/* SPDX-FileCopyrightText: 2023 Blender Authors
 *
 * SPDX-License-Identifier: Apache-2.0 */

#include "testing/testing.h"

#include "DNA_action_types.h"

#include "BLI_math_rotation.h"
#include "BLI_math_rotation.hh"
#include "BLI_math_rotation_types.hh"

namespace blender::tests {

using namespace blender::math;

TEST(math_rotation_types, AxisSignedCross)
{
  auto test_fn = [](AxisSigned a, AxisSigned b) {
    return to_vector<float3>(cross(a, b)) == cross(to_vector<float3>(a), to_vector<float3>(b));
  };
  EXPECT_TRUE(test_fn(AxisSigned::X_POS, AxisSigned::Y_POS));
  EXPECT_TRUE(test_fn(AxisSigned::X_POS, AxisSigned::Z_POS));
  EXPECT_TRUE(test_fn(AxisSigned::X_POS, AxisSigned::Y_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::X_POS, AxisSigned::Z_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Y_POS, AxisSigned::X_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Y_POS, AxisSigned::Z_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Y_POS, AxisSigned::X_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Y_POS, AxisSigned::Z_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Z_POS, AxisSigned::X_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Z_POS, AxisSigned::Y_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Z_POS, AxisSigned::X_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Z_POS, AxisSigned::Y_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::X_NEG, AxisSigned::Y_POS));
  EXPECT_TRUE(test_fn(AxisSigned::X_NEG, AxisSigned::Z_POS));
  EXPECT_TRUE(test_fn(AxisSigned::X_NEG, AxisSigned::Y_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::X_NEG, AxisSigned::Z_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Y_NEG, AxisSigned::X_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Y_NEG, AxisSigned::Z_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Y_NEG, AxisSigned::X_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Y_NEG, AxisSigned::Z_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Z_NEG, AxisSigned::X_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Z_NEG, AxisSigned::Y_POS));
  EXPECT_TRUE(test_fn(AxisSigned::Z_NEG, AxisSigned::X_NEG));
  EXPECT_TRUE(test_fn(AxisSigned::Z_NEG, AxisSigned::Y_NEG));
}

TEST(math_rotation_types, AxisSignedConvertToVec)
{
  EXPECT_EQ(to_vector<float3>(AxisSigned::X_POS), float3(1, 0, 0));
  EXPECT_EQ(to_vector<float3>(AxisSigned::Y_POS), float3(0, 1, 0));
  EXPECT_EQ(to_vector<float3>(AxisSigned::Z_POS), float3(0, 0, 1));
  EXPECT_EQ(to_vector<float3>(AxisSigned::X_NEG), float3(-1, 0, 0));
  EXPECT_EQ(to_vector<float3>(AxisSigned::Y_NEG), float3(0, -1, 0));
  EXPECT_EQ(to_vector<float3>(AxisSigned::Z_NEG), float3(0, 0, -1));

  EXPECT_EQ(to_vector<float2>(AxisSigned::X_POS), float2(1, 0));
  EXPECT_EQ(to_vector<float2>(AxisSigned::Y_POS), float2(0, 1));
  EXPECT_EQ(to_vector<float2>(AxisSigned::X_NEG), float2(-1, 0));
  EXPECT_EQ(to_vector<float2>(AxisSigned::Y_NEG), float2(0, -1));
}

TEST(math_rotation_types, Euler3Order)
{
  /* Asserts those match.
   * Do not do it in the header to avoid including the DNA header everywhere.
   */
  BLI_STATIC_ASSERT(int(EulerOrder::XYZ) == int(eRotationModes::ROT_MODE_XYZ), "");
  BLI_STATIC_ASSERT(int(EulerOrder::XZY) == int(eRotationModes::ROT_MODE_XZY), "");
  BLI_STATIC_ASSERT(int(EulerOrder::YXZ) == int(eRotationModes::ROT_MODE_YXZ), "");
  BLI_STATIC_ASSERT(int(EulerOrder::YZX) == int(eRotationModes::ROT_MODE_YZX), "");
  BLI_STATIC_ASSERT(int(EulerOrder::ZXY) == int(eRotationModes::ROT_MODE_ZXY), "");
  BLI_STATIC_ASSERT(int(EulerOrder::ZYX) == int(eRotationModes::ROT_MODE_ZYX), "");

