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/* Copyright (C) 2011 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
#include "lib/self_test.h"
#include <cstdlib>
#include <cmath>
#include "maths/Matrix3D.h"
#include "maths/Quaternion.h"
class TestMatrix : public CxxTest::TestSuite
{
public:
void test_inverse()
{
CMatrix3D m;
srand(0);
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < 16; ++j)
{
m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
}
CMatrix3D n;
m.GetInverse(n);
m *= n;
// verify identity has 1s on diagonal and 0 otherwise
for (int x = 0; x < 4; ++x)
{
for (int y = 0; y < 4; ++y)
{
const float expected = (x==y)? 1.0f : 0.0f;
TS_ASSERT_DELTA(m(x,y), expected, 0.0002f);
}
}
}
}
void test_quats()
{
srand(0);
for (int i = 0; i < 4; ++i)
{
CQuaternion q;
q.FromEulerAngles(
-6.28f + 12.56f*(rand()/(float)RAND_MAX),
-6.28f + 12.56f*(rand()/(float)RAND_MAX),
-6.28f + 12.56f*(rand()/(float)RAND_MAX)
);
CMatrix3D m;
q.ToMatrix(m);
CQuaternion q2 = m.GetRotation();
// Quaternions (x,y,z,w) and (-x,-y,-z,-w) are equivalent when
// interpreted as rotations, so it doesn't matter which we get
const bool ok_oneway =
feq(q2.m_W, q.m_W) &&
feq(q2.m_V.X, q.m_V.X) &&
feq(q2.m_V.Y, q.m_V.Y) &&
feq(q2.m_V.Z, q.m_V.Z);
const bool ok_otherway =
feq(q2.m_W, -q.m_W) &&
feq(q2.m_V.X, -q.m_V.X) &&
feq(q2.m_V.Y, -q.m_V.Y) &&
feq(q2.m_V.Z, -q.m_V.Z);
TS_ASSERT(ok_oneway ^ ok_otherway);
}
}
void test_rotate()
{
CMatrix3D m;
srand(0);
for (int j = 0; j < 16; ++j)
m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
CMatrix3D r, a, b;
a = m;
b = m;
a.RotateX(1.0f);
r.SetXRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
a = m;
b = m;
a.RotateY(1.0f);
r.SetYRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
a = m;
b = m;
a.RotateZ(1.0f);
r.SetZRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
}
void test_getRotation()
{
CMatrix3D m;
srand(0);
m.SetZero();
TS_ASSERT_EQUALS(m.GetYRotation(), 0.f);
m.SetIdentity();
TS_ASSERT_EQUALS(m.GetYRotation(), 0.f);
for (int j = 0; j < 16; ++j)
{
float a = 2*M_PI*rand()/(float)RAND_MAX - M_PI;
m.SetYRotation(a);
TS_ASSERT_DELTA(m.GetYRotation(), a, 0.001f);
}
}
void test_scale()
{
CMatrix3D m;
srand(0);
for (int j = 0; j < 16; ++j)
m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
CMatrix3D s, a, b;
a = m;
b = m;
a.Scale(0.5f, 2.0f, 3.0f);
s.SetScaling(0.5f, 2.0f, 3.0f);
b.Concatenate(s);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
}
};
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