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Add tests for matrix decomposition and fix the bugs.
This commit is contained in:
Bill Currie
parent
52ab4f64f9
commit
50af8a562e
5 changed files with 118 additions and 22 deletions
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@ -483,6 +483,11 @@ extern const vec_t *const quat_origin;
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Mat4Zero (a); \
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a[15] = a[10] = a[5] = a[0] = 1; \
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} while (0)
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#define Mat4Expand (a) \
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QuatExpand (a + 0), \
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QuatExpand (a + 4), \
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QuatExpand (a + 8), \
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QuatExpand (a + 12)
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#define qfrandom(MAX) ((float) MAX * (rand() * (1.0 / (RAND_MAX + 1.0))))
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@ -585,8 +590,8 @@ void QuatToMatrix (const quat_t q, vec_t *m, int homogenous, int vertical);
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void Mat4Transpose (const mat4_t a, mat4_t b);
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void Mat4Mult (const mat4_t a, const mat4_t b, mat4_t c);
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// Column major matrix
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int MatDecompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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vec3_t trans);
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int Mat4Decompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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vec3_t trans);
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#define BOX_ON_PLANE_SIDE(emins, emaxs, p) \
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(((p)->type < 3)? \
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@ -833,8 +833,8 @@ Mat4Mult (const mat4_t a, const mat4_t b, mat4_t c)
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}
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int
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MatDecompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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vec3_t trans)
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Mat4Decompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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vec3_t trans)
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{
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vec3_t row[3], shr, scl;
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vec_t l, t;
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@ -843,7 +843,7 @@ MatDecompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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if (trans)
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VectorCopy (m + 12, trans);
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for (i = 0; i < 3; i++)
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for (j = 0; i < 3; j++)
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for (j = 0; j < 3; j++)
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row[j][i] = m[i * 4 + j];
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l = DotProduct (row[0], row[0]);
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if (l < 1e-5)
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@ -879,29 +879,29 @@ MatDecompose (const mat4_t m, quat_t rot, vec3_t scale, vec3_t shear,
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t = 1 + row[0][0] + row[1][1] + row[2][2];
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if (t >= 1e-5) {
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vec_t s = sqrt (t);
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vec_t s = sqrt (t) * 2;
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rot[0] = s / 4;
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rot[1] = (row[1][2] - row[2][1]) / s;
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rot[2] = (row[2][0] - row[0][2]) / s;
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rot[3] = (row[0][1] - row[1][4]) / s;
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rot[1] = (row[2][1] - row[1][2]) / s;
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rot[2] = (row[0][2] - row[2][0]) / s;
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rot[3] = (row[1][0] - row[0][1]) / s;
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} else {
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if (row[0][0] > row[1][1] && row[0][0] > row[2][2]) {
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vec_t s = sqrt (1 + row[0][0] - row[1][1] - row[2][2]);
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rot[0] = (row[1][2] - row[2][1]) / s;
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vec_t s = sqrt (1 + row[0][0] - row[1][1] - row[2][2]) * 2;
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rot[0] = (row[2][1] - row[1][2]) / s;
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rot[1] = s / 4;
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rot[2] = (row[2][0] - row[0][2]) / s;
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rot[3] = (row[0][1] - row[1][0]) / s;
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rot[2] = (row[1][0] + row[0][1]) / s;
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rot[3] = (row[0][2] + row[2][0]) / s;
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} else if (row[1][1] > row[2][2]) {
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vec_t s = sqrt (1 + row[1][1] - row[0][0] - row[2][2]);
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rot[0] = (row[2][0] - row[0][2]) / s;
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rot[1] = (row[1][2] - row[2][1]) / s;
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vec_t s = sqrt (1 + row[1][1] - row[0][0] - row[2][2]) * 2;
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rot[0] = (row[0][2] - row[2][0]) / s;
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rot[1] = (row[1][0] + row[0][1]) / s;
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rot[2] = s / 4;
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rot[3] = (row[0][1] - row[1][0]) / s;
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rot[3] = (row[2][1] + row[1][2]) / s;
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} else {
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vec_t s = sqrt (1 + row[2][2] - row[0][0] - row[1][1]);
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rot[0] = (row[0][1] - row[1][0]) / s;
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rot[1] = (row[1][2] - row[2][1]) / s;
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rot[2] = (row[2][0] - row[0][2]) / s;
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vec_t s = sqrt (1 + row[2][2] - row[0][0] - row[1][1]) * 2;
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rot[0] = (row[1][0] - row[0][1]) / s;
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rot[1] = (row[0][2] + row[2][0]) / s;
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rot[2] = (row[2][1] + row[1][2]) / s;
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rot[3] = s / 4;
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}
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}
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@ -2,7 +2,7 @@ AUTOMAKE_OPTIONS= foreign