  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::XYZ).ijk()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::XZY).ijk()), float3(0, 2, 1));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::YXZ).ijk()), float3(1, 0, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::YZX).ijk()), float3(1, 2, 0));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::ZXY).ijk()), float3(2, 0, 1));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::ZYX).ijk()), float3(2, 1, 0));

  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::XYZ).xyz()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::XZY).xyz()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::YXZ).xyz()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::YZX).xyz()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::ZXY).xyz()), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(0, 1, 2, EulerOrder::ZYX).xyz()), float3(0, 1, 2));

  EXPECT_EQ(float3(Euler3(EulerOrder::XYZ).ijk() = {0, 1, 2}), float3(0, 1, 2));
  EXPECT_EQ(float3(Euler3(EulerOrder::XZY).ijk() = {0, 1, 2}), float3(0, 2, 1));
  EXPECT_EQ(float3(Euler3(EulerOrder::YXZ).ijk() = {0, 1, 2}), float3(1, 0, 2));
  EXPECT_EQ(float3(Euler3(EulerOrder::YZX).ijk() = {0, 1, 2}), float3(1, 2, 0));
  EXPECT_EQ(float3(Euler3(EulerOrder::ZXY).ijk() = {0, 1, 2}), float3(2, 0, 1));
  EXPECT_EQ(float3(Euler3(EulerOrder::ZYX).ijk() = {0, 1, 2}), float3(2, 1, 0));
}

TEST(math_rotation_types, DualQuaternionUniformScaleConstructor)
{
  DualQuaternion q = {Quaternion::identity(), Quaternion::zero()};
  EXPECT_EQ(q.quat, Quaternion::identity());
  EXPECT_EQ(q.trans, Quaternion::zero());
  EXPECT_EQ(q.scale_weight, 0.0f);
  EXPECT_EQ(q.quat_weight, 1.0f);
}

TEST(math_rotation_types, DualQuaternionNonUniformScaleConstructor)
{
  DualQuaternion q = {Quaternion::identity(), Quaternion::zero(), float4x4::identity()};
  EXPECT_EQ(q.quat, Quaternion::identity());
  EXPECT_EQ(q.trans, Quaternion::zero());
  EXPECT_EQ(q.scale, float4x4::identity());
  EXPECT_EQ(q.scale_weight, 1.0f);
  EXPECT_EQ(q.quat_weight, 1.0f);
}

TEST(math_rotation_types, DualQuaternionOperators)
{
  DualQuaternion sum = DualQuaternion(Quaternion(0, 0, 1, 0), Quaternion(0, 1, 0, 1)) * 2.0f;

  EXPECT_EQ(sum.quat, Quaternion(0, 0, 2, 0));
  EXPECT_EQ(sum.trans, Quaternion(0, 2, 0, 2));
  EXPECT_EQ(sum.scale_weight, 0.0f);
  EXPECT_EQ(sum.quat_weight, 2.0f);

  sum += DualQuaternion(Quaternion(1, 0, 0, 0), Quaternion(1, 1, 1, 1), float4x4::identity()) *
         4.0f;

  EXPECT_EQ(sum.quat, Quaternion(4, 0, 2, 0));
  EXPECT_EQ(sum.trans, Quaternion(4, 6, 4, 6));
  EXPECT_EQ(sum.scale, float4x4::identity() * 4.0f);
  EXPECT_EQ(sum.scale_weight, 4.0f);
  EXPECT_EQ(sum.quat_weight, 6.0f);

  sum += 3.0f *
         DualQuaternion(Quaternion(1, 0, 0, 0), Quaternion(1, 0, 0, 0), float4x4::identity());

