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matrix: add look_at and euler tests

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This commit is contained in:
Danny Robson 2016-09-14 17:45:33 +10:00
parent 0e88b4b324
commit 83484a6ea1
2 changed files with 43 additions and 1 deletions
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2
matrix.hpp
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@ -68,7 +68,7 @@ namespace util {
static matrix<4,T> ortho (T left, T right, T bottom, T top, T near, T far);
static matrix<4,T> ortho2D (T left, T right, T bottom, T top);
static matrix<4,T> perspective (T fov, T aspect, range<T> Z);
static matrix<4,T> look_at (point<3,T> eye, point<3,T> centre, vector<3,T> up);
static matrix<4,T> look_at (point<3,T> eye, point<3,T> target, vector<3,T> up);
// Affine matrices
static matrix<4,T> translation (util::vector<2,T>);

42
test/matrix.cpp
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@ -3,9 +3,13 @@
#include "debug.hpp"
#include "tap.hpp"
#include "vector.hpp"
#include "coord/iostream.hpp"
#include "quaternion.hpp"
#include <cstdlib>
///////////////////////////////////////////////////////////////////////////////
int
main (void)
{
@ -153,5 +157,43 @@ main (void)
tap.expect_eq (m.inverse (), r / 40.f, "4x4 inversion");
}
// sanity check euler rotations
{
static const struct {
util::vector3f euler;
const char *msg;
} TESTS[] = {
{ util::vector3f { 0 }, "zeroes" },
{ { 1, 0, 0 }, "x-axis" },
{ { 0, 1, 0 }, "y-axis" },
{ { 0, 0, 1 }, "z-axis" },
{ util::vector3f { 1 }, "ones" },
{ { 3, 5, 7 }, "positive primes" },
{ { -3, -5, -7 }, "negative primes" },
{ { 3, -5, 7 }, "mixed primes" },
};
for (auto t: TESTS) {
constexpr auto PI2 = 2 * util::PI<float>;
auto matrix = (
util::quaternionf::rotation (t.euler[2], { 0, 0, 1 }) *
util::quaternionf::rotation (t.euler[1], { 0, 1, 0 }) *
util::quaternionf::rotation (t.euler[0], { 1, 0, 0 })
).as_matrix ();
auto euler = to_euler (matrix);
auto truth = t.euler;
euler = mod (euler + 4 * PI2, PI2);
truth = mod (truth + 4 * PI2, PI2);
tap.expect_eq (truth, euler, "matrix-to-euler, %s", t.msg);
}
}
return tap.status ();
}