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uniform sampler2D baseTexture;
uniform sampler2D normalTexture;
uniform sampler2D textureFlags;

uniform vec4 skyBgColor;
uniform float fogDistance;
uniform vec3 eyePosition;

// The cameraOffset is the current center of the visible world.
uniform vec3 cameraOffset;
uniform float animationTimer;

varying vec3 vPosition;
// World position in the visible world (i.e. relative to the cameraOffset.)
// This can be used for many shader effects without loss of precision.
// If the absolute position is required it can be calculated with
// cameraOffset + worldPosition (for large coordinates the limits of float
// precision must be considered).
varying vec3 worldPosition;
varying float area_enable_parallax;

varying vec3 eyeVec;
varying vec3 tsEyeVec;
varying vec3 lightVec;
varying vec3 tsLightVec;

bool normalTexturePresent = false;

const float e = 2.718281828459;
const float BS = 10.0;
const float fogStart = FOG_START;
const float fogShadingParameter = 1 / ( 1 - fogStart);

#ifdef ENABLE_TONE_MAPPING

/* Hable's UC2 Tone mapping parameters
	A = 0.22;
	B = 0.30;
	C = 0.10;
	D = 0.20;
	E = 0.01;
	F = 0.30;
	W = 11.2;
	equation used:  ((x * (A * x + C * B) + D * E) / (x * (A * x + B) + D * F)) - E / F
*/

vec3 uncharted2Tonemap(vec3 x)
{
	return ((x * (0.22 * x + 0.03) + 0.002) / (x * (0.22 * x + 0.3) + 0.06)) - 0.03333;
}

vec4 applyToneMapping(vec4 color)
{
	color = vec4(pow(color.rgb, vec3(2.2)), color.a);
	const float gamma = 1.6;
	const float exposureBias = 5.5;
	color.rgb = uncharted2Tonemap(exposureBias * color.rgb);
	// Precalculated white_scale from 
	//vec3 whiteScale = 1.0 / uncharted2Tonemap(vec3(W));
	vec3 whiteScale = vec3(1.036015346);
	color.rgb *= whiteScale;
	return vec4(pow(color.rgb, vec3(1.0 / gamma)), color.a);
}
#endif

void get_texture_flags()
{
	vec4 flags = texture2D(textureFlags, vec2(0.0, 0.0));
	if (flags.r > 0.5) {
		normalTexturePresent = true;
	}
}

float intensity(vec3 color)
{
	return (color.r + color.g + color.b) / 3.0;
}

float get_rgb_height(vec2 uv)
{
	return intensity(texture2D(baseTexture, uv).rgb);
}

vec4 get_normal_map(vec2 uv)
{
	vec4 bump = texture2D(normalTexture, uv).rgba;
	bump.xyz = normalize(bump.xyz * 2.0 - 1.0);
	return bump;
}

float find_intersection(vec2 dp, vec2 ds)
{
	float depth = 1.0;
	float best_depth = 0.0;
	float size = 0.0625;
	for (int i = 0; i < 15; i++) {
		depth -= size;
		float h = texture2D(normalTexture, dp + ds * depth).a;
		if (depth <= h) {
			best_depth = depth;
			break;
		}
	}
	depth = best_depth;
	for (int i = 0; i < 4; i++) {
		size *= 0.5;
		float h = texture2D(normalTexture,dp + ds * depth).a;
		if (depth <= h) {
			best_depth = depth;
			depth += size;
		} else {
			depth -= size;
		}
	}
	return best_depth;
}

float find_intersectionRGB(vec2 dp, vec2 ds)
{
	const float depth_step = 1.0 / 24.0;
	float depth = 1.0;
	for (int i = 0 ; i < 24 ; i++) {
		float h = get_rgb_height(dp + ds * depth);
		if (h >= depth)
			break;
		depth -= depth_step;
	}
	return depth;
}

void main(void)
{
	vec3 color;
	vec4 bump;
	vec2 uv = gl_TexCoord[0].st;
	bool use_normalmap = false;
	get_texture_flags();