  EXPECT_EQ(sum.quat, Quaternion(7, 0, 2, 0));
  EXPECT_EQ(sum.trans, Quaternion(7, 6, 4, 6));
  EXPECT_EQ(sum.scale, float4x4::identity() * 7.0f);
  EXPECT_EQ(sum.scale_weight, 7.0f);
  EXPECT_EQ(sum.quat_weight, 9.0f);
}

TEST(math_rotation_types, QuaternionDefaultConstructor)
{
  Quaternion q{};
  EXPECT_EQ(q.w, 0.0f);
  EXPECT_EQ(q.x, 0.0f);
  EXPECT_EQ(q.y, 0.0f);
  EXPECT_EQ(q.z, 0.0f);
}

TEST(math_rotation_types, QuaternionStaticConstructor)
{
  Quaternion q = Quaternion::identity();
  EXPECT_EQ(q.w, 1.0f);
  EXPECT_EQ(q.x, 0.0f);
  EXPECT_EQ(q.y, 0.0f);
  EXPECT_EQ(q.z, 0.0f);
}

TEST(math_rotation_types, QuaternionVectorConstructor)
{
  Quaternion q{1.0f, 2.0f, 3.0f, 4.0f};
  EXPECT_EQ(q.w, 1.0f);
  EXPECT_EQ(q.x, 2.0f);
  EXPECT_EQ(q.y, 3.0f);
  EXPECT_EQ(q.z, 4.0f);
}

TEST(math_rotation_types, QuaternionProduct)
{
  Quaternion q1{1.0f, 2.0f, 3.0f, 4.0f};
  Quaternion q2{3.0f, 4.0f, 5.0f, 6.0f};
  Quaternion result = q1 * q2;
  EXPECT_EQ(result.w, -44.0f);
  EXPECT_EQ(result.x, 8.0f);
  EXPECT_EQ(result.y, 18.0f);
  EXPECT_EQ(result.z, 16.0f);

  Quaternion result2 = q1 * 4.0f;
  EXPECT_EQ(result2.w, 4.0f);
  EXPECT_EQ(result2.x, 8.0f);
  EXPECT_EQ(result2.y, 12.0f);
  EXPECT_EQ(result2.z, 16.0f);
}

TEST(math_rotation_types, QuaternionUnaryMinus)
{
  Quaternion q{1.0f, 2.0f, 3.0f, 4.0f};
  Quaternion result = -q;
  EXPECT_EQ(result.w, -1.0f);
  EXPECT_EQ(result.x, -2.0f);
  EXPECT_EQ(result.y, -3.0f);
  EXPECT_EQ(result.z, -4.0f);
}

TEST(math_rotation_types, QuaternionExpmap)
{
  Quaternion q(0.927091f, 0.211322f, -0.124857f, 0.283295f);
  float3 expmap = normalize(q).expmap();
  EXPECT_V3_NEAR(expmap, float3(0.433225f, -0.255966f, 0.580774f), 1e-4f);
  EXPECT_V4_NEAR(float4(Quaternion::expmap(expmap)), float4(q), 1e-4f);
}

TEST(math_rotation_types, QuaternionTwistSwing)
{
  Quaternion q(0.927091f, 0.211322f, -0.124857f, 0.283295f);
  EXPECT_NEAR(float(q.twist_angle(Axis::X)), 0.448224, 1e-4);
  EXPECT_NEAR(float(q.twist_angle(Axis::Y)), -0.267741, 1e-4);
  EXPECT_NEAR(float(q.twist_angle(Axis::Z)), 0.593126, 1e-4);

