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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following disclaimer
// in the documentation and/or other materials provided with the
// distribution.
// * Neither the name of Industrial Light & Magic nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
///////////////////////////////////////////////////////////////////////////
#include <testInvert.h>
#include <ImathMatrix.h>
#include <ImathMatrixAlgo.h>
#include <iostream>
#include <assert.h>
using namespace std;
using namespace Imath;
namespace {
void
invertM44f (const M44f &m, float e)
{
M44f inv1 = m.inverse();
M44f inv2 = m.gjInverse();
M44f ident1 = m * inv1;
M44f ident2 = m * inv2;
//cout << "m\n" << m << endl;
//cout << "inv1\n" << inv1 << "ident1\n" << ident1 << endl;
//cout << "inv2\n" << inv2 << "ident2\n" << ident2 << endl;
assert (ident1.equalWithAbsError (identity44f, e));
assert (ident2.equalWithAbsError (identity44f, e));
}
void
invertM33f (const M33f &m, float e)
{
M33f inv1 = m.inverse();
M33f inv2 = m.gjInverse();
M33f ident1 = m * inv1;
M33f ident2 = m * inv2;
//cout << "m\n" << m << endl;
//cout << "inv1\n" << inv1 << "ident1\n" << ident1 << endl;
//cout << "inv2\n" << inv2 << "ident2\n" << ident2 << endl;
assert (ident1.equalWithAbsError (identity33f, e));
assert (ident2.equalWithAbsError (identity33f, e));
}
} // namespace
void
testInvert ()
{
cout << "Testing 4x4 and 3x3 matrix inversion:" << endl;
{
cout << "M44f" << endl;
M44f m1 ( 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
M44f m2 ( 0, 1, 0, 0,
-1, 0, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
M44f m3 ( 1, 0, 0, 0,
0, 2, 0, 0,
0, 0, 0, -1,
0, 0, 1, 0);
M44f m4 ( 4.683281e-01, -8.749647e-01, 1.229049e-01, 0.000000e+00,
1.251189e-02, 1.456563e-01, 9.892561e-01, 0.000000e+00,
-8.834660e-01, -4.617587e-01, 7.916244e-02, 0.000000e+00,
-4.726541e+00, 3.044795e+00, -6.737138e+00, 1.000000e+00);
M44f m5 ( 4.683281e-01, -8.749647e-01, 1.229049e-01, 1.000000e+00,
1.251189e-02, 1.456563e-01, 9.892561e-01, 2.000000e+00,
-8.834660e-01, -4.617587e-01, 7.916244e-02, 3.000000e+00,
-4.726541e+00, 3.044795e+00, -6.737138e+00, 4.000000e+00);
invertM44f (m1, 0);
invertM44f (m2, 0);
invertM44f (m3, 0);
invertM44f (m4, 1e-6);
invertM44f (m5, 1e-6);
}
{
cout << "M33f" << endl;
M33f m1 ( 1, 0, 0,
0, 1, 0,
0, 0, 1);
M33f m2 ( 0, 1, 0,
-1, 0, 0,
0, 0, 1);
M33f m3 ( 2, 0, 0,
0, 0, -1,
0, 1, 0);
M33f m4 ( 4.683281e-01, -8.749647e-01, 0.000000e+00,
1.251189e-02, 1.456563e-01, 0.000000e+00,
0.000000e+00, 0.000000e+00, 1.000000e+00);
M33f m5 ( 4.683281e-01, -8.749647e-01, 1.229049e-01,
1.251189e-02, 1.456563e-01, 9.892561e-01,
-8.834660e-01, -4.617587e-01, 7.916244e-02);
invertM33f (m1, 0);
invertM33f (m2, 0);
invertM33f (m3, 0);
invertM33f (m4, 1e-6);
invertM33f (m5, 1e-6);
}
cout << "ok\n" << endl;
}
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