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// Copyright 2009-2021 Intel Corporation
// SPDX-License-Identifier: Apache-2.0
#include "motion_derivative.h"
#include "../../common/sys/regression.h"
#include <random>
namespace embree
{
struct motion_derivative_regression_test : public RegressionTest
{
motion_derivative_regression_test(const char* name) : RegressionTest(name) {
registerRegressionTest(this);
}
std::mt19937_64 rng;
inline float rand01()
{
std::uniform_real_distribution<float> dist(0.f, 1.f);
return dist(rng);
}
bool valid(float v)
{
if (std::isnan(v) && !std::isfinite(v))
{
//printf("value not valid %f\n", v);
return false;
}
return true;
}
inline Vec3fa random_axis()
{
float x = 2.f * rand01() - 1.f;
float y = 2.f * rand01() - 1.f;
float z = x*x+y*y > 0.995 ? 0.f : std::sqrt(1 - x*x - y*y);
Vec3fa axis(x, y, z);
return normalize(axis);
}
inline float random_scale()
{
float xi = 20.f * rand01() - 10.f;
if (xi < 0) xi -= 0.001f;
if (xi >= 0) xi += 0.001f;
return xi;
}
inline AffineSpace3fa random_quaternion_decomposition()
{
Vec3fa T(20.f * rand01() - 10.f, 20.f * rand01() - 10.f, 20.f * rand01() - 10.f);
Quaternion3f q = Quaternion3f::rotate(random_axis(), 4.f * M_PI * rand01() - 2.f * M_PI);
AffineSpace3fa S(one);
S.p = Vec3fa(20.f * rand01() - 10.f, 20.f * rand01() - 10.f, 20.f * rand01() - 10.f);
S.l.vx.x = random_scale();
S.l.vy.y = random_scale();
S.l.vz.z = random_scale();
S.l.vy.x = 2.f * rand01() - 1.f;
S.l.vz.x = 2.f * rand01() - 1.f;
S.l.vz.y = 2.f * rand01() - 1.f;
return quaternionDecomposition(T, q, S);
}
bool testMDC(MotionDerivativeCoefficients const& mdc)
{
if (!valid(mdc.theta)) return false;
for (int i = 0; i < 3*8*7; ++i)
{
if(!valid(mdc.coeffs[i])) return false;
}
unsigned int maxNumRoots = 32;
float roots[32];
for (int j = 0; j < 32; ++j)
{
Vec3fa p0(20.f * rand01() - 10.f, 20.f * rand01() - 10.f, 20.f * rand01() - 10.f);
Vec3fa p1(20.f * rand01() - 10.f, 20.f * rand01() - 10.f, 20.f * rand01() - 10.f);
float offset = 20.f * rand01() - 10.f;
for (int dim = 0; dim < 3; ++dim) {
MotionDerivative md(mdc, dim, p0, rand01() > 0.5f ? p1 : p0);
float tmin = 2.f * rand01() - 1.f;
float tmax = tmin + rand01();
Interval1f interval(tmin, tmax);
unsigned int num_roots = md.findRoots(interval, offset, roots, maxNumRoots);
if (num_roots >= maxNumRoots) {
return false;
}
for (unsigned int i = 0; i < min(num_roots, maxNumRoots); ++i) {
if(!valid(roots[i])) return false;
if(!(roots[i] >= tmin && roots[i] <= tmax)) return false;
}
}
}
return true;
}
bool run ()
{
bool passed = true;
#if 0
std::random_device device;
size_t seed = device();
#else
// tests fails for this seed if MOTION_DERIVATIVE_ROOT_EPSILON is 1e-6f instead of 1e-4f
size_t seed = 2973843361;
#endif
rng.seed(seed);
////////////////////////////////////////////////////////////////////////////////
// test root solver
////////////////////////////////////////////////////////////////////////////////
unsigned int maxNumRoots = 32;
float roots[32];
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return (t - 1.0) * (t + 1.0);
}};
Interval1f I(-2.f, 2.f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 2) return false;
if (abs(roots[0]+1.f) > 1e6f) return false;
if (abs(roots[1]-1.f) > 1e6f) return false;
}
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return (t - 1.0f) * (t + 1.0f) * (t + 0.99999f);
}};
Interval1f I(-2.f, 2.f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 2) return false;
}
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return (t - 1.0f) * (t + 1.0f) * (t + 0.9999f);
}};
Interval1f I(-2.f, 2.f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 3) return false;
}
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return (-7.831048f) + (70.619041f) + (-116.007454f) * t
+ ((-198.235809f) + ( 411.193054f) * t + (-160.020020f) * t * t) * cos(5.438017f * t)
+ ((-320.571472f) + ( 786.181946f) * t + (-559.993164f) * t * t) * sin(5.438017f * t);
}};
Interval1f I(0.5, 1.4f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 3) return false;
}
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return sin(t) * cos(t-1.0f) * 50 * (t-2.0f) * (t-4.0f);
}};
Interval1f I(0.0, 7.0f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 7) return false;
}
{
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return sin(t) * cos(t-1) * 0.0000001f * (t-2.0f) * (t-4.0f);
}};
Interval1f I(0.0, 7.0f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 7) return false;
}
{
// all roots are of the form n*PI/10 for n = 0, 1, 2, ...
// the function values vary from 0 to 3000
// in a plot everything from 0 to 0.5 looks like constant zero
struct EvalFunc { Interval1f operator()(Interval1f const& t) const {
return sin(10.0f * t) * 100.0f * t*t*t*t*t;
}};
Interval1f I(0.0, 2.0f);
unsigned int numRoots = 0;
MotionDerivative::findRoots(EvalFunc(), I, numRoots, roots, maxNumRoots);
if (numRoots != 7) return false;
for (int i = 0; i < 7; ++i) {
if (abs(roots[i]-(i*M_PI)/10.f) > 1e-6f)
return false;
}
}
////////////////////////////////////////////////////////////////////////////////
// test motion derivative coefficients
////////////////////////////////////////////////////////////////////////////////
const size_t numTests = 64;
// test completely random transformations
for (int j = 0; j < numTests; ++j)
{
AffineSpace3fa M0 = random_quaternion_decomposition();
AffineSpace3fa M1 = random_quaternion_decomposition();
if (!testMDC(MotionDerivativeCoefficients(M0, M1))) return false;
if (!testMDC(MotionDerivativeCoefficients(M0, M0))) return false;
}
// test transformations with slightly different rotation angles
for (int j = 0; j < numTests; ++j)
{
Vec3fa axis = random_axis();
float angle = 2.f * M_PI * (2.f * rand01() - 1.f);
AffineSpace3fa S(one);
Vec3fa T(0.f);
for (int k = 0; k < 16; ++k)
{
float eps = pow(0.1f, k);
Quaternion3f q0 = Quaternion3f::rotate(axis, angle);
Quaternion3f q1 = Quaternion3f::rotate(axis, angle + (rand01() > 0.5f ? -1.f : 1.f) * k * eps);
AffineSpace3fa M0 = quaternionDecomposition(T, q0, S);
AffineSpace3fa M1 = quaternionDecomposition(T, q1, S);
if (!testMDC(MotionDerivativeCoefficients(M0, M1))) return false;
if (!testMDC(MotionDerivativeCoefficients(M0, M0))) return false;
}
}
return passed;
}
};
motion_derivative_regression_test motion_derivative_ilter_regression("motion_derivative_regression");
}
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