  EXPECT_V4_NEAR(float4(q.twist(Axis::X)), float4(0.974992, 0.222241, 0, 0), 1e-4);
  EXPECT_V4_NEAR(float4(q.twist(Axis::Y)), float4(0.991053, 0, -0.133471, 0), 1e-4);
  EXPECT_V4_NEAR(float4(q.twist(Axis::Z)), float4(0.956347, 0, 0, 0.292235), 1e-4);
  EXPECT_V4_NEAR(float4(q.swing(Axis::X)), float4(0.950871, 0, -0.184694, 0.248462), 1e-4);
  EXPECT_V4_NEAR(float4(q.swing(Axis::Y)), float4(0.935461, 0.17162, 0, 0.308966), 1e-4);
  EXPECT_V4_NEAR(float4(q.swing(Axis::Z)), float4(0.969409, 0.238585, -0.0576509, 0), 1e-4);
  EXPECT_V4_NEAR(float4(q.swing(Axis::Z) * q.twist(Axis::Z)), float4(q), 1e-4);
}

TEST(math_rotation_types, AngleMethods)
{
  EXPECT_NEAR(float(AngleRadian(M_PI * -2.5).wrapped()), -M_PI * 0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * -1.5).wrapped()), M_PI * 0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * -0.5).wrapped()), -M_PI * 0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 0.5).wrapped()), M_PI * 0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 2.0).wrapped()), 0.0, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 2.5).wrapped()), M_PI * 0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 1.5).wrapped()), M_PI * -0.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 0.5).wrapped_around(-M_PI)), -M_PI * 1.5, 1e-4f);
  EXPECT_NEAR(float(AngleRadian(M_PI * 1.0).wrapped_around(M_PI * 0.5)), M_PI, 1e-4f);
}

TEST(math_rotation_types, AngleFraction)
{
  using T = float;
  using AngleFraction = AngleFraction<T>;
  auto pi = AngleFraction::pi();
  auto tau = AngleFraction::tau();
  EXPECT_EQ(AngleFraction::identity().radian(), 0);
  EXPECT_EQ(pi.radian(), T(M_PI));
  EXPECT_EQ(tau.radian(), T(M_PI * 2));
  /* Doesn't work with standard float angles. */
  EXPECT_EQ((pi / 5 + pi * 4 / 5).radian(), T(M_PI));
  EXPECT_EQ((pi * 2 / 3).radian(), T(M_PI * 2 / 3));
  EXPECT_EQ(cos(pi * 2 / 3), cos(2 * pi + pi * 2 / 3));
  EXPECT_EQ(sin(pi * 3 / 2), T(-1));
  EXPECT_EQ(sin(pi * 1574051 / 2), T(-1));
  EXPECT_EQ((-pi * 4 / 2).wrapped(), (+pi * 0 / 2));
  EXPECT_EQ((-pi * 3 / 2).wrapped(), (+pi * 1 / 2));
  EXPECT_EQ((-pi * 2 / 2).wrapped(), (-pi * 2 / 2));
  EXPECT_EQ((-pi * 1 / 2).wrapped(), (-pi * 1 / 2));
  EXPECT_EQ((+pi * 0 / 2).wrapped(), (+pi * 0 / 2));
  EXPECT_EQ((+pi * 1 / 2).wrapped(), (+pi * 1 / 2));
  EXPECT_EQ((+pi * 2 / 2).wrapped(), (+pi * 2 / 2));
  EXPECT_EQ((+pi * 3 / 2).wrapped(), (-pi * 1 / 2));
  EXPECT_EQ((+pi * 4 / 2).wrapped(), (-pi * 0 / 2));
  EXPECT_EQ((+pi * 0 / 2).wrapped_around(pi), (+pi * 0 / 2));
  EXPECT_EQ((+pi * 1 / 2).wrapped_around(pi), (+pi * 1 / 2));
  EXPECT_EQ((+pi * 2 / 2).wrapped_around(pi), (+pi * 2 / 2));
  EXPECT_EQ((+pi * 3 / 2).wrapped_around(pi), (+pi * 3 / 2));
  EXPECT_EQ((+pi * 4 / 2).wrapped_around(pi), (+pi * 4 / 2));

  for (int i = 0; i < 32; i++) {
    AngleCartesian angle(+pi * i / 16);
    EXPECT_NEAR(angle.cos(), cos((T(M_PI) * i) / 16), 1e-6f);
    EXPECT_NEAR(angle.sin(), sin((T(M_PI) * i) / 16), 1e-6f);

