.ComputedTracker; | ||
| import io.eiren.vr.trackers.ReferenceAdjustedTracker; | ||
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| import static org.junit.Assert.*; | ||
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| import java.util.HashSet; | ||
| import java.util.Set; | ||
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| import org.junit.Test; | ||
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| /** | ||
| * Tests {@link ReferenceAdjustedTracker#resetFull(Quaternion)} | ||
| */ | ||
| public class ReferenceAdjustmentsFullTests { | ||
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| private Set<String> testedTrackerNames = new HashSet<>(); | ||
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| @Test | ||
| public void check0to0() { | ||
| yawTest(0, 0); | ||
| } | ||
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| @Test | ||
| public void check45to0() { | ||
| yawTest(0, 45); | ||
| } | ||
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| @Test | ||
| public void check90to0() { | ||
| yawTest(0, 90); | ||
| } | ||
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| @Test | ||
| public void check180to0() { | ||
| yawTest(0, 180); | ||
| } | ||
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| @Test | ||
| public void check270to0() { | ||
| yawTest(0, 270); | ||
| } | ||
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| @Test | ||
| public void check0to45() { | ||
| yawTest(45, 0); | ||
| } | ||
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| @Test | ||
| public void check45to45() { | ||
| yawTest(45, 45); | ||
| } | ||
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| @Test | ||
| public void check90to45() { | ||
| yawTest(45, 90); | ||
| } | ||
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| @Test | ||
| public void check180to45() { | ||
| yawTest(45, 180); | ||
| } | ||
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| @Test | ||
| public void check270to45() { | ||
| yawTest(45, 270); | ||
| } | ||
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| @Test | ||
| public void check0to90() { | ||
| yawTest(90, 0); | ||
| } | ||
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| @Test | ||
| public void check45to90() { | ||
| yawTest(90, 45); | ||
| } | ||
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| @Test | ||
| public void check90to90() { | ||
| yawTest(90, 90); | ||
| } | ||
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| @Test | ||
| public void check180to90() { | ||
| yawTest(90, 180); | ||
| } | ||
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| @Test | ||
| public void check270to90() { | ||
| yawTest(90, 270); | ||
| } | ||
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| @Test | ||
| public void check0to180() { | ||
| yawTest(180, 0); | ||
| } | ||
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| @Test | ||
| public void check45to180() { | ||
| yawTest(180, 45); | ||
| } | ||
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| @Test | ||
| public void check90to180() { | ||
| yawTest(180, 90); | ||
| } | ||
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| @Test | ||
| public void check180to180() { | ||
| yawTest(180, 180); | ||
| } | ||
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| @Test | ||
| public void check270to180() { | ||
| yawTest(180, 270); | ||
| } | ||
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| private void yawTest(int refYaw, int trackerYaw) { | ||
| checkReferenceAdjustmentFull(q(0, refYaw, 0), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(0, refYaw, 15), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(15, refYaw, 0), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(15, refYaw, 15), q(0, trackerYaw, 0), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(0, refYaw, 0), q(15, trackerYaw, 0), refYaw, "Tracker(15," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(0, refYaw, 15), q(0, trackerYaw, 15), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(15, refYaw, 0), q(15, trackerYaw, 15), refYaw, "Tracker(15," + trackerYaw + ",0/" + refYaw + ")"); | ||
| checkReferenceAdjustmentFull(q(15, refYaw, 15), q(0, trackerYaw, 15), refYaw, "Tracker(0," + trackerYaw + ",0/" + refYaw + ")"); | ||
| } | ||
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| public void checkReferenceAdjustmentFull(Quaternion referenceQuat, Quaternion trackerQuat, int refYaw, String name) { | ||
| ComputedTracker tracker = new ComputedTracker("test"); | ||
| tracker.rotation.set(trackerQuat); | ||
| ReferenceAdjustedTracker<ComputedTracker> adj = new ReferenceAdjustedTracker<>(tracker); | ||
| adj.resetFull(referenceQuat); | ||
| Quaternion read = new Quaternion(); | ||
| assertTrue("Adjusted tracker didn't return rotation", adj.getRotation(read)); | ||
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| // Use only yaw HMD rotation | ||
| Quaternion targetTrackerRotation = new Quaternion(referenceQuat); | ||
| float[] angles = new float[3]; | ||
| targetTrackerRotation.toAngles(angles); | ||
| targetTrackerRotation.fromAngles(0, angles[1], 0); | ||
