218 lines
10 KiB
C++
218 lines
10 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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#include "coord/iostream.hpp"
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#include "matrix.hpp"
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#include <array>
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///////////////////////////////////////////////////////////////////////////////
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void
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test_matrix_identities (cruft::TAP::logger &tap)
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{
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static constexpr cruft::vector3f UP {0,1,0};
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{
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cruft::point3f p { 1, 2, 3 };
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auto m = cruft::translation (0-p);
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auto x = m * p;
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tap.expect_eq (x, cruft::point3f {0}, "trivial translation to origin");
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}
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{
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cruft::point3f p {0};
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auto m = cruft::rotation<float> (1, { 1, 0, 0 }) *
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cruft::rotation<float> (1, { 0, 1, 0 }) *
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cruft::rotation<float> (1, { 0, 0, 1 });
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auto x = m * p.homog ();
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tap.expect_eq (x, cruft::point4f {0,0,0,1}, "trivial rotation at origin");
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}
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{
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cruft::point3f eye { 1, 2, 3 };
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cruft::point3f tgt { 0, 0, 0 };
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auto m = cruft::look_at (eye, tgt, UP);
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auto x = m * eye.homog ();
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tap.expect_eq (x, cruft::point4f {0,0,0,1}, "look_at eye translation");
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}
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{
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cruft::point3f eye { 1, 2, 3 };
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cruft::point3f tgt { 4, 5, 6 };
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auto m = cruft::look_at (eye, tgt, UP);
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auto x = m * eye.homog ();
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tap.expect_eq (x, cruft::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_perspective (cruft::TAP::logger &tap)
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{
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static const struct {
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float w, h;
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float near, far;
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float fov;
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float a, b, c, d;
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} TESTS[] = {
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{ 1.f, 1.f, 1.f, 100.f, 45.f, 2.414213419f, 2.414213419f, -1.020202041f, -2.020201921f },
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{ 1.f, 1.f, 1.f, 100.f, 60.f, 1.732050776f, 1.732050776f, -1.020202041f, -2.020201921f },
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{ 1.f, 1.f, 1.f, 100.f, 90.f, 1.000000000f, 1.000000000f, -1.020202041f, -2.020201921f },
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{ 1.f, 1.f, 1.f, 100.f, 120.f, 0.577350199f, 0.577350199f, -1.020202041f, -2.020201921f },
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{ 1.f, 1.f, 1e-08f, 1e+08f, 45.f, 2.414213419f, 2.414213419f, -1.000000000f, -0.000000020f },
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{ 1.f, 1.f, 1e-08f, 1e+08f, 60.f, 1.732050776f, 1.732050776f, -1.000000000f, -0.000000020f },
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{ 1.f, 1.f, 1e-08f, 1e+08f, 90.f, 1.000000000f, 1.000000000f, -1.000000000f, -0.000000020f },
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{ 1.f, 1.f, 1e-08f, 1e+08f, 120.f, 0.577350199f, 0.577350199f, -1.000000000f, -0.000000020f },
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{ 1.f, 1.f, 0.01f, 1000.f, 45.f, 2.414213419f, 2.414213419f, -1.000020027f, -0.020000201f },
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{ 1.f, 1.f, 0.01f, 1000.f, 60.f, 1.732050776f, 1.732050776f, -1.000020027f, -0.020000201f },
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{ 1.f, 1.f, 0.01f, 1000.f, 90.f, 1.000000000f, 1.000000000f, -1.000020027f, -0.020000201f },
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{ 1.f, 1.f, 0.01f, 1000.f, 120.f, 0.577350199f, 0.577350199f, -1.000020027f, -0.020000201f },