    /* Ensure symmetry. */
    AngleCartesian angle_opposite(pi + pi * i / 16);
    EXPECT_EQ(angle.cos(), -angle_opposite.cos());
    EXPECT_EQ(angle.sin(), -angle_opposite.sin());

    AngleCartesian angle_phase(pi / 2 + pi * i / 16);
    EXPECT_EQ(angle.cos(), angle_phase.sin());
    EXPECT_EQ(angle.sin(), -angle_phase.cos());

    /* Ensure Periodicity. */
    AngleCartesian angle_per(tau + pi * i / 16);
    EXPECT_EQ(angle.cos(), angle_per.cos());
    EXPECT_EQ(angle.sin(), angle_per.sin());
  }
  /* Ensure exact values. */
  EXPECT_EQ(AngleCartesian(+pi * 0 / 2).cos(), +1.0f);
  EXPECT_EQ(AngleCartesian(+pi * 1 / 2).cos(), +0.0f);
  EXPECT_EQ(AngleCartesian(+pi * 2 / 2).cos(), -1.0f);
  EXPECT_EQ(AngleCartesian(+pi * 3 / 2).cos(), +0.0f);
  EXPECT_EQ(AngleCartesian(+pi * 4 / 2).cos(), +1.0f);

  EXPECT_EQ(AngleCartesian(+pi * 0 / 2).sin(), +0.0f);
  EXPECT_EQ(AngleCartesian(+pi * 1 / 2).sin(), +1.0f);
  EXPECT_EQ(AngleCartesian(+pi * 2 / 2).sin(), +0.0f);
  EXPECT_EQ(AngleCartesian(+pi * 3 / 2).sin(), -1.0f);
  EXPECT_EQ(AngleCartesian(+pi * 4 / 2).sin(), +0.0f);

  EXPECT_EQ(AngleCartesian(+pi * 1 / 4).cos(), T(M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(+pi * 3 / 4).cos(), T(-M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(-pi * 1 / 4).cos(), T(M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(-pi * 3 / 4).cos(), T(-M_SQRT1_2));

  EXPECT_EQ(AngleCartesian(+pi * 1 / 4).sin(), T(M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(+pi * 3 / 4).sin(), T(M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(-pi * 1 / 4).sin(), T(-M_SQRT1_2));
  EXPECT_EQ(AngleCartesian(-pi * 3 / 4).sin(), T(-M_SQRT1_2));
}

TEST(math_rotation_types, TypeConversion)
{
  /* All the same rotation. */
  Quaternion quaternion(0.927091f, 0.211322f, -0.124857f, 0.283295f);
  EulerXYZ euler_xyz(AngleRadian::from_degree(20.0559),
                     AngleRadian::from_degree(-20.5632f),
                     AngleRadian::from_degree(30.3091f));
  AxisAngle axis_angle(normalize(float3{0.563771, -0.333098, 0.755783}),
                       AngleRadian::from_degree(44.0284f));

  EXPECT_V4_NEAR(float4(to_quaternion(euler_xyz)), float4(quaternion), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler_xyz).axis(), axis_angle.axis(), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler_xyz).angle()), float(axis_angle.angle()), 1e-4);

  EXPECT_V3_NEAR(float3(to_euler(quaternion)), float3(euler_xyz), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(quaternion).axis(), axis_angle.axis(), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(quaternion).angle()), float(axis_angle.angle()), 1e-4);

  EXPECT_V3_NEAR(float3(to_euler(axis_angle)), float3(euler_xyz), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(axis_angle)), float4(quaternion), 1e-4);
}

