// Transforms euler orders back and forth between all rotation orders
// to make sure the conversions result in the same rotation
IEnumerator RunRotationTests(List <AxisSet> orders)
{
int issues = 0;
foreach (var o1 in orders)
{
foreach (var o2 in orders)
{
EulerAngles e = GetRandomAngles();
EulerAngles to = Conversions.ConvertEulerOrder(o1, o2, e);
EulerAngles back = Conversions.ConvertEulerOrder(o2, o1, to);
// Check if the rotations are the same or if the rotations
// have the equivalent effect on transforming vectors
bool equal = AreRotationsEquivalent(o1, e, back);
if (!equal)
{
Debug.LogError("Error converting " + o1.ToString(true) + " > " + o2.ToString(true));
Debug.Log(e.ToString("0.00000") + " > " + to.ToString("0.00000") + " > " + back.ToString("0.00000"));
AreRotationsEquivalent(o1, e, back, true);
issues++;
}
}
yield return(null);
}
Debug.Log("Ran into " + issues + " issues when doing rotation conversions");
}
// Run back and forth conversion tests against a sampling of
// coordinate frames
IEnumerator RunCoordinateFrameTests(List <CoordinateFrame> candidateFrames, int framesToTest)
{
framesToTest = Mathf.Min(candidateFrames.Count, framesToTest);
List <CoordinateFrame> remainingFrames = new List <CoordinateFrame>(candidateFrames);
List <CoordinateFrame> frames = new List <CoordinateFrame>();
for (int i = 0; i < framesToTest; i++)
{
int index = Mathf.FloorToInt(Random.value * (remainingFrames.Count)) % remainingFrames.Count;
frames.Add(remainingFrames[index]);
remainingFrames.RemoveAt(index);
}
int issues = 0;
foreach (var fr1 in frames)
{
foreach (var fr2 in frames)
{
// Verify that the inverse frames work as expected
var cfc = new CoordinateFrameConverter(fr1, fr2);
if (cfc != cfc.inverse.inverse || cfc.from != cfc.inverse.to || cfc.to != cfc.inverse.from)
{
issues++;
}
// Position Tests
Vector3 v = new Vector3(1, 2, 3);
Vector3 to = fr1.ConvertPosition(fr2, v);
Vector3 back = fr2.ConvertPosition(fr1, to);
if (!AreVectorsEquivalent(v, back))
{
issues++;
}
to = cfc.ConvertPosition(v);
back = cfc.inverse.ConvertPosition(to);
if (!AreVectorsEquivalent(v, back))
{
issues++;
}
// Rotation Conversions
EulerAngles e = GetRandomAngles();
EulerAngles eTo = Conversions.ConvertEulerAngles(fr1, fr2, e);
EulerAngles eBack = Conversions.ConvertEulerAngles(fr2, fr1, eTo);
bool equal = AreRotationsEquivalent(fr1.Axes, fr1.RotationOrder, e, eBack);
if (!equal)
{
Debug.LogError("Error converting " + fr1.ToString(true) + " > " + fr2.ToString(true));
Debug.Log(e.ToString("0.00000") + " > " + eTo.ToString("0.00000") + " > " + eBack.ToString("0.00000"));
AreRotationsEquivalent(fr1.Axes, fr1.RotationOrder, e, eBack, true);
issues++;
}
}
yield return(null);
}
Debug.Log("Ran into " + issues + " issues when doing coordinate frame conversions");
}
