Danny Robson
d3f434b523
The coordinate system was unable to support types that prohibited redim or retype operations. Additionally, the `tags' type used for providing named data parameters was unwiedly. We remove much of the dependance on template template parameters in the defined operations and instead define these in terms of a template specialisation of is_coord. The tag types were replaced with direct specialisation of the `store' struct by the primary type, and passing this type through use of the CRTP.
128 lines
3.3 KiB
C++
128 lines
3.3 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 <array>
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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::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 to origin");
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}
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{
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util::point3f p {0};
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auto m = util::rotation<float> (1, { 1, 0, 0 }) *
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util::rotation<float> (1, { 0, 1, 0 }) *
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util::rotation<float> (1, { 0, 0, 1 });
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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 rotation at origin");
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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::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::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::rotation<float> (1, t.euler);
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auto q = util::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 (util::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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{ 9, 9, 9, "nines" }
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};
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for (auto t: TESTS) {
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const auto mx = util::rotation<float> (t.x, {1,0,0});
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const auto my = util::rotation<float> (t.y, {0,1,0});
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const auto mz = util::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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util::quaternionf::angle_axis (t.x, { 1, 0, 0 }) *
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util::quaternionf::angle_axis (t.y, { 0, 1, 0 }) *
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util::quaternionf::angle_axis (t.z, { 0, 0, 1 })
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).as_matrix ();
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if (abs (m - q)[0])
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exit (0);
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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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