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{ 4.f, 3.f, 1.f, 100.f, 45.f, 1.810660124f, 2.414213419f, -1.020202041f, -2.020201921f },
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{ 4.f, 3.f, 1.f, 100.f, 60.f, 1.299038053f, 1.732050776f, -1.020202041f, -2.020201921f },
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{ 4.f, 3.f, 1.f, 100.f, 90.f, 0.750000000f, 1.000000000f, -1.020202041f, -2.020201921f },
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{ 4.f, 3.f, 1.f, 100.f, 120.f, 0.433012664f, 0.577350199f, -1.020202041f, -2.020201921f },
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{ 4.f, 3.f, 1e-08f, 1e+08f, 45.f, 1.810660124f, 2.414213419f, -1.000000000f, -0.000000020f },
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{ 4.f, 3.f, 1e-08f, 1e+08f, 60.f, 1.299038053f, 1.732050776f, -1.000000000f, -0.000000020f },
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{ 4.f, 3.f, 1e-08f, 1e+08f, 90.f, 0.750000000f, 1.000000000f, -1.000000000f, -0.000000020f },
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{ 4.f, 3.f, 1e-08f, 1e+08f, 120.f, 0.433012664f, 0.577350199f, -1.000000000f, -0.000000020f },
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{ 4.f, 3.f, 0.01f, 1000.f, 45.f, 1.810660124f, 2.414213419f, -1.000020027f, -0.020000201f },
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{ 4.f, 3.f, 0.01f, 1000.f, 60.f, 1.299038053f, 1.732050776f, -1.000020027f, -0.020000201f },
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{ 4.f, 3.f, 0.01f, 1000.f, 90.f, 0.750000000f, 1.000000000f, -1.000020027f, -0.020000201f },
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{ 4.f, 3.f, 0.01f, 1000.f, 120.f, 0.433012664f, 0.577350199f, -1.000020027f, -0.020000201f },
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{ 16.f, 9.f, 1.f, 100.f, 45.f, 1.357995033f, 2.414213419f, -1.020202041f, -2.020201921f },
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{ 16.f, 9.f, 1.f, 100.f, 60.f, 0.974278569f, 1.732050776f, -1.020202041f, -2.020201921f },
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{ 16.f, 9.f, 1.f, 100.f, 90.f, 0.562500000f, 1.000000000f, -1.020202041f, -2.020201921f },
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{ 16.f, 9.f, 1.f, 100.f, 120.f, 0.324759483f, 0.577350199f, -1.020202041f, -2.020201921f },
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{ 16.f, 9.f, 1e-08f, 1e+08f, 45.f, 1.357995033f, 2.414213419f, -1.000000000f, -0.000000020f },
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{ 16.f, 9.f, 1e-08f, 1e+08f, 60.f, 0.974278569f, 1.732050776f, -1.000000000f, -0.000000020f },
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{ 16.f, 9.f, 1e-08f, 1e+08f, 90.f, 0.562500000f, 1.000000000f, -1.000000000f, -0.000000020f },
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{ 16.f, 9.f, 1e-08f, 1e+08f, 120.f, 0.324759483f, 0.577350199f, -1.000000000f, -0.000000020f },
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{ 16.f, 9.f, 0.01f, 1000.f, 45.f, 1.357995033f, 2.414213419f, -1.000020027f, -0.020000201f },
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{ 16.f, 9.f, 0.01f, 1000.f, 60.f, 0.974278569f, 1.732050776f, -1.000020027f, -0.020000201f },
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{ 16.f, 9.f, 0.01f, 1000.f, 90.f, 0.562500000f, 1.000000000f, -1.000020027f, -0.020000201f },
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{ 16.f, 9.f, 0.01f, 1000.f, 120.f, 0.324759483f, 0.577350199f, -1.000020027f, -0.020000201f },
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{ 16.f, 10.f, 1.f, 100.f, 45.f, 1.508883357f, 2.414213419f, -1.020202041f, -2.020201921f },
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{ 16.f, 10.f, 1.f, 100.f, 60.f, 1.082531691f, 1.732050776f, -1.020202041f, -2.020201921f },
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{ 16.f, 10.f, 1.f, 100.f, 90.f, 0.625000000f, 1.000000000f, -1.020202041f, -2.020201921f },
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{ 16.f, 10.f, 1.f, 100.f, 120.f, 0.360843867f, 0.577350199f, -1.020202041f, -2.020201921f },
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{ 16.f, 10.f, 1e-08f, 1e+08f, 45.f, 1.508883357f, 2.414213419f, -1.000000000f, -0.000000020f },
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{ 16.f, 10.f, 1e-08f, 1e+08f, 60.f, 1.082531691f, 1.732050776f, -1.000000000f, -0.000000020f },
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{ 16.f, 10.f, 1e-08f, 1e+08f, 90.f, 0.625000000f, 1.000000000f, -1.000000000f, -0.000000020f },
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{ 16.f, 10.f, 1e-08f, 1e+08f, 120.f, 0.360843867f, 0.577350199f, -1.000000000f, -0.000000020f },
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{ 16.f, 10.f, 0.01f, 1000.f, 45.f, 1.508883357f, 2.414213419f, -1.000020027f, -0.020000201f },
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{ 16.f, 10.f, 0.01f, 1000.f, 60.f, 1.082531691f, 1.732050776f, -1.000020027f, -0.020000201f },
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{ 16.f, 10.f, 0.01f, 1000.f, 90.f, 0.625000000f, 1.000000000f, -1.000020027f, -0.020000201f },
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{ 16.f, 10.f, 0.01f, 1000.f, 120.f, 0.360843867f, 0.577350199f, -1.000020027f, -0.020000201f },
