From 198cec6df86595364a7a18d1502cb931852007d5 Mon Sep 17 00:00:00 2001
From: Bill Currie <bill@taniwha.org>
Date: Tue, 26 Sep 2023 11:57:31 +0900
Subject: [PATCH] [qfcc] Add a failing test case for dags

I'm not yet sure what went wrong, but the introduction of dags broke
something in my set_transform function (perhaps the dual?), but it's
something to do with the symbol being dagged (I guess because it's
required for everything else to dag). However, the strangest thing is
the error shows up with 155a8cbcdaac573052e21a0cb495600b8632d360 which
is before dags had any direct effect on the geometric algebra code. I
have a sneaking suspicion it's yet another convert_name issue.
---
 tools/qfcc/test/Makemodule.am | 11 +++++
 tools/qfcc/test/motor-xform.r | 86 +++++++++++++++++++++++++++++++++++
 2 files changed, 97 insertions(+)
 create mode 100644 tools/qfcc/test/motor-xform.r

diff --git a/tools/qfcc/test/Makemodule.am b/tools/qfcc/test/Makemodule.am
index fdd500dbe..eca0d5376 100644
--- a/tools/qfcc/test/Makemodule.am
+++ b/tools/qfcc/test/Makemodule.am
@@ -51,6 +51,7 @@ test_progs_dat=\
 	tools/qfcc/test/ptrfunc.dat \
 	tools/qfcc/test/ptrstructcast.dat \
 	tools/qfcc/test/motor-point.dat \
+	tools/qfcc/test/motor-xform.dat \
 	tools/qfcc/test/quaternion.dat \
 	tools/qfcc/test/return-ivar.dat \
 	tools/qfcc/test/return-postop.dat \
@@ -621,6 +622,16 @@ tools/qfcc/test/motor-point.run: $(qfcc_test_run_deps)
 include $(motor_point_dep) # am--include-marker
 r_depfiles_remade += $(motor_point_dep)
 
+tools_qfcc_test_motor_xform_dat_SOURCES=tools/qfcc/test/motor-xform.r
+motor_xform_obj=$(tools_qfcc_test_motor_xform_dat_SOURCES:.r=.o)
+motor_xform_dep=$(call qcautodep,$(tools_qfcc_test_motor_xform_dat_SOURCES))
+tools/qfcc/test/motor-xform.dat$(EXEEXT): $(motor_xform_obj) $(QFCC_DEP)
+	$(V_QFCCLD)$(QLINK) -o $@ $(motor_xform_obj)
+tools/qfcc/test/motor-xform.run: $(qfcc_test_run_deps)
+	@$(top_srcdir)/tools/qfcc/test/build-run $@
+include $(motor_xform_dep) # am--include-marker
+r_depfiles_remade += $(motor_xform_dep)
+
 tools_qfcc_test_quaternion_dat_SOURCES=tools/qfcc/test/quaternion.r
 quaternion_obj=$(tools_qfcc_test_quaternion_dat_SOURCES:.r=.o)
 quaternion_dep=$(call qcautodep,$(tools_qfcc_test_quaternion_dat_SOURCES))
diff --git a/tools/qfcc/test/motor-xform.r b/tools/qfcc/test/motor-xform.r
new file mode 100644
index 000000000..9254f1ef5
--- /dev/null
+++ b/tools/qfcc/test/motor-xform.r
@@ -0,0 +1,86 @@
+#include "test-harness.h"
+
+typedef @algebra(float(3,0,1)) PGA;
+typedef PGA.group_mask(0xa) bivector_t;
+typedef PGA.group_mask(0x1e) motor_t;
+typedef PGA.tvec point_t;
+typedef PGA.vec  plane_t;
+
+typedef struct {
+	vec4        trans;
+	vec4        rot;
+} xform_t;
+
+motor_t
+make_motor (vec4 translation, vec4 rotation)
+{
+	@algebra(PGA) {
+		auto dt = (PGA.group_mask (0x18)) translation;
+		auto q = (PGA.group_mask(0x06)) rotation;
+		motor_t t = { .scalar = 1, .bvecp = -dt.bvecp / 2 };
+		motor_t r = { .scalar = q.scalar, .bvect = q.bvect };
+		motor_t m = t * r;
+		return m;
+	}
+}
+
+xform_t
+set_transform (motor_t m, int p)
+{
+	@algebra (PGA) {
+		auto r = ⋆(m * e0123);
+		auto t = (m * ⋆(m * e0123)).bvecp;
+		vec4 rot = (vec4) r;
+		vec4 trans = [(vec3)t * -2, 1];
+		if (p) printf ("set_transform: %q %q\n", rot, trans);
+		return {trans, rot};
+	}
+}
+
+PGA.scalar rh = 0.7071067811865476;
+
+int
+main()
+{
+	motor_t start = make_motor ({ 10, 4, -1.5, 0 }, { 0, 0, 0, 1 });
+	vec3 bvt = { 0, 0, rh };
+	vec3 bvp = { 0, -6*rh, 0 };
+	motor_t delta = {
+		.scalar = rh,
+		.bvect = (PGA.bvect) bvt,
+		.bvecp = (PGA.bvecp) bvp,
+	};
+	motor_t testm = delta * start;
+	printf ("start: %g %v %v %g\n",
+			start.scalar, start.bvect, start.bvecp, start.qvec);
+	printf ("delta: %g %v %v %g\n",
+			delta.scalar, delta.bvect, delta.bvecp, delta.qvec);
+	printf ("testm: %g %v %v %g\n",
+			testm.scalar, testm.bvect, testm.bvecp, testm.qvec);
+	auto xform = set_transform (testm, 1);
+	printf ("xform: %.9q %.9q\n", xform.trans, xform.rot);
+	if (start.scalar != 1 || (vec3) start.bvect != '0 0 0'
+		|| (vec3) start.bvecp != '-5 -2 0.75'
+		|| (PGA.scalar) start.qvec != 0) {
+		printf ("start incorrect\n");
+		return 1;
+	}
+	if (delta.scalar != rh || (vec3) delta.bvect != '0 0 0.7071067811865476'
+		|| (vec3) delta.bvecp != '0 -4.242640687119285 0'
+		|| (PGA.scalar) delta.qvec != 0) {
+		printf ("delta incorrect\n");
+		return 1;
+	}
+	if (testm.scalar != rh || (vec3) testm.bvect != '0 0 0.7071067811865476'
+		|| (vec3) testm.bvecp != '-4.949747468305833 -2.1213203435596424 0.5303300858899106'
+		|| (PGA.scalar) testm.qvec != 0.5303300858899106) {
+		printf ("testm incorrect\n");
+		return 1;
+	}
+	if (xform.trans != '10 -4 -1.49999988 1'
+		|| xform.rot != '0 0 -0.7071067811865476 0.7071067811865476') {
+		printf ("xform incorrect\n");
+		return 1;
+	}
+	return 0;
+}