448 lines
8.7 KiB
C++
448 lines
8.7 KiB
C++
///////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
|
|
// Digital Ltd. LLC
|
|
//
|
|
// All rights reserved.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are
|
|
// met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above
|
|
// copyright notice, this list of conditions and the following disclaimer
|
|
// in the documentation and/or other materials provided with the
|
|
// distribution.
|
|
// * Neither the name of Industrial Light & Magic nor the names of
|
|
// its contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
|
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
///////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
#include <testExtractSHRT.h>
|
|
#include "ImathMatrixAlgo.h"
|
|
#include "ImathEuler.h"
|
|
#include "ImathRandom.h"
|
|
#include "ImathFun.h"
|
|
#include <iostream>
|
|
#include <exception>
|
|
#include <stdio.h>
|
|
#include <assert.h>
|
|
|
|
|
|
#if 0
|
|
#define debug(x) (printf x, fflush (stdout))
|
|
#else
|
|
#define debug(x)
|
|
#endif
|
|
|
|
|
|
using namespace std;
|
|
using namespace IMATH_INTERNAL_NAMESPACE;
|
|
|
|
namespace {
|
|
|
|
float rad (float deg) {return deg * (M_PI / 180);}
|
|
float deg (float rad) {return rad * (180 / M_PI);}
|
|
|
|
|
|
void
|
|
testMatrix (const M33f M)
|
|
{
|
|
//
|
|
// Extract the rotation angle from M, and convert the
|
|
// angle back to a matrix, N.
|
|
//
|
|
|
|
V2f s, t;
|
|
float h, r;
|
|
|
|
extractSHRT (M, s, h, r, t, true);
|
|
|
|
M33f N;
|
|
|
|
N *= M33f().setScale (s);
|
|
N *= M33f().setShear (h);
|
|
N *= M33f().setRotation (r);
|
|
N *= M33f().setTranslation (t);
|
|
|
|
debug (("Re-scale: %f %f\n", s[0], s[1]));
|
|
debug (("Re-shear: %f\n", h));
|
|
debug (("Re-rot : %f\n", r));
|
|
debug (("Re-trans: %f %f\n", t[0], t[1]));
|
|
|
|
//
|
|
// Verify that the entries in M and N do not
|
|
// differ too much.
|
|
//
|
|
|
|
M33f D (M - N);
|
|
|
|
for (int j = 0; j < 3; ++j)
|
|
{
|
|
for (int k = 0; k < 3; ++k)
|
|
{
|
|
if (abs (D[j][k]) > 0.00001)
|
|
{
|
|
cout << "unexpectedly large matrix to "
|
|
"euler angles conversion error: " <<
|
|
D[j][k] << endl;
|
|
|
|
cout << j << " " << k << endl;
|
|
|
|
cout << "M\n" << M << endl;
|
|
cout << "N\n" << N << endl;
|
|
cout << "D\n" << D << endl;
|
|
|
|
assert (false);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
testRandomAngles33 ()
|
|
{
|
|
Rand48 random(0);
|
|
|
|
for (int i = 0; i < 100000; ++i)
|
|
{
|
|
debug (("iteration: %d\n", i));
|
|
|
|
M33f M;
|
|
|
|
//
|
|
// Scale M.
|
|
//
|
|
|
|
V2f s (random.nextf (0.000001, 2.0),
|
|
random.nextf (0.000001, 2.0));
|
|
|
|
for (int j=0; j < 2; j++)
|
|
if (random.nextf (0.0, 1.0) >= 0.5)
|
|
s[j] *= -1;
|
|
|
|
M *= M33f().setScale (s);
|
|
|
|
//
|
|
// Shear M.
|
|
//
|
|
|
|
float h = random.nextf (0.000001, 2.);
|
|
if (random.nextf (0.0, 1.0) >= 0.5)
|
|
h *= -1;
|
|
|
|
M *= M33f().setShear (h);
|
|
|
|
//
|
|
// Rotate M.
|
|
//
|
|
|
|
float r = rad (random.nextf (-180, 180));
|
|
|
|
M *= M33f().setRotation (r);
|
|
|
|
//
|
|
// Translate M.