#ifdef ENABLE_PARALLAX_OCCLUSION
	vec2 eyeRay = vec2 (tsEyeVec.x, -tsEyeVec.y);
	const float scale = PARALLAX_OCCLUSION_SCALE / PARALLAX_OCCLUSION_ITERATIONS;
	const float bias = PARALLAX_OCCLUSION_BIAS / PARALLAX_OCCLUSION_ITERATIONS;

#if PARALLAX_OCCLUSION_MODE == 0
	// Parallax occlusion with slope information
	if (normalTexturePresent && area_enable_parallax > 0.0) {
		for (int i = 0; i < PARALLAX_OCCLUSION_ITERATIONS; i++) {
			vec4 normal = texture2D(normalTexture, uv.xy);
			float h = normal.a * scale - bias;
			uv += h * normal.z * eyeRay;
		}
#endif

#if PARALLAX_OCCLUSION_MODE == 1
	// Relief mapping
	if (normalTexturePresent && area_enable_parallax > 0.0) {
		vec2 ds = eyeRay * PARALLAX_OCCLUSION_SCALE;
		float dist = find_intersection(uv, ds);
		uv += dist * ds;
#endif
	} else if (GENERATE_NORMALMAPS == 1 && area_enable_parallax > 0.0) {
		vec2 ds = eyeRay * PARALLAX_OCCLUSION_SCALE;
		float dist = find_intersectionRGB(uv, ds);
		uv += dist * ds;
	}
#endif

#if USE_NORMALMAPS == 1
	if (normalTexturePresent) {
		bump = get_normal_map(uv);
		use_normalmap = true;
	}
#endif

#if GENERATE_NORMALMAPS == 1
	if (normalTexturePresent == false) {
		float tl = get_rgb_height(vec2(uv.x - SAMPLE_STEP, uv.y + SAMPLE_STEP));
		float t  = get_rgb_height(vec2(uv.x - SAMPLE_STEP, uv.y - SAMPLE_STEP));
		float tr = get_rgb_height(vec2(uv.x + SAMPLE_STEP, uv.y + SAMPLE_STEP));
		float r  = get_rgb_height(vec2(uv.x + SAMPLE_STEP, uv.y));
		float br = get_rgb_height(vec2(uv.x + SAMPLE_STEP, uv.y - SAMPLE_STEP));
		float b  = get_rgb_height(vec2(uv.x, uv.y - SAMPLE_STEP));
		float bl = get_rgb_height(vec2(uv.x -SAMPLE_STEP, uv.y - SAMPLE_STEP));
		float l  = get_rgb_height(vec2(uv.x - SAMPLE_STEP, uv.y));
		float dX = (tr + 2.0 * r + br) - (tl + 2.0 * l + bl);
		float dY = (bl + 2.0 * b + br) - (tl + 2.0 * t + tr);
		bump = vec4(normalize(vec3 (dX, dY, NORMALMAPS_STRENGTH)), 1.0);
		use_normalmap = true;
	}
#endif
	vec4 base = texture2D(baseTexture, uv).rgba;

#ifdef ENABLE_BUMPMAPPING
	if (use_normalmap) {
		vec3 L = normalize(lightVec);
		vec3 E = normalize(eyeVec);
		float specular = pow(clamp(dot(reflect(L, bump.xyz), E), 0.0, 1.0), 1.0);
		float diffuse = dot(-E,bump.xyz);
		color = (diffuse + 0.1 * specular) * base.rgb;
	} else {
		color = base.rgb;
	}
#else
	color = base.rgb;
#endif

	vec4 col = vec4(color.rgb * gl_Color.rgb, 1.0); 
	
#ifdef ENABLE_TONE_MAPPING
	col = applyToneMapping(col);
#endif

	// Due to a bug in some (older ?) graphics stacks (possibly in the glsl compiler ?),
	// the fog will only be rendered correctly if the last operation before the
	// clamp() is an addition. Else, the clamp() seems to be ignored.
	// E.g. the following won't work:
	//      float clarity = clamp(fogShadingParameter
	//		* (fogDistance - length(eyeVec)) / fogDistance), 0.0, 1.0);
	// As additions usually come for free following a multiplication, the new formula
	// should be more efficient as well.
	// Note: clarity = (1 - fogginess)
	float clarity = clamp(fogShadingParameter
		- fogShadingParameter * length(eyeVec) / fogDistance, 0.0, 1.0);
	col = mix(skyBgColor, col, clarity);
	col = vec4(col.rgb, base.a);

	gl_FragColor = col;
}
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/*
Minetest
Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/

