273 lines
6.4 KiB
C++
273 lines
6.4 KiB
C++
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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2007, Industrial Light & Magic, a division of Lucas
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// Digital Ltd. LLC
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//
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Industrial Light & Magic nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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///////////////////////////////////////////////////////////////////////////
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#include <testQuat.h>
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#include "ImathQuat.h"
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#include "ImathMatrixAlgo.h"
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#include "ImathFun.h"
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#include "ImathLimits.h"
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#include "ImathPlatform.h" /* [i_a] M_PI_2 */
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#include <iostream>
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#include <cassert>
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#include <cmath>
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using namespace std;
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using namespace IMATH_INTERNAL_NAMESPACE;
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namespace {
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template <class T>
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void
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testQuatT ()
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{
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const T s = limits<T>::smallest();
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const T e = 4 * limits<T>::epsilon();
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//
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// constructors, r(), v()
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//
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{
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Quat<T> q = Quat<T>();
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assert (q.r == 1 && q.v == Vec3<T> (0, 0, 0));
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q = Quat<T> (2, 3, 4, 5);
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assert (q.r == 2 && q.v == Vec3<T> (3, 4, 5));
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q = Quat<T> (6, Vec3<T> (7, 8, 9));
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assert (q.r == 6 && q.v == Vec3<T> (7, 8, 9));
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Quat<T> q1 = Quat<T> (q);
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assert (q1.r == 6 && q1.v == Vec3<T> (7, 8, 9));
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}
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//
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// invert(), inverse()
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//
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{
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Quat<T> q = Quat<T> (1, 0, 0, 1);
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assert (q.inverse() == Quat<T> (0.5, 0, 0, -0.5));
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q.invert();
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assert (q == Quat<T> (0.5, 0, 0, -0.5));
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}
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//
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// normalize(), normalized()
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//
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{
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Quat<T> q = Quat<T> (2, Vec3<T> (0, 0, 0));
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assert (q.normalized() == Quat<T> (1, 0, 0, 0));
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q.normalize();
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assert (q == Quat<T> (1, 0, 0, 0));
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q = Quat<T> (0, Vec3<T> (0, 2, 0));
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assert (q.normalized() == Quat<T> (0, 0, 1, 0));
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q.normalize();
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assert (q == Quat<T> (0, 0, 1, 0));
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}
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//
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// length()
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//
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{
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Quat<T> q = Quat<T> (3, 0, 4, 0);
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assert (q.length() == 5);
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}
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//
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// setAxisAngle(), angle(), axis()
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//
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{
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Quat<T> q;
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q.setAxisAngle (Vec3<T> (0, 0, 1), M_PI_2);
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Vec3<T> v = q.axis();
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T a = q.angle();
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assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
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assert (IMATH_INTERNAL_NAMESPACE::equal (a, T (M_PI_2), e));
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}
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//
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// Accuracy of angle() for very small angles
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// and when real part is slightly greater than 1.
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//
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{
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T t = 10 * Math<T>::sqrt (s);
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Quat<T> q;
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q.setAxisAngle (Vec3<T> (0, 0, 1), t);
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Vec3<T> v = q.axis();
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T a = q.angle();
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assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
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assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
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q.r *= 1.1;
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q.v *= 1.1;
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v = q.axis();
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a = q.angle();
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assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
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assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
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}
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{
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T t = 0.001 * Math<T>::sqrt (s);
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Quat<T> q;
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q.setAxisAngle (Vec3<T> (0, 0, 1), t);
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Vec3<T> v = q.axis();
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T a = q.angle();
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assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
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assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
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q.r *= 1.1;
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q.v *= 1.1;
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v = q.axis();
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a = q.angle();
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assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
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assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
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}
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//
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// toMatrix33(), toMatrix44()
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//
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{
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Quat<T> q;
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q.setRotation (Vec3<T> (1, 0, 0), Vec3<T> (0, 1, 0));
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Matrix33<T> m1 = q.toMatrix33();
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assert (m1.equalWithAbsError (Matrix33<T> (0, 1, 0,
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-1, 0, 0,
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0, 0, 1),
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e));
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Matrix44<T> m2 = q.toMatrix44();
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assert (m2.equalWithAbsError (Matrix44<T> (0, 1, 0, 0,
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-1, 0, 0, 0,
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0, 0, 1, 0,
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0, 0, 0, 1),
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e));
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}
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//
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// +, - (unary and binary), ~ *, /, ^
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//
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assert (Quat<T> (1, 2, 3, 4) + Quat<T> (5, 6, 7, 8) ==
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Quat<T> (6, 8, 10, 12));
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assert (Quat<T> (-1, -2, -3, -4) - Quat<T> (5, 6, 7, 8) ==
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Quat<T> (-6, -8, -10, -12));
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assert (-Quat<T> (1, 2, 3, 4) == Quat<T> (-1, -2, -3, -4));
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assert (~Quat<T> (1, 2, 3, 4) == Quat<T> (1, -2, -3, -4));
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assert (T (2) * Quat<T> (1, 2, 3, 4) == Quat<T> (2, 4, 6, 8));
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assert (Quat<T> (1, 2, 3, 4) * T (2 )== Quat<T> (2, 4, 6, 8));
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assert (Quat<T> (1, 0, 0, 1) * Quat<T> (1, 1, 0, 0) ==
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Quat<T> (1, 1, 1, 1));
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assert (Quat<T> (1, 1, 0, 0) * Quat<T> (1, 0, 0, 1) ==
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Quat<T> (1, 1, -1, 1));
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assert (Quat<T> (1, 0, 0, 1) / Quat<T> (0.5, -0.5, 0, 0) ==
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Quat<T> (1, 1, 1, 1));
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assert (Quat<T> (2, 4, 6, 8) / T (2) == Quat<T> (1, 2, 3, 4));
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assert ((Quat<T> (1, 2, 3, 4) ^ Quat<T> (2, 2, 2, 2)) == 20);
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//
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// extract()
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//
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{
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Vec3<T> vFrom (1, 0, 0);
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Vec3<T> vTo (0, 1, 1);
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Matrix44<T> m1 = rotationMatrix (vFrom, vTo);
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Quat<T> q = extractQuat (m1);;
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Matrix44<T> m2 = q.toMatrix44();
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assert (m2.equalWithAbsError (m1, 2 * e));
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}
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}
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void
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testQuatConversions ()
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{
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{
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Quatf q (1, V3f (2, 3, 4));
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Quatd q1 = Quatd (q);
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assert (q1.r == 1 && q1.v == V3d (2, 3, 4));
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}
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{
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Quatd q (1, V3d (2, 3, 4));
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Quatf q1 = Quatf (q);
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assert (q1.r == 1 && q1.v == V3f (2, 3, 4));
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}
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}
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} // namespace
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void
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testQuat ()
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{
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cout << "Testing basic quaternion operations" << endl;
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testQuatT<float>();
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testQuatT<double>();
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testQuatConversions();
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cout << "ok\n" << endl;
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}
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