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quakeforge/libs/util/test/test-quat.c
Bill Currie f098bbf48b [util] Clean up some ULP errors in tests 
The problem with floating point in unit tests is, well, comparisons are
finicky.
2023-03-25 21:21:13 +09:00

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#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include "QF/mathlib.h"
static struct {
quat_t q1;
quat_t q2;
quat_t expect;
} quat_mult_tests[] = {
{{1, 2, 3, 4}, {5, 6, 7, 8}, {24, 48, 48, -6}},
};
#define num_quat_mult_tests (sizeof (quat_mult_tests) / sizeof (quat_mult_tests[0]))
//PITCH YAW ROLL
static vec3_t test_angles[] = {
{0, 0, 0},
{45, 0, 0},
{0, 45, 0},
{0, 0, 45},
{45, 45, 0},
{0, 45, 45},
{45, 0, 45},
{45, 45, 45},
{0, 180, 180},
{180, 0, 180},
{180, 180, 0},
};
#define num_angle_tests (sizeof (test_angles) / sizeof (test_angles[0]))
static struct {
vec3_t a;
vec3_t b;
quat_t expect;
} quat_vector_rotation_tests[] = {
{{1, 0, 0}, {1, 0, 0}, {0, 0, 0, 1}},
{{0, 1, 0}, {0, 1, 0}, {0, 0, 0, 1}},
{{0, 0, 1}, {0, 0, 1}, {0, 0, 0, 1}},
{{1, 0, 0}, {8, 0, 0}, {0, 0, 0, 1}},
{{0, 8, 0}, {0, 1, 0}, {0, 0, 0, 1}},
{{0, 0, 8}, {0, 0, 8}, {0, 0, 0, 1}},
{{1, 0, 0}, {-1, 0, 0}, {0, 0, 0, 0}}, // x, y, z = NaN
{{0, -1, 0}, {0, 1, 0}, {0, 0, 0, 0}}, // x, y, z = NaN
{{0, 0, 1}, {0, 0, -1}, {0, 0, 0, 0}}, // x, y, z = NaN
{{-1, 0, 0}, {8, 0, 0}, {0, 0, 0, 0}}, // x, y, z = NaN
{{0, 8, 0}, {0, -1, 0}, {0, 0, 0, 0}}, // x, y, z = NaN
{{0, 0, -8}, {0, 0, 8}, {0, 0, 0, 0}}, // x, y, z = NaN
// excessive for float, but if vec_t becomes double...
// 1/50 second orbiting JNSQ Kerbin at 120km altitude. While this has
// nothing to do with quakeforge (yet?), it came up when testing camera
// rotation in KSP and Unity failed miserably. I don't remember the exact
// details, but I could see significant snapping in the rotation (I thought
// it was a few times per second, but these numbers indicate it must have
// been every few seconds).
// The quaternion is unit to 9 sigfigs (a little larger)
{{1720000, 0, 0}, {1719999.9983028059, 76.409082595828366, 0}, {0, 0, 2.22119434e-5, 1}},
// 1/20 second, same situation
{{1720000, 0, 0}, {1719999.9893925365, 191.02270615971355, 0}, {0, 0, 5.55298575e-5, 1}},
// 1/5 second, same situation
{{1720000, 0, 0}, {1719999.8302805868, 764.09080107761736, 0}, {0, 0, 2.2211943e-4, 1}},
// 1/4 second, same situation
{{1720000, 0, 0}, {1719999.7348134194, 955.11348367609469, 0}, {0, 0, 2.77649262e-4, 1}},
// 1/3 second, same situation. This is (float) 1 ulp in w: about 0.0424
// degrees.
