/* Copyright (C) 2024 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see .
*/
#include "lib/self_test.h"
#include "maths/Matrix3D.h"
#include "maths/Quaternion.h"
#include
#include
#include
class TestMatrix : public CxxTest::TestSuite
{
std::mt19937 m_Engine;
const float m_Epsilon{0.0001f};
public:
void setUp()
{
m_Engine = std::mt19937(42);
}
void test_inverse()
{
CMatrix3D m;
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < 16; ++j)
{
m._data[j] = -1.0f + 2.0f * distribution01(m_Engine);
}
CMatrix3D n;
m.GetInverse(n);
m.Concatenate(n);
// verify identity has 1s on diagonal and 0 otherwise
for (int x = 0; x < 4; ++x)
{
for (int y = 0; y < 4; ++y)
{
const float expected = (x==y)? 1.0f : 0.0f;
TS_ASSERT_DELTA(m(x,y), expected, m_Epsilon);
}
}
}
}
void test_compoundMultiplication()
{
const float invertibleData[16] = {
2.f, -3.f, 0.f, 1.f,
-2.f, 3.f, 0.f, 0.f,
1.f, -2.f, 1.f, 0.f,
1.f, -1.f, 0.f, 0.f
};
// Invertible matrix.
CMatrix3D a(invertibleData);
CMatrix3D n;
a.GetInverse(n);
a *= n;
CMatrix3D a2(invertibleData);
n *= a2;
TS_ASSERT_MATRIX_EQUALS_DELTA(a, n, 16, m_Epsilon);
// Non invertible matrix.
const float nonInvertibleData[16] = {
2.f, -3.f, 0.f, 1.f,
-2.f, 3.f, 0.f, 0.f,
1.f, -2.f, 1.f, 0.f,
0.f, 0.f, 0.f, 0.f
};
CMatrix3D b(nonInvertibleData);
b.GetInverse(n);
b *= n;
CMatrix3D b2(nonInvertibleData);
n *= b2;
TS_ASSERT_MATRIX_DIFFERS_DELTA(b, n, 16, m_Epsilon);
}
void test_multiplication()
{
const float data1[16] = {
2.f, -3.f, 0.f, 1.f,
-2.f, 3.f, 0.f, 0.f,
1.f, -2.f, 1.f, 0.f,
1.f, -1.f, 0.f, 0.f
};
const float data2[16] = {
22.f, -3.f, 0.f, 1.f,
-2.f, 3.f, 8.f, 12.f,
1.f, -2.f, 1.f, 0.f,
1.f, -1.f, 16.f, 0.f
};
CMatrix3D mat1(data1);
CMatrix3D mat2(data2);
CMatrix3D mat3 = mat2 * mat1;
const float result[16] = {
51.f, -16.f, -8.f, -34.f,
-50.f, 15.f, 24.f, 34.f,
27.f, -11.f, -15.f, -23.f,
24.f, -6.f, -8.f, -11.f
};
CMatrix3D resultMat3(result);
TS_ASSERT_MATRIX_EQUALS_DELTA(mat3, resultMat3, 16, m_Epsilon);
const float result2[16] = {
51.f, -76.f, 0.f, 22.f,
10.f, -13.f, 8.f, -2.f,
7.f, -11.f, 1.f, 1.f,
20.f, -38.f, 16.f, 1.f
};
CMatrix3D resultMat4(result2);
CMatrix3D mat4 = mat1 * mat2;
TS_ASSERT_MATRIX_EQUALS_DELTA(mat4, resultMat4, 16, m_Epsilon);
mat1.Concatenate(mat2);
TS_ASSERT_MATRIX_EQUALS_DELTA(mat1, resultMat3, 16, m_Epsilon);
mat1 = CMatrix3D(data1);
mat2.Concatenate(mat1);
TS_ASSERT_MATRIX_EQUALS_DELTA(mat2, resultMat4, 16, m_Epsilon);
}
void test_nonCommutative()
{
const float data1[16] = {
1.f, 1.f, 1.f, 1.f,
0.f, 0.f, 0.f, 0.f,
0.f, 0.f, 0.f, 0.f,
0.f, 0.f, 0.f, 0.f
};
const float data2[16] = {
1.f, 0.f, 0.f, 0.f,
