Swap y,z axis

This was a pain... but all the coords make much more sense now and a lot of mystery negation has disappeared.

1 files changed, 168 insertions, 47 deletions

diff --git a/test/test-maths.cpp b/test/test-maths.cpp
index 420b69e..02d3708 100644
--- a/test/test-maths.cpp
+++ b/test/test-maths.cpp
@@ -1,5 +1,6 @@
 #define BOOST_TEST_MODULE test_maths
 
+#include "test-helpers.hpp"
 #include <boost/test/data/test_case.hpp>
 #include <boost/test/unit_test.hpp>
 #include <glm/gtx/transform.hpp>
@@ -7,22 +8,73 @@
 #include <string_view>
 #include <type_traits>
 
+#include <game/network/link.h>
 #include <glm/glm.hpp>
 #include <maths.h>
 #include <tuple>
 
-using vecter_to_angle = std::tuple<glm::vec3, float>;
+using vecter_and_angle = std::tuple<glm::vec3, float>;
+using angle_pair = std::tuple<float, float>;
+//
+// STANDARD DEFINITIONS
+//
+// (x, y) in the 2D plane of geographic coordinates.
+// (x, y, z) in the 3D plane, where (x, y) are geographic and z is veritcal.
+//
+// (x, y, 0) is sea level
+// (x, y, +ve) is "up"
+static_assert(up.z > 0);
+static_assert(down == -up);
+// (x, +ve, z) is "north"
+static_assert(north.y > 0);
+static_assert(south == -north);
+// (x, -ve, z) is "south"
+static_assert(south.y < 0);
+// (+ve, y, z) is "east"
+static_assert(east.x > 0);
+static_assert(west == -east);
+// (-ve, y, z) is "west"
+static_assert(west.x < 0);
+//
+// Therefore, the geographic world exists west -ve to east +ve and from south -ve to north +ve.  Forward shall be
+// considered +ve motion; the "front" of a vehicle shall have a +ve value in y axis.
+//
+// An unrotated vehicle shall be facing north, thus forward motion of the vehicle shall increase it's position in the y
+// axis.
+//
+// Positive rotation on the XY plane (y member, yaw, around the down axis, as would be expected for vehicle or building
+// on flat land) shall be clockwise, in radians. Cycles shall be considered equal; 0 == 2pi, pi == -pi, 1/4pi == -3/4pi.
+
 BOOST_DATA_TEST_CASE(test_vector_yaw,
-		boost::unit_test::data::make<vecter_to_angle>(
-				{{north, 0}, {south, pi}, {west, half_pi}, {east, -half_pi}, {north + east, -quarter_pi},
-						{south + east, quarter_pi * -3}, {north + west, quarter_pi}, {south + west, quarter_pi * 3}}),
+		boost::unit_test::data::make<vecter_and_angle>(
+				{{up, 0}, {north, 0}, {south, pi}, {west, -half_pi}, {east, half_pi}, {north + east, quarter_pi},
+						{south + east, quarter_pi * 3}, {north + west, -quarter_pi}, {south + west, -quarter_pi * 3}}),
 		v, a)
 {
 	BOOST_CHECK_CLOSE(vector_yaw(v), a, 1.F);
 }
 
+BOOST_DATA_TEST_CASE(test_angle_normalize,
+		boost::unit_test::data::make<angle_pair>({
+				{0, 0},
+				{two_pi, 0},
+				{-two_pi, 0},
+				{half_pi, half_pi},
+				{-half_pi, -half_pi},
+				{half_pi * 3, -half_pi},
+				{-half_pi * 3, half_pi},
+		}),
+		in, exp)
+{
+	BOOST_CHECK_CLOSE(normalize(in), exp, 1);
+}
+
+// Positive rotation on the YZ plane (x member, pitch, around the east axis relative to its yaw, as would be expected
+// for a vehicle travelling forward uphill), in radians. Cycles can be considered non-sense as even in the worst/best
+// cases pitch beyond +/- 1/2pi would be crashing.
+
 BOOST_DATA_TEST_CASE(test_vector_pitch,
-		boost::unit_test::data::make<vecter_to_angle>({
+		boost::unit_test::data::make<vecter_and_angle>({
 				{north, 0},
 				{east, 0},
 				{south, 0},
@@ -43,31 +95,48 @@ BOOST_DATA_TEST_CASE(test_vector_pitch,
 	BOOST_CHECK_CLOSE(vector_pitch(v), a, 1.F);
 }
 