// The quaternion is unit to 9 sigfigs (a little larger)
{{1720000, 0, 0}, {1719999.5285571995, 1273.4845939975546, 0}, {0, 0, 3.70199094e-4, 0.99999994}},
};
#define num_quat_vector_rotation_tests (sizeof (quat_vector_rotation_tests) / sizeof (quat_vector_rotation_tests[0]))
// return true if a and b are close enough (yay, floats)
static int
compare (vec_t a, vec_t b)
{
vec_t diff = a - b;
return diff * diff < 0.001;
}
static int
test_quat_mult(const quat_t q1, const quat_t q2, const quat_t expect)
{
int i;
quat_t r;
QuatMult (q1, q2, r);
for (i = 0; i < 4; i++)
if (!compare (r[i], expect[i]))
goto fail;
return 1;
fail:
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (q1));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (q2));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (r));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (expect));
return 0;
}
static void
rotate_vec (const quat_t r, const vec3_t v, vec3_t out)
{
quat_t qv = {0, 0, 0, 0};
quat_t t;
VectorCopy (v, qv);
QuatConj (r, t);
QuatMult (qv, t, t);
QuatMult (r, t, t);
VectorCopy (t, out);
}
static int
test_rotation (const vec3_t angles)
{
int i;
vec3_t forward, right, up;
quat_t quat, conj, f, r, u, t;
quat_t qf = {1, 0, 0, 0};
quat_t qr = {0, -1, 0, 0};
quat_t qu = {0, 0, 1, 0};
AngleVectors (angles, forward, right, up);
AngleQuat (angles, quat);
QuatConj (quat, conj);
// rotate forward vector
QuatMult (qf, conj, t);
QuatMult (quat, t, f);
// rotate right vector
QuatMult (qr, conj, t);
QuatMult (quat, t, r);
// rotate up vector
QuatMult (qu, conj, t);
QuatMult (quat, t, u);
if (!compare (f[3], 0))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (forward[i], f[i]))
goto fail;
if (!compare (r[3], 0))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (right[i], r[i]))
goto fail;
if (!compare (u[3], 0))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (up[i], u[i]))
goto fail;
return 1;
fail:
printf ("\ntest_rotation\n");
printf ("%11.9g %11.9g %11.9g\n", VectorExpand (angles));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (quat));
printf ("%11.9g %11.9g %11.9g %11.9g\n\n", QuatExpand (conj));
printf ("%11.9g %11.9g %11.9g\n", VectorExpand (forward));
printf ("%11.9g %11.9g %11.9g\n", VectorExpand (right));
printf ("%11.9g %11.9g %11.9g\n\n", VectorExpand (up));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (f));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (r));
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (u));
return 0;
}
static int
test_rotation2 (const vec3_t angles)
{
int i;
vec3_t forward, right, up;
quat_t quat;
vec3_t f, r, u;
vec3_t vf = {1, 0, 0};
vec3_t vr = {0, -1, 0};
vec3_t vu = {0, 0, 1};
AngleVectors (angles, forward, right, up);
AngleQuat (angles, quat);
// rotate forward vector
QuatMultVec (quat, vf, f);
// rotate right vector
QuatMultVec (quat, vr, r);
// rotate up vector
QuatMultVec (quat, vu, u);
for (i = 0; i < 3; i++)
if (!compare (forward[i], f[i]))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (right[i], r[i]))
goto fail;
for (i = 0; i < 3; i++)
if (!compare (up[i], u[i]))
goto fail;