#include "test.h"

#include <cmath>
#include "util/enriched_string.h"
#include "util/numeric.h"
#include "util/string.h"
#include "util/base64.h"

class TestUtilities : public TestBase {
public:
	TestUtilities() { TestManager::registerTestModule(this); }
	const char *getName() { return "TestUtilities"; }

	void runTests(IGameDef *gamedef);

	void testAngleWrapAround();
	void testWrapDegrees_0_360_v3f();
	void testLowercase();
	void testTrim();
	void testIsYes();
	void testRemoveStringEnd();
	void testUrlEncode();
	void testUrlDecode();
	void testPadString();
	void testStartsWith();
	void testStrEqual();
	void testStringTrim();
	void testStrToIntConversion();
	void testStringReplace();
	void testStringAllowed();
	void testAsciiPrintableHelper();
	void testUTF8();
	void testRemoveEscapes();
	void testWrapRows();
	void testEnrichedString();
	void testIsNumber();
	void testIsPowerOfTwo();
	void testMyround();
	void testStringJoin();
	void testEulerConversion();
	void testBase64();
};

static TestUtilities g_test_instance;

void TestUtilities::runTests(IGameDef *gamedef)
{
	TEST(testAngleWrapAround);
	TEST(testWrapDegrees_0_360_v3f);
	TEST(testLowercase);
	TEST(testTrim);
	TEST(testIsYes);
	TEST(testRemoveStringEnd);
	TEST(testUrlEncode);
	TEST(testUrlDecode);
	TEST(testPadString);
	TEST(testStartsWith);
	TEST(testStrEqual);
	TEST(testStringTrim);
	TEST(testStrToIntConversion);
	TEST(testStringReplace);
	TEST(testStringAllowed);
	TEST(testAsciiPrintableHelper);
	TEST(testUTF8);
	TEST(testRemoveEscapes);
	TEST(testWrapRows);
	TEST(testEnrichedString);
	TEST(testIsNumber);
	TEST(testIsPowerOfTwo);
	TEST(testMyround);
	TEST(testStringJoin);
	TEST(testEulerConversion);
	TEST(testBase64);
}

////////////////////////////////////////////////////////////////////////////////

inline float ref_WrapDegrees180(float f)
{
	// This is a slower alternative to the wrapDegrees_180() function;
	// used as a reference for testing
	float value = fmodf(f + 180, 360);
	if (value < 0)
		value += 360;
	return value - 180;
}


inline float ref_WrapDegrees_0_360(float f)
{
	// This is a slower alternative to the wrapDegrees_0_360() function;
	// used as a reference for testing
	float value = fmodf(f, 360);
	if (value < 0)
		value += 360;
	return value < 0 ? value + 360 : value;
}


void TestUtilities::testAngleWrapAround() {
    UASSERT(fabs(modulo360f(100.0) - 100.0) < 0.001);
    UASSERT(fabs(modulo360f(720.5) - 0.5) < 0.001);
    UASSERT(fabs(modulo360f(-0.5) - (-0.5)) < 0.001);
    UASSERT(fabs(modulo360f(-365.5) - (-5.5)) < 0.001);

    for (float f = -720; f <= -360; f += 0.25) {
        UASSERT(std::fabs(modulo360f(f) - modulo360f(f + 360)) < 0.001);
    }

    for (float f = -1440; f <= 1440; f += 0.25) {
        UASSERT(std::fabs(modulo360f(f) - fmodf(f, 360)) < 0.001);
        UASSERT(std::fabs(wrapDegrees_180(f) - ref_WrapDegrees180(f)) < 0.001);
        UASSERT(std::fabs(wrapDegrees_0_360(f) - ref_WrapDegrees_0_360(f)) < 0.001);
        UASSERT(wrapDegrees_0_360(
                std::fabs(wrapDegrees_180(f) - wrapDegrees_0_360(f))) < 0.001);
    }