|
|
//
|
|
|
|
V2f t (random.nextf (-10, 10),
|
|
random.nextf (-10, 10));
|
|
|
|
M *= M33f().setTranslation (t);
|
|
|
|
//
|
|
// Add a small random error to the elements of M
|
|
//
|
|
|
|
for (int j = 0; j < 3; ++j)
|
|
for (int k = 0; k < 2; ++k)
|
|
M[j][k] += random.nextf (-1e-7, 1e-7);
|
|
|
|
|
|
debug (("Scale : %f %f\n", s[0], s[1]));
|
|
debug (("Shear : %f\n", h));
|
|
debug (("Rot : %f\n", r));
|
|
debug (("Trans : %f %f\n", t[0], t[1]));
|
|
|
|
|
|
//
|
|
// Extract Euler angles from M, convert the Euler angles
|
|
// back to a matrix, N, and verify that the entries in M
|
|
// and N do not differ too much.
|
|
//
|
|
|
|
testMatrix (M);
|
|
|
|
debug (("\n"));
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
testAngles33 (float angle)
|
|
{
|
|
M33f M;
|
|
M.setRotation (rad (angle));
|
|
|
|
//
|
|
// With rounding errors from e.toMatrix.
|
|
//
|
|
|
|
testMatrix (M);
|
|
|
|
//
|
|
// Without rounding errors (assuming that
|
|
// all angles are multiples of 90 degrees).
|
|
//
|
|
|
|
for (int i = 0; i < 2; ++i)
|
|
for (int j = 0; j < 2; ++j)
|
|
if (M[i][j] < -0.5)
|
|
M[i][j] = -1;
|
|
else if (M[i][j] > 0.5)
|
|
M[i][j] = 1;
|
|
else
|
|
M[i][j] = 0;
|
|
|
|
testMatrix (M);
|
|
}
|
|
|
|
|
|
void
|
|
testMatrix (const M44f M)
|
|
{
|
|
//
|
|
// Extract Euler angles from M, and convert the
|
|
// Euler angles back to a matrix, N.
|
|
//
|
|
|
|
V3f s, h, r, t;
|
|
|
|
extractSHRT (M, s, h, r, t, true);
|
|
|
|
M44f N;
|
|
|
|
N.translate (t); // ... matrix compositions
|
|
N.rotate (r);
|
|
N.shear (h);
|
|
N.scale (s);
|
|
|
|
debug (("Re-scale: %f %f %f\n", s[0], s[1], s[2]));
|
|
debug (("Re-shear: %f %f %f\n", h[0], h[1], h[2]));
|
|
debug (("Re-rot : %f %f %f\n", r[0], r[1], r[2]));
|
|
debug (("Re-trans: %f %f %f\n", t[0], t[1], t[2]));
|
|
|
|
//
|
|
// Verify that the entries in M and N do not
|
|
// differ too much.
|
|
//
|
|
|
|
M44f D (M - N);
|
|
|
|
for (int j = 0; j < 4; ++j)
|
|
{
|
|
for (int k = 0; k < 4; ++k)
|
|
{
|
|
if (abs (D[j][k]) > 0.00001)
|
|
{
|
|
cout << "unexpectedly large matrix to "
|
|
"euler angles conversion error: " <<
|
|
D[j][k] << endl;
|
|
|
|
cout << j << " " << k << endl;
|
|
|
|
cout << "M\n" << M << endl;
|
|
cout << "N\n" << N << endl;
|
|
cout << "D\n" << D << endl;
|
|
|
|
assert (false);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
testRandomAngles44 ()
|
|
{
|
|
Rand48 random(0);
|
|
|
|
for (int i = 0; i < 100000; ++i)
|
|
{
|
|
debug (("iteration: %d\n", i));
|
|
|
|
M44f M;
|
|
|
|
//
|
|
// Translate M.
|
|
//
|
|
|
|
V3f t (random.nextf (-10, 10),
|
|
random.nextf (-10, 10),
|
|
random.nextf (-10, 10));
|
|
|
|
M.translate (t);
|
|
|
|
//
|
|
// Rotate M.
|
|
//
|
|
|
|
V3f r (rad (random.nextf (-180, 180)),
|
|
rad (random.nextf (-180, 180)),
|
|
rad (random.nextf (-180, 180)));
|
|
|
|
M.rotate (r);
|
|
|
|
//
|
|
// Shear M.