-using normalize_angle = std::tuple<float, float>;
-BOOST_DATA_TEST_CASE(test_angle_normalize,
-		boost::unit_test::data::make<normalize_angle>({
-				{0, 0},
-				{two_pi, 0},
-				{-two_pi, 0},
-				{half_pi, half_pi},
-				{-half_pi, -half_pi},
-				{half_pi * 3, -half_pi},
-				{-half_pi * 3, half_pi},
-		}),
-		in, exp)
+// Positive rotation on the ZX plane (z member, roll, around Y axis relative to its yaw and pitch, as would be expected
+// for an aircraft banking/turning right), in radians. Cycles can be considered non-sense as even in the worst/best
+// cases pitch beyond +/- 1/2pi would be crashing.
+
+// The ILT functions rotate_yaw, rotate_pitch and rotate_roll provide a simple equivelent to glm::rotate around the
+// stated axis.
+const auto angs = boost::unit_test::data::make({pi, half_pi, two_pi, quarter_pi, -pi, -half_pi, -quarter_pi, 0.F})
+		* boost::unit_test::data::make(0);
+const auto random_angs = boost::unit_test::data::random(-two_pi, two_pi) ^ boost::unit_test::data::xrange(1000);
+const auto rots = boost::unit_test::data::make<std::tuple<glm::vec3, glm::mat4 (*)(float), std::string_view>>({
+		{down, rotate_yaw, "yaw"},
+		{east, rotate_pitch, "pitch"},
+		{north, rotate_roll, "roll"},
+});
+BOOST_DATA_TEST_CASE(test_rotations, (angs + random_angs) * rots, angle, ai, axis, ilt_func, name)
 {
-	BOOST_CHECK_CLOSE(normalize(in), exp, 1);
+	(void)ai;
+	BOOST_TEST_CONTEXT(name) {
+		const auto g {glm::rotate(angle, axis)}, ilt {ilt_func(angle)};
+		for (glm::length_t c = 0; c < 4; c++) {
+			BOOST_TEST_CONTEXT(c) {
+				for (glm::length_t r = 0; r < 4; r++) {
+					BOOST_TEST_CONTEXT(r) {
+						BOOST_CHECK_CLOSE(g[c][r], ilt[c][r], 0.0001);
+					}
+				}
+			}
+		}
+	}
 }
 
+// An arc shall be defined as a centre point, start point and end point. The arc shall progress positively from start to
+// end in a clockwise manner. Arc start shall be the yaw from centre to start, arc end shall be greater than arc start.
 using pos3_to_arc = std::tuple<glm::vec3, glm::vec3, glm::vec3, Arc>;
 BOOST_DATA_TEST_CASE(test_create_arc,
 		boost::unit_test::data::make<pos3_to_arc>({
-				{{0, 0, 0}, north, east, {0, half_pi * 3}},
-				{{0, 0, 0}, west, east, {half_pi, half_pi * 3}},
-				{{0, 0, 0}, south, east, {pi, half_pi * 3}},
-				{{0, 0, 0}, east, north, {-half_pi, 0}},
+				{{0, 0, 0}, north, east, {0, half_pi}},
+				{{0, 0, 0}, west, east, {-half_pi, half_pi}},
+				{{0, 0, 0}, south, east, {pi, half_pi * 5}},
+				{{0, 0, 0}, east, north, {half_pi, two_pi}},
 				{{0, 0, 0}, south, north, {pi, two_pi}},
-				{{0, 0, 0}, east, south, {-half_pi, pi}},
+				{{0, 0, 0}, east, south, {half_pi, pi}},
 		}),
 		c, s, e, a)
 {
@@ -99,33 +168,85 @@ BOOST_AUTO_TEST_CASE(test_find_arcs_radius)
 	BOOST_CHECK_CLOSE(find_arcs_radius({10.32, 26.71}, {0.4, .92}, {2.92, 22.41}, {-0.89, -0.45}), 2.29, 1);
 }
 