return 1;
fail:
printf ("\ntest_rotation2\n");
printf ("\n\n%11.9g %11.9g %11.9g\n\n", angles[0], angles[1], angles[2]);
printf ("%11.9g %11.9g %11.9g\n", forward[0], forward[1], forward[2]);
printf ("%11.9g %11.9g %11.9g\n", right[0], right[1], right[2]);
printf ("%11.9g %11.9g %11.9g\n\n", up[0], up[1], up[2]);
printf ("%11.9g %11.9g %11.9g\n", f[0], f[1], f[2]);
printf ("%11.9g %11.9g %11.9g\n", r[0], r[1], r[2]);
printf ("%11.9g %11.9g %11.9g\n", u[0], u[1], u[2]);
return 0;
}
static int
test_rotation3 (const vec3_t angles)
{
int i;
quat_t quat;
vec3_t v = {1, 1, 1};
vec3_t a, b;
AngleQuat (angles, quat);
QuatMultVec (quat, v, a);
rotate_vec (quat, v, b);
for (i = 0; i < 3; i++)
if (!compare (a[i], b[i]))
goto fail;
return 1;
fail:
printf ("\ntest_rotation3\n");
printf ("%11.9g %11.9g %11.9g\n", VectorExpand(a));
printf ("%11.9g %11.9g %11.9g\n", VectorExpand(b));
return 0;
}
// XXX FIXME see usage in test_rotation4. need to investigate whether
// -ffast-math is any real benefit
#define ISNAN(x) (((x) & 0x7f800000) == 0x7f800000 && ((x) & 0x7fffff))
// FIXME differences in precision between archs
static int
cmp (float a, float b)
{
typedef union {
float f;
int i;
} fi;
fi ax;
fi bx;
int x;
ax.f = a;
bx.f = b;
x = ax.i - bx.i;
if (x < 0) {
x = -x;
}
return (x & 0x7ffffffc) == 0;
}
static int
test_rotation4 (const vec3_t a, const vec3_t b, const quat_t expect)
{
int i;
union { int x[4]; vec_t q[4]; } q;
vec_t *quat = q.q;
vec3_t t;
vec_t d = 0;
VectorZero (t);
// find the rotation vector between a and b
QuatRotation (a, b, quat);
if (quat[3] == 0) {
if (expect[3] != 0) {
goto fail;
}
// expect NaN for the vector components because the vectors are
// anti-parallel and thus the rotation axis is undefined
//XXX FIXME(?) still using -ffast-math which implies
// -ffinite-math-only which in turn disables nan/inf checks, so have
// to do it by hand
// if (!(isnan(quat[0]) && isnan(quat[1]) && isnan(quat[2]))) {
if (!(ISNAN(q.x[0]) && ISNAN(q.x[1]) && ISNAN(q.x[2]))) {
goto fail;
}
} else {
// the vectors are not anti-parallel and thus the rotation axis is
// defined, so NaN is invalid
// XXX FIXME see above
//if (isnan(quat[0]) || isnan(quat[1]) || isnan(quat[2])) {
if (ISNAN(q.x[0]) || ISNAN(q.x[1]) || ISNAN(q.x[2])) {
goto fail;
}
for (i = 0; i < 4; i++) {
// yes, float precision will make it difficult to set up expect
// but it is at least consistent (ie, the "errors" are not at all
// random and thus will be the same from run to run)
if (!cmp (quat[i], expect[i])) {
goto fail;
}
}
QuatMultVec(quat, a, t);
d = DotProduct (t, b) / (VectorLength (t) * VectorLength (b)) - 1;
if (d * d > 1e-8) {
goto fail;
}
}
return 1;
fail:
printf ("\ntest_rotation4\n");
printf ("a: %11.9g %11.9g %11.9g\n", VectorExpand(a));
printf ("b: %11.9g %11.9g %11.9g\n", VectorExpand(b));
printf ("q: %11.9g %11.9g %11.9g %11.9g\n", QuatExpand(quat));
printf ("e: %11.9g %11.9g %11.9g %11.9g\n", QuatExpand(expect));
printf ("t: %11.9g %11.9g %11.9g\n", VectorExpand(t));
printf ("d: %11.9g\n", d);
return 0;
}
#define s05 0.70710678118654757
static struct {
quat_t q;
