mirror of
https://git.code.sf.net/p/quake/quakeforge
synced 2025-02-25 21:21:14 +00:00
87 lines
2.3 KiB
R
87 lines
2.3 KiB
R
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#include "test-harness.h"
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typedef @algebra(float(3,0,1)) PGA;
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typedef PGA.group_mask(0xa) bivector_t;
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typedef PGA.group_mask(0x1e) motor_t;
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typedef PGA.tvec point_t;
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typedef PGA.vec plane_t;
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typedef struct {
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vec4 trans;
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vec4 rot;
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} xform_t;
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motor_t
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make_motor (vec4 translation, vec4 rotation)
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{
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@algebra(PGA) {
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auto dt = (PGA.group_mask (0x18)) translation;
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auto q = (PGA.group_mask(0x06)) rotation;
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motor_t t = { .scalar = 1, .bvecp = -dt.bvecp / 2 };
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motor_t r = { .scalar = q.scalar, .bvect = q.bvect };
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motor_t m = t * r;
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return m;
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}
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}
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xform_t
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set_transform (motor_t m, int p)
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{
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@algebra (PGA) {
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auto r = ⋆(m * e0123);
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auto t = (m * ⋆(m * e0123)).bvecp;
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vec4 rot = (vec4) r;
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vec4 trans = [(vec3)t * -2, 1];
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if (p) printf ("set_transform: %q %q\n", rot, trans);
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return {trans, rot};
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}
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}
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PGA.scalar rh = 0.7071067811865476;
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int
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main()
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{
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motor_t start = make_motor ({ 10, 4, -1.5, 0 }, { 0, 0, 0, 1 });
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vec3 bvt = { 0, 0, rh };
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vec3 bvp = { 0, -6*rh, 0 };
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motor_t delta = {
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.scalar = rh,
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.bvect = (PGA.bvect) bvt,
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.bvecp = (PGA.bvecp) bvp,
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};
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motor_t testm = delta * start;
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printf ("start: %g %v %v %g\n",
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start.scalar, start.bvect, start.bvecp, start.qvec);
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printf ("delta: %g %v %v %g\n",
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delta.scalar, delta.bvect, delta.bvecp, delta.qvec);
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printf ("testm: %g %v %v %g\n",
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testm.scalar, testm.bvect, testm.bvecp, testm.qvec);
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auto xform = set_transform (testm, 1);
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printf ("xform: %.9q %.9q\n", xform.trans, xform.rot);
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if (start.scalar != 1 || (vec3) start.bvect != '0 0 0'
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|| (vec3) start.bvecp != '-5 -2 0.75'
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|| (PGA.scalar) start.qvec != 0) {
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printf ("start incorrect\n");
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return 1;
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}
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if (delta.scalar != rh || (vec3) delta.bvect != '0 0 0.7071067811865476'
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|| (vec3) delta.bvecp != '0 -4.242640687119285 0'
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|| (PGA.scalar) delta.qvec != 0) {
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printf ("delta incorrect\n");
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return 1;
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}
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if (testm.scalar != rh || (vec3) testm.bvect != '0 0 0.7071067811865476'
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|| (vec3) testm.bvecp != '-4.949747468305833 -2.1213203435596424 0.5303300858899106'
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|| (PGA.scalar) testm.qvec != 0.5303300858899106) {
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printf ("testm incorrect\n");
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return 1;
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}
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if (xform.trans != '10 -4 -1.49999988 1'
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|| xform.rot != '0 0 -0.7071067811865476 0.7071067811865476') {
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printf ("xform incorrect\n");
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return 1;
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}
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return 0;
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}
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