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| assertEquals("Adjusted quat is not equal to reference quat (" + toDegs(targetTrackerRotation) + " vs " + toDegs(read) + ")", new QuatEqualFullWithEpsilon(targetTrackerRotation), new QuatEqualFullWithEpsilon(read)); | ||
| if(refYaw == 0) | ||
| testAdjustedTracker(tracker, adj, name, refYaw); | ||
| } | ||
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| //private static int errors = 0; | ||
| //private static int successes = 0; | ||
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| private void testAdjustedTracker(ComputedTracker tracker, ReferenceAdjustedTracker<ComputedTracker> adj, String name, int refYaw) { | ||
| if(!testedTrackerNames.add(name)) | ||
| return; | ||
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| final Quaternion trackerBase = new Quaternion(); | ||
| trackerBase.set(tracker.rotation); | ||
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| Quaternion rotation = new Quaternion(); | ||
| Quaternion read = new Quaternion(); | ||
| Quaternion diff = new Quaternion(); | ||
| float[] angles = new float[3]; | ||
| float[] anglesAdj = new float[3]; | ||
| float[] anglesDiff = new float[3]; | ||
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| TransformNode trackerNode = new TransformNode(name, true); | ||
| TransformNode rotationNode = new TransformNode("Rot", true); | ||
| trackerNode.attachChild(rotationNode); | ||
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| trackerNode.localTransform.setRotation(trackerBase); | ||
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| for(int yaw = 0; yaw <= 360; yaw += 90) { | ||
| for(int pitch = -90; pitch <= 90; pitch += 30) { | ||
| for(int roll = -90; roll <= 90; roll += 30) { | ||
| rotation.fromAngles(pitch, yaw, roll); | ||
| rotationNode.localTransform.setRotation(rotation); | ||
| trackerNode.update(); | ||
| rotationNode.update(); | ||
| tracker.rotation.set(rotationNode.worldTransform.getRotation()); | ||
| tracker.rotation.toAngles(angles); | ||
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| adj.getRotation(read); | ||
| read.toAngles(anglesAdj); | ||
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| diff.set(read).inverseLocal().multLocal(rotation); | ||
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| diff.toAngles(anglesDiff); | ||
| assertTrue(name + ". Rot: " + yaw + "/" + pitch + ". " | ||
| + "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", " | ||
| + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", " | ||
| + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: " | ||
| + StringUtils.prettyNumber(anglesDiff[0] * FastMath.RAD_TO_DEG, 1) + ", " | ||
| + StringUtils.prettyNumber(anglesDiff[1] * FastMath.RAD_TO_DEG, 1) + ", " | ||
| + StringUtils.prettyNumber(anglesDiff[2] * FastMath.RAD_TO_DEG, 1), | ||
| FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2])); | ||
| } | ||
| } | ||
| } | ||
| //System.out.println("Errors: " + errors + ", successes: " + successes); | ||
| } | ||
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| public static String toDegs(Quaternion q) { | ||
| float[] degs = new float[3]; | ||
| q.toAngles(degs); | ||
| return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0); | ||
| } | ||
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| public static Quaternion q(float pitch, float yaw, float roll) { | ||
| return new Quaternion().fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD); | ||
| } | ||
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| public static class QuatEqualFullWithEpsilon { | ||
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| private final Quaternion q; | ||
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| public QuatEqualFullWithEpsilon(Quaternion q) { | ||
| this.q = q; | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| return String.valueOf(q); | ||
| } | ||
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| @Override | ||
| public int hashCode() { | ||
| return q.hashCode(); | ||
| } | ||
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| @Override | ||
| public boolean equals(Object obj) { | ||
| if(obj instanceof Quaternion) | ||
| obj = new QuatEqualFullWithEpsilon((Quaternion) obj); | ||
| if(!(obj instanceof QuatEqualFullWithEpsilon)) | ||
| return false; | ||
| Quaternion q2 = ((QuatEqualFullWithEpsilon) obj).q; | ||
| float[] degs1 = new float[3]; | ||
| q.toAngles(degs1); | ||
| float[] degs2 = new float[3]; | ||
| q2.toAngles(degs2); | ||
| if(degs1[1] < -FloatMath.ANGLE_EPSILON_RAD) | ||
| degs1[1] += FastMath.TWO_PI; | ||
| if(degs2[1] < -FloatMath.ANGLE_EPSILON_RAD) | ||
| degs2[1] += FastMath.TWO_PI; | ||
| return FloatMath.equalsWithEpsilon(degs1[0], degs2[0]) | ||
| && FloatMath.equalsWithEpsilon(degs1[1], degs2[1]) | ||
| && FloatMath.equalsWithEpsilon(degs1[2], degs2[2]); | ||
| } | ||
| } | ||
| } |
2 changes: 1 addition & 1 deletion
2
...n/unity/ReferenceAdjustmentsYawTests.java → ...en/unit/ReferenceAdjustmentsYawTests.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,4 @@ | ||
| package io.eiren.unity; | ||
| package io.eiren.unit; | ||
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| import com.jme3.math.FastMath; | ||
| import com.jme3.math.Quaternion; | ||
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