vec_t expect[9];
} quat_mat_tests[] = {
{{0, 0, 0, 1},
{1, 0, 0,
0, 1, 0,
0, 0, 1}},
{{1, 0, 0, 0},
{1, 0, 0,
0, -1, 0,
0, 0, -1}},
{{0, 1, 0, 0},
{-1, 0, 0,
0, 1, 0,
0, 0, -1}},
{{0, 0, 1, 0},
{-1, 0, 0,
0, -1, 0,
0, 0, 1}},
{{0.5, 0.5, 0.5, 0.5},
{0, 0, 1,
1, 0, 0,
0, 1, 0}},
#if (defined(__i686__) || defined(__aarch64__)) && defined(__OPTIMIZE__)
// the fp unit carries more precision than a 32-bit float, so
// the close-to-zero errors are different
{{s05, 0.0, 0.0, s05},
{1, 0, 0,
0, 3.42285418e-08, -0.99999994,
0, 0.99999994, 3.42285418e-08}},
#else
{{s05, 0.0, 0.0, s05},
{1, 0, 0,
0, 5.96046448e-8, -0.99999994,
0, 0.99999994, 5.96046448e-8}},
#endif
};
#define num_quat_mat_tests (sizeof (quat_mat_tests) / sizeof (quat_mat_tests[0]))
static int
test_quat_mat(const quat_t q, const quat_t expect)
{
int i;
vec_t m[9];
QuatToMatrix (q, m, 0, 0);
for (i = 0; i < 9; i++)
if (m[i] != expect[i]) // exact tests here
goto fail;
return 1;
fail:
printf ("\ntest_quat_mat\n");
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (q));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 0), VectorExpand (expect + 0));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 3), VectorExpand (expect + 3));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 6), VectorExpand (expect + 6));
return 0;
}
static int
test_quat_mat2(const quat_t q, const quat_t expect)
{
int i;
vec_t m[9];
QuatToMatrix (q, m, 0, 1);
Mat3Transpose (m, m);
for (i = 0; i < 9; i++)
if (m[i] != expect[i]) // exact tests here
goto fail;
return 1;
fail:
printf ("\ntest_quat_mat\n");
printf ("%11.9g %11.9g %11.9g %11.9g\n", QuatExpand (q));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 0), VectorExpand (expect + 0));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 3), VectorExpand (expect + 3));
printf ("%11.9g %11.9g %11.9g %11.9g %11.9g %11.9g\n",
VectorExpand (m + 6), VectorExpand (expect + 6));
return 0;
}
int
main (int argc, const char **argv)
{
int res = 0;
size_t i;
for (i = 0; i < num_quat_mult_tests; i ++) {
vec_t *q1 = quat_mult_tests[i].q1;
vec_t *q2 = quat_mult_tests[i].q2;
vec_t *expect = quat_mult_tests[i].expect;
if (!test_quat_mult (q1, q2, expect))
res = 1;
}
for (i = 0; i < num_angle_tests; i ++) {
if (!test_rotation (test_angles[i]))
res = 1;
}
for (i = 0; i < num_angle_tests; i ++) {
if (!test_rotation2 (test_angles[i]))
res = 1;
}
for (i = 0; i < num_angle_tests; i ++) {
if (!test_rotation3 (test_angles[i]))
res = 1;
}
for (i = 0; i < num_quat_vector_rotation_tests; i++) {
vec_t *a = quat_vector_rotation_tests[i].a;
vec_t *b = quat_vector_rotation_tests[i].b;
vec_t *expect = quat_vector_rotation_tests[i].expect;
if (!test_rotation4 (a, b, expect)) {
res = 1;
}
}
for (i = 0; i < num_quat_mat_tests; i ++) {
vec_t *q = quat_mat_tests[i].q;
vec_t *expect = quat_mat_tests[i].expect;
if (!test_quat_mat (q, expect))
res = 1;
}
for (i = 0; i < num_quat_mat_tests; i ++) {
vec_t *q = quat_mat_tests[i].q;
vec_t *expect = quat_mat_tests[i].expect;
if (!test_quat_mat2 (q, expect))
res = 1;
}
return res;
}
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