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Add tests for inverting a dual quad transform.

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This commit is contained in:
Bill Currie 2012-05-01 14:50:29 +09:00
parent f874aeb941
commit 8aabb704d2
1 changed files with 21 additions and 1 deletions
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22
libs/util/test/test-dq.c
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@ -42,17 +42,22 @@ test_transform (const vec3_t angles, const vec3_t translation)
vec3_t x;
quat_t rotation;
DualQuat_t transform, conj;
DualQuat_t vd, xd;
DualQuat_t inverse, iconj;
DualQuat_t vd, xd, ix;
Dual_t dual;
VectorZero (x);
DualQuatZero (xd);
DualQuatZero (ix);
AngleQuat (angles, rotation);
DualQuatSetVect (v, vd);
DualQuatRotTrans (rotation, translation, transform);
DualQuatConjQE (transform, conj);
DualQuatConjQ (transform, inverse);
DualQuatConjQE (inverse, iconj);
DualQuatNorm (vd, dual);
if (!DualIsUnit (dual)) {
printf ("dual vector not unit: "
@ -75,6 +80,9 @@ test_transform (const vec3_t angles, const vec3_t translation)
DualQuatMult (transform, vd, xd);
DualQuatMult (xd, conj, xd);
DualQuatMult (inverse, xd, ix);
DualQuatMult (ix, iconj, ix);
DualQuatNorm (xd, dual);
if (!DualIsUnit (dual)) {
printf ("dual result not unit: "
@ -83,9 +91,20 @@ test_transform (const vec3_t angles, const vec3_t translation)
goto fail;
}
DualQuatNorm (ix, dual);
if (!DualIsUnit (dual)) {
printf ("dual inverse not unit: "
"[(%g %g %g %g) (%g %g %g %g)] -> [%g %g]\n",
DualQuatExpand (ix), DualExpand (dual));
goto fail;
}
for (i = 0; i < 3; i++)
if (!compare (xd.qe.sv.v[i], x[i]))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (ix.qe.sv.v[i], v[i]))
goto fail;
return 1;
fail:
printf ("\n\n(%g %g %g) (%g %g %g)\n",
@ -95,6 +114,7 @@ fail:
printf (" [(%g %g %g %g) (%g %g %g %g)]\n", DualQuatExpand (conj));
printf (" (%g %g %g)\n", VectorExpand (x));
printf (" (%g %g %g)\n", VectorExpand (xd.qe.sv.v));
printf (" (%g %g %g)\n", VectorExpand (ix.qe.sv.v));
return 0;
}