|
|
//
|
|
|
|
V3f h (random.nextf (0.000001, 2.0),
|
|
random.nextf (0.000001, 2.0),
|
|
random.nextf (0.000001, 2.0));
|
|
|
|
for (int j=0; j < 3; j++)
|
|
if (random.nextf (0.0, 1.0) >= 0.5)
|
|
h[j] *= -1;
|
|
|
|
M.shear (h);
|
|
|
|
//
|
|
// Scale M.
|
|
//
|
|
|
|
V3f s (random.nextf (0.000001, 2.0),
|
|
random.nextf (0.000001, 2.0),
|
|
random.nextf (0.000001, 2.0));
|
|
|
|
for (int j=0; j < 3; j++)
|
|
if (random.nextf (0.0, 1.0) >= 0.5)
|
|
s[j] *= -1;
|
|
|
|
M.scale (s);
|
|
|
|
//
|
|
// Add a small random error to the elements of M
|
|
//
|
|
|
|
for (int j = 0; j < 4; ++j)
|
|
for (int k = 0; k < 3; ++k)
|
|
M[j][k] += random.nextf (-1e-7, 1e-7);
|
|
|
|
|
|
debug (("Scale : %f %f %f\n", s[0], s[1], s[2]));
|
|
debug (("Shear : %f %f %f\n", h[0], h[1], h[2]));
|
|
debug (("Rot : %f %f %f\n", r[0], r[1], r[2]));
|
|
debug (("Trans : %f %f %f\n", t[0], t[1], t[2]));
|
|
|
|
|
|
//
|
|
// Extract Euler angles from M, convert the Euler angles
|
|
// back to a matrix, N, and verify that the entries in M
|
|
// and N do not differ too much.
|
|
//
|
|
|
|
testMatrix (M);
|
|
|
|
debug (("\n"));
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
testAngles44 (V3f angles)
|
|
{
|
|
Eulerf e (rad (angles.x),
|
|
rad (angles.y),
|
|
rad (angles.z));
|
|
|
|
M44f M (e.toMatrix44());
|
|
|
|
//
|
|
// With rounding errors from e.toMatrix.
|
|
//
|
|
|
|
testMatrix (M);
|
|
|
|
//
|
|
// Without rounding errors (assuming that
|
|
// all angles are multiples of 90 degrees).
|
|
//
|
|
|
|
for (int i = 0; i < 3; ++i)
|
|
for (int j = 0; j < 3; ++j)
|
|
if (M[i][j] < -0.5)
|
|
M[i][j] = -1;
|
|
else if (M[i][j] > 0.5)
|
|
M[i][j] = 1;
|
|
else
|
|
M[i][j] = 0;
|
|
|
|
testMatrix (M);
|
|
}
|
|
|
|
|
|
void
|
|
test ()
|
|
{
|
|
cout << " random angles" << endl;
|
|
|
|
cout << " 3x3" << endl;
|
|
testRandomAngles33 ();
|
|
|
|
cout << " 4x4" << endl;
|
|
testRandomAngles44 ();
|
|
|
|
cout << " special angles" << endl;
|
|
|
|
cout << " 3x3" << endl;
|
|
for (int i = 0; i < 360; i += 90)
|
|
testAngles33 (float (i));
|
|
|
|
cout << " 4x4" << endl;
|
|
for (int i = 0; i < 360; i += 90)
|
|
for (int j = 0; j < 360; j += 90)
|
|
for (int k = 0; k < 360; k += 90)
|
|
testAngles44 (V3f (i, j, k));
|
|
}
|
|
|
|
|
|
} // namespace
|
|
|
|
|
|
void
|
|
testExtractSHRT ()
|
|
{
|
|
try
|
|
{
|
|
cout << "Testing extraction of scale, shear, rotation, translation "
|
|
<< "from matrices" << endl;
|
|
|
|
cout << "Imath::extractSHRT()" << endl;
|
|
test ();
|
|
|
|
cout << "ok\n" << endl;
|
|
}
|
|
catch (std::exception &e)
|
|
{
|
|
cerr << " Caught exception: " << e.what () << endl;
|
|
}
|
|
}
|
|
|