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/************************************************************************
*
* Copyright (C) 2025 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "matrix_test.hpp"
#include <geometry/__/matrix.hpp>
#include <glm/gtc/epsilon.hpp>
#include <glm/gtc/matrix_transform.hpp>
namespace sight::geometry::ut
{
CPPUNIT_TEST_SUITE_REGISTRATION(sight::geometry::ut::matrix_test);
//------------------------------------------------------------------------------
void matrix_test::setUp()
{
// Set up context before running a test.
}
//------------------------------------------------------------------------------
void matrix_test::tearDown()
{
// Clean up after the test run.
}
//------------------------------------------------------------------------------
void matrix_test::inverse_translation_rotation()
{
glm::dmat4 matrix(1.);
matrix = glm::translate(matrix, glm::dvec3(10., 20., -30));
matrix = glm::rotate(matrix, glm::pi<double>() / 2., glm::dvec3(0., 0., 1.));
const glm::dmat4 fast_inverse_matrix = geometry::inverse_translation_rotation(matrix);
const glm::dmat4 inverse_matrix = glm::inverse(matrix);
for(int i = 0 ; i < 4 ; ++i)
{
for(int j = 0 ; j < 4 ; ++j)
{
CPPUNIT_ASSERT_DOUBLES_EQUAL(fast_inverse_matrix[i][j], inverse_matrix[i][j], 1e-5);
}
}
}
//-----------------------------------------------------------------------------
} // namespace sight::geometry::ut
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