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INCLUDES= -I$(top_srcdir)/include
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check_PROGRAMS=test-dq test-half test-qfs test-quat test-vrect
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check_PROGRAMS=test-dq test-half test-mat test-qfs test-quat test-vrect
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test_dq_SOURCES=test-dq.c
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test_dq_LDADD=$(top_builddir)/libs/util/libQFutil.la
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@ -12,6 +12,10 @@ test_half_SOURCES=test-half.c
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test_half_LDADD=$(top_builddir)/libs/util/libQFutil.la
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test_half_DEPENDENCIES=$(top_builddir)/libs/util/libQFutil.la
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test_mat_SOURCES=test-mat.c
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test_mat_LDADD=$(top_builddir)/libs/util/libQFutil.la
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test_mat_DEPENDENCIES=$(top_builddir)/libs/util/libQFutil.la
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test_qfs_SOURCES=test-qfs.c
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test_qfs_LDADD=$(top_builddir)/libs/util/libQFutil.la
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test_qfs_DEPENDENCIES=$(top_builddir)/libs/util/libQFutil.la
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84
libs/util/test/test-mat.c
Normal file
84
libs/util/test/test-mat.c
Normal file
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@ -0,0 +1,84 @@
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include "QF/mathlib.h"
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//PITCH YAW ROLL
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static vec3_t test_angles[] = {
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{ 0, 0, 0},
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{ 0, 0, 0},
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{45, 0, 0},
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{45, 0, 0},
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{ 0, 45, 0},
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{ 0, 45, 0},
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{ 0, 0, 45},
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{ 0, 0, 45},
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{45, 45, 0},
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{45, 45, 0},
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{ 0, 45, 45},
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{ 0, 45, 45},
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{45, 0, 45},
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{45, 0, 45},
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{45, 45, 45},
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{45, 45, 45},
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{0, 180, 180},
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{180, 0, 180},
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{180, 180, 0},
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};
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#define num_angle_tests \
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(sizeof (test_angles) / sizeof (test_angles[0]))
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// return true if a and b are close enough (yay, floats)
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static int
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compare (vec_t a, vec_t b)
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{
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vec_t diff = a - b;
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return diff * diff < 0.001;
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}
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static int
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test_angle (const vec3_t angles)
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{
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int i;
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quat_t rotation, r;
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vec3_t scale, shear, trans;
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mat4_t mat;
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AngleQuat (angles, rotation);
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QuatToMatrix (rotation, mat, 1, 1);
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Mat4Decompose (mat, r, scale, shear, trans);
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for (i = 0; i < 4; i++)
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if (!compare (rotation[i], r[i]))
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goto negate;
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return 1;
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negate:
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// Mat4Decompose always sets the rotation quaternion's scalar to +ve
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// but AngleQuat might produce a -ve scalar.
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QuatNegate (r, r);
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for (i = 0; i < 4; i++)
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if (!compare (rotation[i], r[i]))
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goto fail;
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return 1;
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fail:
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printf ("\n\n(%g %g %g)\n", VectorExpand (angles));
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printf (" [%g %g %g %g]\n", QuatExpand (rotation));
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printf (" [%g %g %g %g] [%g %g %g] [%g %g %g] [%g %g %g]\n",
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QuatExpand (r), VectorExpand (scale), VectorExpand (shear),
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VectorExpand (trans));
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return 0;
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}
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int
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main (int argc, const char **argv)
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{
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int res = 0;
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size_t i;
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for (i = 0; i < num_angle_tests; i ++) {
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if (!test_angle (test_angles[i]))
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res = 1;
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}
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return res;
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}
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@ -14,6 +14,9 @@ static vec3_t test_angles[] = {
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{0, 45, 45},
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{45, 0, 45},
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{45, 45, 45},
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{0, 180, 180},
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{180, 0, 180},
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{180, 180, 0},
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};
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#define num_angle_tests (sizeof (test_angles) / sizeof (test_angles[0]))
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