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More matrix tests.

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This commit is contained in:
Bill Currie 2012-05-09 19:07:27 +09:00
parent 730f9668bd
commit 82abd5e426
3 changed files with 86 additions and 9 deletions
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2
include/QF/mathlib.h
View file

@ -587,6 +587,8 @@ void QuatInverse (const quat_t in, quat_t out);
void QuatExp (const quat_t a, quat_t b);
void QuatToMatrix (const quat_t q, vec_t *m, int homogenous, int vertical);
void Mat4Init (const quat_t rot, const vec3_t scale, const vec3_t trans,
mat4_t mat);
void Mat4Transpose (const mat4_t a, mat4_t b);
void Mat4Mult (const mat4_t a, const mat4_t b, mat4_t c);
void Mat4MultVec (const mat4_t a, const vec3_t b, vec3_t c);

10
libs/util/mathlib.c
View file

@ -798,6 +798,16 @@ Invert24To16 (fixed16_t val)
}
#endif
void
Mat4Init (const quat_t rot, const vec3_t scale, const vec3_t trans, mat4_t mat)
{
QuatToMatrix (rot, mat, 1, 1);
VectorScale (mat + 0, scale[0], mat + 0);
VectorScale (mat + 4, scale[1], mat + 4);
VectorScale (mat + 8, scale[2], mat + 8);
VectorCopy (trans, mat + 12);
}
void
Mat4Transpose (const mat4_t a, mat4_t b)
{

83
libs/util/test/test-mat.c
View file

@ -7,20 +7,12 @@
//PITCH YAW ROLL
static vec3_t test_angles[] = {
{ 0, 0, 0},
{ 0, 0, 0},
{45, 0, 0},
{45, 0, 0},
{ 0, 45, 0},
{ 0, 45, 0},
{ 0, 0, 45},
{ 0, 0, 45},
{45, 45, 0},
{45, 45, 0},
{ 0, 45, 45},
{ 0, 45, 45},
{45, 0, 45},
{45, 0, 45},
{45, 45, 45},
{45, 45, 45},
{0, 180, 180},
{180, 0, 180},
@ -29,6 +21,39 @@ static vec3_t test_angles[] = {
#define num_angle_tests \
(sizeof (test_angles) / sizeof (test_angles[0]))
static vec3_t test_translations[] = {
{ 0, 0, 0},
{ 1, 2, 3},
{-1, 2, 3},
{ 1,-2, 3},
{ 1, 2,-3},
{-1,-2, 3},
{-1, 2,-3},
{ 1,-2,-3},
{-1,-2,-3},
};
#define num_translation_tests \
(sizeof (test_translations) / sizeof (test_translations[0]))
static vec3_t test_scales[] = {
{ 1, 1, 1},
{ 2, 1, 1},
{ 1, 2, 1},
{ 1, 1, 2},
{ 2, 2, 1},
{ 1, 2, 2},
{ 2, 1, 2},
{ 2, 2, 2},
{ 1, 2, 3},
{ 1, 3, 2},
{ 2, 1, 3},
{ 2, 3, 1},
{ 3, 1, 2},
{ 3, 2, 1},
};
#define num_translation_tests \
(sizeof (test_translations) / sizeof (test_translations[0]))
// return true if a and b are close enough (yay, floats)
static int
compare (vec_t a, vec_t b)
@ -70,15 +95,55 @@ fail:
return 0;
}
static int
test_transform (const vec3_t angles, const vec3_t scale,
const vec3_t translation)
{
int i;
const vec3_t v = {4,5,6};
vec3_t x, y;
quat_t rotation;
mat4_t mat;
VectorCopy (v, x);
AngleQuat (angles, rotation);
VectorCompMult (scale, x, x);
QuatMultVec (rotation, x, x);
VectorAdd (x, translation, x);
Mat4Init (rotation, scale, translation, mat);
Mat4MultVec (mat, v, y);
for (i = 0; i < 3; i++)
if (!compare (x[i], y[i]))
goto fail;
return 1;
fail:
printf ("\n\n(%g %g %g) (%g %g %g) (%g %g %g)\n", VectorExpand (angles),
VectorExpand (scale), VectorExpand (translation));
printf (" (%g %g %g)\n", VectorExpand (x));
printf (" (%g %g %g)\n", VectorExpand (y));
return 0;
}
int
main (int argc, const char **argv)
{
int res = 0;
size_t i;
size_t i, j, k;
for (i = 0; i < num_angle_tests; i ++) {
if (!test_angle (test_angles[i]))
res = 1;
}
for (i = 0; i < num_angle_tests; i ++) {
for (j = 0; j < num_translation_tests; j ++) {
for (k = 0; k < num_translation_tests; k ++) {
if (!test_transform (test_angles[i], test_scales[j],
test_translations[k]))
res = 1;
}
}
}
return res;
}