}

void TestUtilities::testWrapDegrees_0_360_v3f()
{
    // only x test with little step
	for (float x = -720.f; x <= 720; x += 0.05) {
        v3f r = wrapDegrees_0_360_v3f(v3f(x, 0, 0));
        UASSERT(r.X >= 0.0f && r.X < 360.0f)
        UASSERT(r.Y == 0.0f)
        UASSERT(r.Z == 0.0f)
    }

    // only y test with little step
    for (float y = -720.f; y <= 720; y += 0.05) {
        v3f r = wrapDegrees_0_360_v3f(v3f(0, y, 0));
        UASSERT(r.X == 0.0f)
        UASSERT(r.Y >= 0.0f && r.Y < 360.0f)
        UASSERT(r.Z == 0.0f)
    }

    // only z test with little step
    for (float z = -720.f; z <= 720; z += 0.05) {
        v3f r = wrapDegrees_0_360_v3f(v3f(0, 0, z));
        UASSERT(r.X == 0.0f)
        UASSERT(r.Y == 0.0f)
        UASSERT(r.Z >= 0.0f && r.Z < 360.0f)
	}

    // test the whole coordinate translation
    for (float x = -720.f; x <= 720; x += 2.5) {
        for (float y = -720.f; y <= 720; y += 2.5) {
            for (float z = -720.f; z <= 720; z += 2.5) {
                v3f r = wrapDegrees_0_360_v3f(v3f(x, y, z));
                UASSERT(r.X >= 0.0f && r.X < 360.0f)
                UASSERT(r.Y >= 0.0f && r.Y < 360.0f)
                UASSERT(r.Z >= 0.0f && r.Z < 360.0f)
            }
        }
    }
}


void TestUtilities::testLowercase()
{
	UASSERT(lowercase("Foo bAR") == "foo bar");
	UASSERT(lowercase("eeeeeeaaaaaaaaaaaààààà") == "eeeeeeaaaaaaaaaaaààààà");
	UASSERT(lowercase("MINETEST-powa") == "minetest-powa");
}


void TestUtilities::testTrim()
{
	UASSERT(trim("") == "");
	UASSERT(trim("dirt_with_grass") == "dirt_with_grass");
	UASSERT(trim("\n \t\r  Foo bAR  \r\n\t\t  ") == "Foo bAR");
	UASSERT(trim("\n \t\r    \r\n\t\t  ") == "");
}


void TestUtilities::testIsYes()
{
	UASSERT(is_yes("YeS") == true);
	UASSERT(is_yes("") == false);
	UASSERT(is_yes("FAlse") == false);
	UASSERT(is_yes("-1") == true);
	UASSERT(is_yes("0") == false);
	UASSERT(is_yes("1") == true);
	UASSERT(is_yes("2") == true);
}


void TestUtilities::testRemoveStringEnd()
{
	const char *ends[] = {"abc", "c", "bc", "", NULL};
	UASSERT(removeStringEnd("abc", ends) == "");
	UASSERT(removeStringEnd("bc", ends) == "b");
	UASSERT(removeStringEnd("12c", ends) == "12");
	UASSERT(removeStringEnd("foo", ends) == "");
}


void TestUtilities::testUrlEncode()
{
	UASSERT(urlencode("\"Aardvarks lurk, OK?\"")
			== "%22Aardvarks%20lurk%2C%20OK%3F%22");
}


void TestUtilities::testUrlDecode()
{
	UASSERT(urldecode("%22Aardvarks%20lurk%2C%20OK%3F%22")
			== "\"Aardvarks lurk, OK?\"");
}


void TestUtilities::testPadString()
{
	UASSERT(padStringRight("hello", 8) == "hello   ");
}

void TestUtilities::testStartsWith()
{
	UASSERT(str_starts_with(std::string(), std::string()) == true);
	UASSERT(str_starts_with(std::string("the sharp pickaxe"),
		std::string()) == true);
	UASSERT(str_starts_with(std::string("the sharp pickaxe"),
		std::string("the")) == true);
	UASSERT(str_starts_with(std::string("the sharp pickaxe"),
		std::string("The")) == false);
	UASSERT(str_starts_with(std::string("the sharp pickaxe"),
		std::string("The"), true) == true);
	UASSERT(str_starts_with(std::string("T"), std::string("The")) == false);
}