TEST(math_rotation_types, Euler3Conversion)
{
  /* All the same rotation. */
  float3 xyz{0.350041, -0.358896, 0.528994};
  Euler3 euler3_xyz(xyz, EulerOrder::XYZ);
  Euler3 euler3_xzy(xyz, EulerOrder::XZY);
  Euler3 euler3_yxz(xyz, EulerOrder::YXZ);
  Euler3 euler3_yzx(xyz, EulerOrder::YZX);
  Euler3 euler3_zxy(xyz, EulerOrder::ZXY);
  Euler3 euler3_zyx(xyz, EulerOrder::ZYX);

  Quaternion quat_xyz(0.927091f, 0.211322f, -0.124857f, 0.283295f);
  Quaternion quat_xzy(0.943341f, 0.119427f, -0.124857f, 0.283295f);
  Quaternion quat_yxz(0.943341f, 0.211322f, -0.124857f, 0.223297f);
  Quaternion quat_yzx(0.927091f, 0.211322f, -0.214438f, 0.223297f);
  Quaternion quat_zxy(0.927091f, 0.119427f, -0.214438f, 0.283295f);
  Quaternion quat_zyx(0.943341f, 0.119427f, -0.214438f, 0.223297f);

  float3x3 mat_xyz = transpose(float3x3{{0.80831, -0.57805, -0.111775},
                                        {0.47251, 0.750174, -0.462572},
                                        {0.35124, 0.321087, 0.879508}});
  float3x3 mat_xzy = transpose(float3x3{{0.80831, -0.56431, -0.167899},
                                        {0.504665, 0.810963, -0.296063},
                                        {0.303231, 0.154577, 0.940296}});
  float3x3 mat_yxz = transpose(float3x3{{0.869098, -0.474061, -0.14119},
                                        {0.368521, 0.810963, -0.454458},
                                        {0.329941, 0.342937, 0.879508}});
  float3x3 mat_yzx = transpose(float3x3{{0.80831, -0.504665, -0.303231},
                                        {0.323403, 0.810963, -0.487596},
                                        {0.491982, 0.296063, 0.818719}});
  float3x3 mat_zxy = transpose(float3x3{{0.747521, -0.576499, -0.329941},
                                        {0.474061, 0.810963, -0.342937},
                                        {0.465272, 0.0999405, 0.879508}});
  float3x3 mat_zyx = transpose(float3x3{{0.80831, -0.47251, -0.35124},
                                        {0.370072, 0.871751, -0.321087},
                                        {0.457911, 0.129553, 0.879508}});

  EXPECT_V4_NEAR(float4(to_quaternion(euler3_xyz)), float4(quat_xyz), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(euler3_xzy)), float4(quat_xzy), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(euler3_yxz)), float4(quat_yxz), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(euler3_yzx)), float4(quat_yzx), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(euler3_zxy)), float4(quat_zxy), 1e-4);
  EXPECT_V4_NEAR(float4(to_quaternion(euler3_zyx)), float4(quat_zyx), 1e-4);

  EXPECT_V3_NEAR(float3(to_euler(quat_xyz, EulerOrder::XYZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(quat_xzy, EulerOrder::XZY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(quat_yxz, EulerOrder::YXZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(quat_yzx, EulerOrder::YZX).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(quat_zxy, EulerOrder::ZXY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(quat_zyx, EulerOrder::ZYX).xyz()), xyz, 1e-4);

  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_xyz), mat_xyz, 1e-4);
  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_xzy), mat_xzy, 1e-4);
  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_yxz), mat_yxz, 1e-4);
  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_yzx), mat_yzx, 1e-4);
  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_zxy), mat_zxy, 1e-4);
  EXPECT_M3_NEAR(from_rotation<float3x3>(euler3_zyx), mat_zyx, 1e-4);

  EXPECT_V3_NEAR(float3(to_euler(mat_xyz, EulerOrder::XYZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(mat_xzy, EulerOrder::XZY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(mat_yxz, EulerOrder::YXZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(mat_yzx, EulerOrder::YZX).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(mat_zxy, EulerOrder::ZXY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(mat_zyx, EulerOrder::ZYX).xyz()), xyz, 1e-4);

