109 lines
2.9 KiB
C++
109 lines
2.9 KiB
C++
#include "tap.hpp"
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#include "vector.hpp"
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#include "matrix.hpp"
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#include "quaternion.hpp"
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///////////////////////////////////////////////////////////////////////////////
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void
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test_matrix_identities (util::TAP::logger &tap)
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{
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static constexpr util::vector3f UP {0,1,0};
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{
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util::point3f p { 1, 2, 3 };
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auto m = util::matrix4f::translation (0-p);
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auto x = m * p.homog<4> ();
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tap.expect_eq (x, util::point4f {0,0,0,1}, "trivial translation");
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}
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{
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util::point3f eye { 1, 2, 3 };
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util::point3f tgt { 0, 0, 0 };
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auto m = util::matrix4f::look_at (eye, tgt, UP);
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auto x = m * eye.homog<4> ();
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tap.expect_eq (x, util::point4f {0,0,0,1}, "look_at eye translation");
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}
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{
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util::point3f eye { 1, 2, 3 };
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util::point3f tgt { 4, 5, 6 };
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auto m = util::matrix4f::look_at (eye, tgt, UP);
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auto x = m * eye.homog<4> ();
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tap.expect_eq (x, util::point4f {0,0,0,1}, "look_at eye translation with target");
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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void
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test_mq_axis (util::TAP::logger &tap)
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{
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static const struct {
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util::vector3f euler;
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const char *msg;
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} TESTS[] = {
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{ { 1, 0, 0 }, "x-axis" },
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{ { 0, 1, 0 }, "y-axis" },
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{ { 0, 0, 1 }, "z-axis" },
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};
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for (auto t: TESTS) {
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auto m = util::matrix4f::rotation (1, t.euler);
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auto q = util::quaternionf::rotation (1, t.euler);
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auto diff = sum (abs (m - q.as_matrix ()));
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tap.expect_le (diff, 1e-6f, "matrix/quaternion rotation identities, %s", t.msg);
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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void
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test_mq_euler (util::TAP::logger &tap)
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{
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static const struct {
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util::vector3f euler;
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const char *msg;
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} TESTS[] = {
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{ { 0, 0, 0 }, "zeroes" },
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{ { 1, 0, 0 }, "x-axis" },
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{ { 0, 1, 0 }, "y-axis" },
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{ { 0, 0, 1 }, "z-axis" },
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{ { 1, 1, 1 }, "ones" },
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{ { 9, 9, 9 }, "nines" }
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};
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for (auto t: TESTS) {
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auto m = util::matrix4f::rotation (t.euler[0], { 1, 0, 0 }) *
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util::matrix4f::rotation (t.euler[1], { 0, 1, 0 }) *
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util::matrix4f::rotation (t.euler[2], { 0, 0, 1 });
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auto q = (
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util::quaternionf::rotation (t.euler[0], { 1, 0, 0 }) *
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util::quaternionf::rotation (t.euler[1], { 0, 1, 0 }) *
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util::quaternionf::rotation (t.euler[2], { 0, 0, 1 })
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).as_matrix ();
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auto diff = util::sum (abs (m - q));
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tap.expect_le (diff, 1e-6f, "matrix-quaternion xyz euler rotations, %s", t.msg);
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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int
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main (int, char**)
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{
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util::TAP::logger tap;
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test_matrix_identities (tap);
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test_mq_axis (tap);
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test_mq_euler (tap);
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return tap.status ();
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}
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