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{ 21.f, 9.f, 1.f, 100.f, 45.f, 1.034662843f, 2.414213419f, -1.020202041f, -2.020201921f },
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{ 21.f, 9.f, 1.f, 100.f, 60.f, 0.742307484f, 1.732050776f, -1.020202041f, -2.020201921f },
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{ 21.f, 9.f, 1.f, 100.f, 90.f, 0.428571433f, 1.000000000f, -1.020202041f, -2.020201921f },
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{ 21.f, 9.f, 1.f, 100.f, 120.f, 0.247435793f, 0.577350199f, -1.020202041f, -2.020201921f },
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{ 21.f, 9.f, 1e-08f, 1e+08f, 45.f, 1.034662843f, 2.414213419f, -1.000000000f, -0.000000020f },
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{ 21.f, 9.f, 1e-08f, 1e+08f, 60.f, 0.742307484f, 1.732050776f, -1.000000000f, -0.000000020f },
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{ 21.f, 9.f, 1e-08f, 1e+08f, 90.f, 0.428571433f, 1.000000000f, -1.000000000f, -0.000000020f },
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{ 21.f, 9.f, 1e-08f, 1e+08f, 120.f, 0.247435793f, 0.577350199f, -1.000000000f, -0.000000020f },
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{ 21.f, 9.f, 0.01f, 1000.f, 45.f, 1.034662843f, 2.414213419f, -1.000020027f, -0.020000201f },
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{ 21.f, 9.f, 0.01f, 1000.f, 60.f, 0.742307484f, 1.732050776f, -1.000020027f, -0.020000201f },
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{ 21.f, 9.f, 0.01f, 1000.f, 90.f, 0.428571433f, 1.000000000f, -1.000020027f, -0.020000201f },
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{ 21.f, 9.f, 0.01f, 1000.f, 120.f, 0.247435793f, 0.577350199f, -1.000020027f, -0.020000201f },
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};
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for (const auto &t: TESTS) {
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cruft::matrix4f m {0};
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m[0][0] = t.a;
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m[1][1] = t.b;
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m[2][2] = t.c;
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m[2][3] = t.d;
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m[3][2] = -1.f;
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const auto p = cruft::perspective (cruft::to_radians (t.fov), t.w / t.h, {t.near, t.far});
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tap.expect (
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cruft::relatively_equal (m, p, 1e-7f),
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"perspective {}:{}@{}",
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t.w, t.h, t.fov
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);
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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void
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test_mq_axis (cruft::TAP::logger &tap)
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{
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static const struct {
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cruft::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 = cruft::rotation<float> (1, t.euler);
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auto q = cruft::quaternionf::angle_axis (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 (cruft::TAP::logger &tap)
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{
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static const struct {
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float x, y, z;
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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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{ 3, 3, 3, "threes" }
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};
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for (auto t: TESTS) {
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const auto mx = cruft::rotation<float> (t.x, {1,0,0});
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const auto my = cruft::rotation<float> (t.y, {0,1,0});
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const auto mz = cruft::rotation<float> (t.z, {0,0,1});
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const auto m = mx * my * mz;
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auto q = (
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cruft::quaternionf::angle_axis (t.x, { 1, 0, 0 }) *
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cruft::quaternionf::angle_axis (t.y, { 0, 1, 0 }) *
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cruft::quaternionf::angle_axis (t.z, { 0, 0, 1 })
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).as_matrix ();
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auto diff = cruft::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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cruft::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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test_perspective (tap);
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return tap.status ();
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}
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