-static void
-compare_rotations(float a, const glm::vec3 & axis, glm::mat4 (*rotate_func)(float), std::string_view n)
+struct TestLinkStraight : public LinkStraight {
+	TestLinkStraight(glm::vec3 v) :
+		Link {{std::make_shared<Node>(origin), vector_yaw(v)}, {std::make_shared<Node>(v), vector_yaw(-v)},
+				glm::length(v)}
+	{
+	}
+};
+
+using StraightsData = std::tuple<glm::vec3, float /*angFor*/, float /* angBack*/>;
+BOOST_DATA_TEST_CASE(straight1,
+		boost::unit_test::data::make<StraightsData>({
+				{north, 0, pi},
+				{south, pi, 0},
+				{east, half_pi, -half_pi},
+				{west, -half_pi, half_pi},
+		}),
+		v, angFor, angBack)
 {
-	BOOST_TEST_CONTEXT(n) {
-		const auto g {glm::rotate(a, axis)}, ilt {rotate_func(a)};
-		for (int c = 0; c < 4; c++) {
-			BOOST_TEST_CONTEXT(c) {
-				for (int r = 0; r < 4; r++) {
-					BOOST_TEST_CONTEXT(r) {
-						BOOST_CHECK_CLOSE(g[c][r], ilt[c][r], 0.0001);
-					}
-				}
-			}
-		}
+	TestLinkStraight l(v);
+	{
+		const auto p = l.positionAt(0, 0);
+		BOOST_CHECK_EQUAL(p.pos, origin);
+		BOOST_CHECK_EQUAL(p.rot, glm::vec3(0, angFor, 0));
+	}
+	{
+		const auto p = l.positionAt(0, 1);
+		BOOST_CHECK_EQUAL(p.pos, v);
+		BOOST_CHECK_EQUAL(p.rot, glm::vec3(0, angBack, 0));
 	}
 }
 
-const auto angs = boost::unit_test::data::make({pi, half_pi, two_pi, quarter_pi, -pi, -half_pi, -quarter_pi, 0.F})
-		* boost::unit_test::data::make(0);
-const auto random_angs = boost::unit_test::data::random(-two_pi, two_pi) ^ boost::unit_test::data::xrange(1000);
-const auto rots = boost::unit_test::data::make<std::tuple<glm::vec3, glm::mat4 (*)(float), std::string_view>>({
-		{up, rotate_yaw, "yaw"},
-		{west, rotate_pitch, "pitch"},
-		{north, rotate_roll, "roll"},
-});
-BOOST_DATA_TEST_CASE(test_rotations, (angs + random_angs) * rots, a, ai, ax, func, n)
+struct TestLinkCurve : public LinkCurve {
+	TestLinkCurve(glm::vec3 e0, glm::vec3 e1, glm::vec3 ctr) :
+		Link {{std::make_shared<Node>(e0), normalize(vector_yaw(ctr - e0) - half_pi)},
+				{std::make_shared<Node>(e1), normalize(vector_yaw(ctr - e1) - half_pi)}, glm::length(e1 - e0)},
+		LinkCurve(ctr, glm::length(e0 - ctr), {ctr, e0, e1})
+	{
+	}
+};
+
+using CurvesData = std::tuple<glm::vec3 /*e1*/, glm::vec3 /*ctr*/, float /*angFor*/, float /* angBack*/>;
+BOOST_DATA_TEST_CASE(curve1,
+		boost::unit_test::data::make<CurvesData>({
+				{north + east, east, 0, -half_pi},
+				{east * 2.F, east, 0, 0},
+				{south + east, east, 0, half_pi},
+				{south + west, west, pi, half_pi},
+		}),
+		e1, ctr, angFor, angBack)
 {
-	(void)ai;
-	compare_rotations(a, ax, func, n);
+	{ // One-way...
+		TestLinkCurve l(origin, e1, ctr);
+		BOOST_CHECK_EQUAL(l.radius, 1.F);
+		{
+			const auto p = l.positionAt(0, 0);
+			BOOST_CHECK_CLOSE_VEC(p.pos, origin);
+			BOOST_CHECK_CLOSE_VEC(p.rot, glm::vec3(0, angFor, 0));
+		}
+		{
+			const auto p = l.positionAt(0, 1);
+			BOOST_CHECK_CLOSE_VEC(p.pos, e1);
+			BOOST_CHECK_CLOSE_VEC(p.rot, glm::vec3(0, angBack, 0));
+		}
+	}
+
+	{ // The other way...
+		TestLinkCurve l(e1, origin, ctr);
+		BOOST_CHECK_EQUAL(l.radius, 1.F);
+		{
+			const auto p = l.positionAt(0, 0);
+			const auto angForReversed = normalize(vector_yaw(origin - e1) * 2 - angFor);
+			BOOST_CHECK_CLOSE_VEC(p.pos, e1);
+			BOOST_CHECK_CLOSE_VEC(p.rot, glm::vec3(0, angForReversed, 0));
+		}
+		{
+			const auto p = l.positionAt(0, 1);
+			const auto angBackReversed = normalize(vector_yaw(e1 - origin) * 2 - angBack);
+			BOOST_CHECK_CLOSE_VEC(p.pos, origin);
+			BOOST_CHECK_CLOSE_VEC(p.rot, glm::vec3(0, angBackReversed, 0));
+		}
+	}
 }