////  GLMHelpersTests.cpp//  tests/shared/src////  Created by Anthony Thibault on 2015.12.29//  Copyright 2015 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "GLMHelpersTests.h" #include <NumericalConstants.h>#include <StreamUtils.h> #include <../QTestExtensions.h>  QTEST_MAIN(GLMHelpersTests) void GLMHelpersTests::testEulerDecomposition() {    // quat to euler and back again....     const glm::quat ROT_X_90 = glm::angleAxis(PI / 2.0f, glm::vec3(1.0f, 0.0f, 0.0f));    const glm::quat ROT_Y_180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0, 0.0f));    const glm::quat ROT_Z_30 = glm::angleAxis(PI / 6.0f, glm::vec3(1.0f, 0.0f, 0.0f));     const float EPSILON = 0.00001f;     std::vector<glm::quat> quatVec = {        glm::quat(),        ROT_X_90,        ROT_Y_180,        ROT_Z_30,        ROT_X_90 * ROT_Y_180 * ROT_Z_30,        ROT_X_90 * ROT_Z_30 * ROT_Y_180,        ROT_Y_180 * ROT_Z_30 * ROT_X_90,        ROT_Y_180 * ROT_X_90 * ROT_Z_30,        ROT_Z_30 * ROT_X_90 * ROT_Y_180,        ROT_Z_30 * ROT_Y_180 * ROT_X_90,    };     for (auto& q : quatVec) {        glm::vec3 euler = safeEulerAngles(q);        glm::quat r(euler);         // when the axis and angle are flipped.        if (glm::dot(q, r) < 0.0f) {            r = -r;        }         QCOMPARE_WITH_ABS_ERROR(q, r, EPSILON);    }} static void testQuatCompression(glm::quat testQuat) {     float MAX_COMPONENT_ERROR = 4.3e-5f;     glm::quat q;    uint8_t bytes[6];    packOrientationQuatToSixBytes(bytes, testQuat);    unpackOrientationQuatFromSixBytes(bytes, q);    if (glm::dot(q, testQuat) < 0.0f) {        q = -q;    }    QCOMPARE_WITH_ABS_ERROR(q.x, testQuat.x, MAX_COMPONENT_ERROR);    QCOMPARE_WITH_ABS_ERROR(q.y, testQuat.y, MAX_COMPONENT_ERROR);    QCOMPARE_WITH_ABS_ERROR(q.z, testQuat.z, MAX_COMPONENT_ERROR);    QCOMPARE_WITH_ABS_ERROR(q.w, testQuat.w, MAX_COMPONENT_ERROR);} void GLMHelpersTests::testSixByteOrientationCompression() {    const glm::quat ROT_X_90 = glm::angleAxis(PI / 2.0f, glm::vec3(1.0f, 0.0f, 0.0f));    const glm::quat ROT_Y_180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0, 0.0f));    const glm::quat ROT_Z_30 = glm::angleAxis(PI / 6.0f, glm::vec3(1.0f, 0.0f, 0.0f));     testQuatCompression(ROT_X_90);    testQuatCompression(ROT_Y_180);    testQuatCompression(ROT_Z_30);    testQuatCompression(ROT_X_90 * ROT_Y_180);    testQuatCompression(ROT_Y_180 * ROT_X_90);    testQuatCompression(ROT_Z_30 * ROT_X_90);    testQuatCompression(ROT_X_90 * ROT_Z_30);    testQuatCompression(ROT_Z_30 * ROT_Y_180);    testQuatCompression(ROT_Y_180 * ROT_Z_30);    testQuatCompression(ROT_X_90 * ROT_Y_180 * ROT_Z_30);    testQuatCompression(ROT_Y_180 * ROT_Z_30 * ROT_X_90);    testQuatCompression(ROT_Z_30 * ROT_X_90 * ROT_Y_180);     testQuatCompression(-ROT_X_90);    testQuatCompression(-ROT_Y_180);    testQuatCompression(-ROT_Z_30);    testQuatCompression(-(ROT_X_90 * ROT_Y_180));    testQuatCompression(-(ROT_Y_180 * ROT_X_90));    testQuatCompression(-(ROT_Z_30 * ROT_X_90));    testQuatCompression(-(ROT_X_90 * ROT_Z_30));    testQuatCompression(-(ROT_Z_30 * ROT_Y_180));    testQuatCompression(-(ROT_Y_180 * ROT_Z_30));    testQuatCompression(-(ROT_X_90 * ROT_Y_180 * ROT_Z_30));    testQuatCompression(-(ROT_Y_180 * ROT_Z_30 * ROT_X_90));    testQuatCompression(-(ROT_Z_30 * ROT_X_90 * ROT_Y_180));}