void TestUtilities::testStrEqual()
{
	UASSERT(str_equal(utf8_to_wide("abc"), utf8_to_wide("abc")));
	UASSERT(str_equal(utf8_to_wide("ABC"), utf8_to_wide("abc"), true));
}


void TestUtilities::testStringTrim()
{
	UASSERT(trim("  a") == "a");
	UASSERT(trim("   a  ") == "a");
	UASSERT(trim("a   ") == "a");
	UASSERT(trim("") == "");
}


void TestUtilities::testStrToIntConversion()
{
	UASSERT(mystoi("123", 0, 1000) == 123);
	UASSERT(mystoi("123", 0, 10) == 10);
}


void TestUtilities::testStringReplace()
{
	std::string test_str;
	test_str = "Hello there";
	str_replace(test_str, "there", "world");
	UASSERT(test_str == "Hello world");
	test_str = "ThisAisAaAtest";
	str_replace(test_str, 'A', ' ');
	UASSERT(test_str == "This is a test");
}


void TestUtilities::testStringAllowed()
{
	UASSERT(string_allowed("hello", "abcdefghijklmno") == true);
	UASSERT(string_allowed("123", "abcdefghijklmno") == false);
	UASSERT(string_allowed_blacklist("hello", "123") == true);
	UASSERT(string_allowed_blacklist("hello123", "123") == false);
}

void TestUtilities::testAsciiPrintableHelper()
{
	UASSERT(IS_ASCII_PRINTABLE_CHAR('e') == true);
	UASSERT(IS_ASCII_PRINTABLE_CHAR('\0') == false);

	// Ensures that there is no cutting off going on...
	// If there were, 331 would be cut to 75 in this example
	// and 73 is a valid ASCII char.
	int ch = 331;
	UASSERT(IS_ASCII_PRINTABLE_CHAR(ch) == false);
}

void TestUtilities::testUTF8()
{
	UASSERT(utf8_to_wide("¤") == L"¤");

	UASSERT(wide_to_utf8(L"¤") == "¤");

	UASSERTEQ(std::string, wide_to_utf8(utf8_to_wide("")), "");
	UASSERTEQ(std::string, wide_to_utf8(utf8_to_wide("the shovel dug a crumbly node!")),
		"the shovel dug a crumbly node!");
	UASSERTEQ(std::string, wide_to_utf8(utf8_to_wide("-ä-")),
		"-ä-");
	UASSERTEQ(std::string, wide_to_utf8(utf8_to_wide("-\xF0\xA0\x80\x8B-")),
		"-\xF0\xA0\x80\x8B-");

}

void TestUtilities::testRemoveEscapes()
{
	UASSERT(unescape_enriched<wchar_t>(
		L"abc\x1bXdef") == L"abcdef");
	UASSERT(unescape_enriched<wchar_t>(
		L"abc\x1b(escaped)def") == L"abcdef");
	UASSERT(unescape_enriched<wchar_t>(
		L"abc\x1b((escaped with parenthesis\\))def") == L"abcdef");
	UASSERT(unescape_enriched<wchar_t>(
		L"abc\x1b(incomplete") == L"abc");
	UASSERT(unescape_enriched<wchar_t>(
		L"escape at the end\x1b") == L"escape at the end");
	// Nested escapes not supported
	UASSERT(unescape_enriched<wchar_t>(
		L"abc\x1b(outer \x1b(inner escape)escape)def") == L"abcescape)def");
}

void TestUtilities::testWrapRows()
{
	UASSERT(wrap_rows("12345678",4) == "1234\n5678");
	// test that wrap_rows doesn't wrap inside multibyte sequences
	{
		const unsigned char s[] = {
			0x2f, 0x68, 0x6f, 0x6d, 0x65, 0x2f, 0x72, 0x61, 0x70, 0x74, 0x6f,
			0x72, 0x2f, 0xd1, 0x82, 0xd0, 0xb5, 0xd1, 0x81, 0xd1, 0x82, 0x2f,
			0x6d, 0x69, 0x6e, 0x65, 0x74, 0x65, 0x73, 0x74, 0x2f, 0x62, 0x69,
			0x6e, 0x2f, 0x2e, 0x2e, 0};
		std::string str((char *)s);
		UASSERT(utf8_to_wide(wrap_rows(str, 20)) != L"<invalid UTF-8 string>");
	};
	{
		const unsigned char s[] = {
			0x74, 0x65, 0x73, 0x74, 0x20, 0xd1, 0x82, 0xd0, 0xb5, 0xd1, 0x81,
			0xd1, 0x82, 0x20, 0xd1, 0x82, 0xd0, 0xb5, 0xd1, 0x81, 0xd1, 0x82,
			0x20, 0xd1, 0x82, 0xd0, 0xb5, 0xd1, 0x81, 0xd1, 0x82, 0};
		std::string str((char *)s);
		UASSERT(utf8_to_wide(wrap_rows(str, 8)) != L"<invalid UTF-8 string>");
	}
}