1.f, 0.f, 0.f, 0.f,
1.f, 0.f, 0.f, 0.f,
1.f, 0.f, 0.f, 0.f
};
CMatrix3D mat1(data1);
CMatrix3D mat2(data2);
mat1 *= mat2;
const float result[16] = {
1.f, 1.f, 1.f, 1.f,
1.f, 1.f, 1.f, 1.f,
1.f, 1.f, 1.f, 1.f,
1.f, 1.f, 1.f, 1.f
};
CMatrix3D resultMat3(result);
TS_ASSERT_MATRIX_EQUALS_DELTA(mat1, resultMat3, 16, m_Epsilon);
const float result2[16] = {
4.f, 0.f, 0.f, 0.f,
0.f, 0.f, 0.f, 0.f,
0.f, 0.f, 0.f, 0.f,
0.f, 0.f, 0.f, 0.f
};
CMatrix3D mat3(data1);
CMatrix3D resultMat4(result2);
mat2 *= mat3;
TS_ASSERT_MATRIX_EQUALS_DELTA(mat2, resultMat4, 16, m_Epsilon);
}
void test_quats()
{
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
for (int i = 0; i < 4; ++i)
{
CQuaternion q;
q.FromEulerAngles(
-6.28f + 12.56f * distribution01(m_Engine),
-6.28f + 12.56f * distribution01(m_Engine),
-6.28f + 12.56f * distribution01(m_Engine)
);
CMatrix3D m;
q.ToMatrix(m);
CQuaternion q2 = m.GetRotation();
// Quaternions (x,y,z,w) and (-x,-y,-z,-w) are equivalent when
// interpreted as rotations, so it doesn't matter which we get
const bool ok_oneway =
feq(q2.m_W, q.m_W) &&
feq(q2.m_V.X, q.m_V.X) &&
feq(q2.m_V.Y, q.m_V.Y) &&
feq(q2.m_V.Z, q.m_V.Z);
const bool ok_otherway =
feq(q2.m_W, -q.m_W) &&
feq(q2.m_V.X, -q.m_V.X) &&
feq(q2.m_V.Y, -q.m_V.Y) &&
feq(q2.m_V.Z, -q.m_V.Z);
TS_ASSERT(ok_oneway ^ ok_otherway);
}
}
void test_rotate()
{
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
CMatrix3D m;
for (int j = 0; j < 16; ++j)
m._data[j] = -1.0f + 2.0f * distribution01(m_Engine);
CMatrix3D r, a, b;
a = m;
b = m;
a.RotateX(1.0f);
r.SetXRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), m_Epsilon);
a = m;
b = m;
a.RotateY(1.0f);
r.SetYRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), m_Epsilon);
a = m;
b = m;
a.RotateZ(1.0f);
r.SetZRotation(1.0f);
b.Concatenate(r);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), m_Epsilon);
}
void test_getRotation()
{
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
CMatrix3D m;
m.SetZero();
TS_ASSERT_EQUALS(m.GetYRotation(), 0.f);
m.SetIdentity();
TS_ASSERT_EQUALS(m.GetYRotation(), 0.f);
for (int j = 0; j < 16; ++j)
{
float a = 2 * M_PI * distribution01(m_Engine) - M_PI;
m.SetYRotation(a);
TS_ASSERT_DELTA(m.GetYRotation(), a, m_Epsilon);
}
}
void test_scale()
{
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
CMatrix3D m;
for (int j = 0; j < 16; ++j)
m._data[j] = -1.0f + 2.0f * distribution01(m_Engine);
CMatrix3D s, a, b;
a = m;
b = m;
a.Scale(0.5f, 2.0f, 3.0f);
s.SetScaling(0.5f, 2.0f, 3.0f);
b.Concatenate(s);
for (int x = 0; x < 4; ++x)
for (int y = 0; y < 4; ++y)
TS_ASSERT_DELTA(a(x,y), b(x,y), m_Epsilon);
}
};