  AxisAngle axis_angle_xyz = {normalize(float3{0.563771, -0.333098, 0.755783}), 0.76844f};
  AxisAngle axis_angle_xzy = {normalize(float3{0.359907, -0.376274, 0.853747}), 0.676476f};
  AxisAngle axis_angle_yxz = {normalize(float3{0.636846, -0.376274, 0.672937}), 0.676476f};
  AxisAngle axis_angle_yzx = {normalize(float3{0.563771, -0.572084, 0.59572}), 0.76844f};
  AxisAngle axis_angle_zxy = {normalize(float3{0.318609, -0.572084, 0.755783}), 0.76844f};
  AxisAngle axis_angle_zyx = {normalize(float3{0.359907, -0.646237, 0.672937}), 0.676476f};

  EXPECT_V3_NEAR(to_axis_angle(euler3_xyz).axis(), axis_angle_xyz.axis(), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler3_xzy).axis(), axis_angle_xzy.axis(), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler3_yxz).axis(), axis_angle_yxz.axis(), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler3_yzx).axis(), axis_angle_yzx.axis(), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler3_zxy).axis(), axis_angle_zxy.axis(), 1e-4);
  EXPECT_V3_NEAR(to_axis_angle(euler3_zyx).axis(), axis_angle_zyx.axis(), 1e-4);

  EXPECT_NEAR(float(to_axis_angle(euler3_xyz).angle()), float(axis_angle_xyz.angle()), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler3_xzy).angle()), float(axis_angle_xzy.angle()), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler3_yxz).angle()), float(axis_angle_yxz.angle()), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler3_yzx).angle()), float(axis_angle_yzx.angle()), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler3_zxy).angle()), float(axis_angle_zxy.angle()), 1e-4);
  EXPECT_NEAR(float(to_axis_angle(euler3_zyx).angle()), float(axis_angle_zyx.angle()), 1e-4);

  EXPECT_V3_NEAR(float3(to_euler(axis_angle_xyz, EulerOrder::XYZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(axis_angle_xzy, EulerOrder::XZY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(axis_angle_yxz, EulerOrder::YXZ).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(axis_angle_yzx, EulerOrder::YZX).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(axis_angle_zxy, EulerOrder::ZXY).xyz()), xyz, 1e-4);
  EXPECT_V3_NEAR(float3(to_euler(axis_angle_zyx, EulerOrder::ZYX).xyz()), xyz, 1e-4);
}

TEST(math_rotation_types, AngleSinCosOperators)
{
  AngleCartesian(M_PI_2);
  EXPECT_NEAR((AngleCartesian(M_PI_2) + AngleCartesian(M_PI)).radian(),
              AngleRadian(M_PI_2 + M_PI).wrapped().radian(),
              1e-4);
  EXPECT_NEAR((AngleCartesian(M_PI_2) - AngleCartesian(M_PI)).radian(),
              AngleRadian(M_PI_2 - M_PI).wrapped().radian(),
              1e-4);
  EXPECT_NEAR((-AngleCartesian(M_PI_2)).radian(), AngleRadian(-M_PI_2).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(M_PI_4) * 2).radian(), AngleRadian(M_PI_4 * 2).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(M_PI_4) * 3).radian(), AngleRadian(M_PI_4 * 3).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(-M_PI_4) * 2).radian(), AngleRadian(-M_PI_4 * 2).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(-M_PI_4) * 3).radian(), AngleRadian(-M_PI_4 * 3).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(M_PI_4) / 2).radian(), AngleRadian(M_PI_4 / 2).radian(), 1e-4);
  EXPECT_NEAR((AngleCartesian(-M_PI_4) / 2).radian(), AngleRadian(-M_PI_4 / 2).radian(), 1e-4);
}

}  // namespace blender::tests