void TestUtilities::testEnrichedString()
{
	EnrichedString str(L"Test bar");
	irr::video::SColor color(0xFF, 0, 0, 0xFF);

	UASSERT(str.substr(1, 3).getString() == L"est");
	str += L" BUZZ";
	UASSERT(str.substr(9, std::string::npos).getString() == L"BUZZ");
	str.setDefaultColor(color); // Blue foreground
	UASSERT(str.getColors()[5] == color);
	// Green background, then white and yellow text
	str = L"\x1b(b@#0F0)Regular \x1b(c@#FF0)yellow";
	UASSERT(str.getColors()[2] == 0xFFFFFFFF);
	str.setDefaultColor(color); // Blue foreground
	UASSERT(str.getColors()[13] == 0xFFFFFF00); // Still yellow text
	UASSERT(str.getBackground() == 0xFF00FF00); // Green background
}

void TestUtilities::testIsNumber()
{
	UASSERT(is_number("123") == true);
	UASSERT(is_number("") == false);
	UASSERT(is_number("123a") == false);
}


void TestUtilities::testIsPowerOfTwo()
{
	UASSERT(is_power_of_two(0) == false);
	UASSERT(is_power_of_two(1) == true);
	UASSERT(is_power_of_two(2) == true);
	UASSERT(is_power_of_two(3) == false);
	for (int exponent = 2; exponent <= 31; ++exponent) {
		UASSERT(is_power_of_two((1 << exponent) - 1) == false);
		UASSERT(is_power_of_two((1 << exponent)) == true);
		UASSERT(is_power_of_two((1 << exponent) + 1) == false);
	}
	UASSERT(is_power_of_two(U32_MAX) == false);
}

void TestUtilities::testMyround()
{
	UASSERT(myround(4.6f) == 5);
	UASSERT(myround(1.2f) == 1);
	UASSERT(myround(-3.1f) == -3);
	UASSERT(myround(-6.5f) == -7);
}

void TestUtilities::testStringJoin()
{
	std::vector<std::string> input;
	UASSERT(str_join(input, ",") == "");

	input.emplace_back("one");
	UASSERT(str_join(input, ",") == "one");

	input.emplace_back("two");
	UASSERT(str_join(input, ",") == "one,two");

	input.emplace_back("three");
	UASSERT(str_join(input, ",") == "one,two,three");

	input[1] = "";
	UASSERT(str_join(input, ",") == "one,,three");

	input[1] = "two";
	UASSERT(str_join(input, " and ") == "one and two and three");
}


static bool within(const f32 value1, const f32 value2, const f32 precision)
{
	return std::fabs(value1 - value2) <= precision;
}

static bool within(const v3f &v1, const v3f &v2, const f32 precision)
{
	return within(v1.X, v2.X, precision) && within(v1.Y, v2.Y, precision)
		&& within(v1.Z, v2.Z, precision);
}

static bool within(const core::matrix4 &m1, const core::matrix4 &m2,
		const f32 precision)
{
	const f32 *M1 = m1.pointer();
	const f32 *M2 = m2.pointer();
	for (int i = 0; i < 16; i++)
		if (! within(M1[i], M2[i], precision))
			return false;
	return true;
}

static bool roundTripsDeg(const v3f &v, const f32 precision)
{
	core::matrix4 m;
	setPitchYawRoll(m, v);
	return within(v, getPitchYawRoll(m), precision);
}

void TestUtilities::testEulerConversion()
{
	// This test may fail on non-IEEE systems.
	// Low tolerance is 4 ulp(1.0) for binary floats with 24 bit mantissa.