void UT_quat(const char* params)
{
Lumix::Quat q1, q2;
Lumix::Matrix mtx;
q1.set(1.0f, 0.0f, 0.0f, 0.0f);
LUMIX_EXPECT_CLOSE_EQ(q1.x, 1.0f, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, 0.0f, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, 0.0f, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, 0.0f, 0.001f);
q1.toMatrix(mtx);
mtx.getRotation(q2);
LUMIX_EXPECT_CLOSE_EQ(q1.x, q2.x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, q2.y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, q2.z, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, q2.w, 0.001f);
q1.set(0, 0, 1, 0);
q1.toMatrix(mtx);
mtx.getRotation(q2);
LUMIX_EXPECT_CLOSE_EQ(q1.x, q2.x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, q2.y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, q2.z, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, q2.w, 0.001f);
q1 = Lumix::Quat(Lumix::Vec3(1, 0, 0), Lumix::Math::PI / 4);
q1.toMatrix(mtx);
mtx.getRotation(q2);
LUMIX_EXPECT_CLOSE_EQ(q1.x, q2.x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, q2.y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, q2.z, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, q2.w, 0.001f);
q1 = Lumix::Quat(Lumix::Vec3(1, 1, 0), Lumix::Math::PI / 6);
q1.normalize();
q1.toMatrix(mtx);
mtx.getRotation(q2);
LUMIX_EXPECT_CLOSE_EQ(q1.x, q2.x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, q2.y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, q2.z, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, q2.w, 0.001f);
q1.set(0.923879862f, 0, 0, -0.382683545f);
q1.toMatrix(mtx);
mtx.getRotation(q2);
LUMIX_EXPECT_CLOSE_EQ(q1.x, q2.x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.y, q2.y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.z, q2.z, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(q1.w, q2.w, 0.001f);
Lumix::Quat qeuler;
for (float x = -Lumix::Math::PI + 0.01f; x < Lumix::Math::PI; x += 0.1f)
{
for (float y = -Lumix::Math::PI + 0.01f; y < Lumix::Math::PI; y += 0.1f)
{
float x = 0;
for (float z = -Lumix::Math::PI + 0.01f; z < Lumix::Math::PI; z += 0.1f)
{
qeuler.fromEuler(Lumix::Vec3(x, y, z));
Lumix::Vec3 u(0, 1, 0);
u = qeuler * u;
Lumix::Vec3 euler = qeuler.toEuler();
LUMIX_EXPECT_CLOSE_EQ(euler.x, x, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(euler.y, y, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(euler.z, z, 0.001f);
}
}
}
}
void UT_matrix(const char* params)
{
Lumix::DefaultAllocator allocator;
for (int i = 0; i < 16; ++i)
{
LUMIX_EXPECT_CLOSE_EQ(*((&Lumix::Matrix::IDENTITY.m11) + i), i % 5 == 0 ? 1.0f : 0.0f, 0.001f);
}
Lumix::Matrix mtx = Lumix::Matrix::IDENTITY;
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
LUMIX_EXPECT_CLOSE_EQ(mtx.determinant(), 1.0f, 0.001f);
mtx.inverse();
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
mtx.fastInverse();
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
mtx.transpose();
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
LUMIX_EXPECT_CLOSE_EQ(mtx.getTranslation().x, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getTranslation().y, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getTranslation().z, 0, 0.001f);
Lumix::Quat rot;
mtx.getRotation(rot);
LUMIX_EXPECT_CLOSE_EQ(rot.x, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(rot.y, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(rot.z, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(rot.w, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getXVector().x, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getXVector().y, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getXVector().z, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getYVector().x, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getYVector().y, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getYVector().z, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getZVector().x, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getZVector().y, 0, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.getZVector().z, 1, 0.001f);
mtx.multiply3x3(1.0f);
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
Lumix::Vec3 v = mtx.multiplyPosition(Lumix::Vec3(1, 2, 3));
LUMIX_EXPECT_CLOSE_EQ(v.x, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(v.y, 2, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(v.z, 3, 0.001f);
mtx.setTranslation(Lumix::Vec3(1, 2, 3));
LUMIX_EXPECT_CLOSE_EQ(mtx.m41, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m42, 2, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m43, 3, 0.001f);
mtx.setIdentity();
expectSameMatrices(mtx, Lumix::Matrix::IDENTITY);
mtx.translate(Lumix::Vec3(1, 2, 3));
LUMIX_EXPECT_CLOSE_EQ(mtx.m41, 1, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m42, 2, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m43, 3, 0.001f);
mtx.setIdentity();
mtx.setXVector(Lumix::Vec3(3, 2, 1));
LUMIX_EXPECT_CLOSE_EQ(mtx.m11, 3, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m12, 2, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m13, 1, 0.001f);
mtx.setYVector(Lumix::Vec3(6, 5, 4));
LUMIX_EXPECT_CLOSE_EQ(mtx.m21, 6, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m22, 5, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m23, 4, 0.001f);
mtx.setZVector(Lumix::Vec3(9, 8, 7));
LUMIX_EXPECT_CLOSE_EQ(mtx.m31, 9, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m32, 8, 0.001f);
LUMIX_EXPECT_CLOSE_EQ(mtx.m33, 7, 0.001f);
Lumix::Matrix old = mtx;
expectSameMatrices(mtx, old);
mtx.transpose();
mtx.transpose();
expectSameMatrices(mtx, old);
mtx.inverse();
mtx.inverse();
expectSameMatrices(mtx, old);
mtx.setIdentity();
mtx.multiply3x3(2.0f);
old = mtx;
mtx.inverse();
mtx.inverse();
expectSameMatrices(mtx, old);
for (int i = 0; i < 16; ++i)
{
*((&mtx.m11) + i) = (float)i;
}
old = mtx;
mtx = mtx * Lumix::Matrix::IDENTITY;
expectSameMatrices(mtx, old);
mtx = Lumix::Matrix::IDENTITY * mtx;
expectSameMatrices(mtx, old);
Lumix::Matrix euler;
euler.fromEuler(0, 0, 0);
expectSameMatrices(euler, Lumix::Matrix::IDENTITY);
Lumix::Matrix check_matrix;
check_matrix = Lumix::Matrix::IDENTITY;
check_matrix.m11 = -1;
check_matrix.m33 = -1;
euler.fromEuler(3.14159265f, 0, 0);
expectSameMatrices(euler, check_matrix);
check_matrix = Lumix::Matrix::IDENTITY;
check_matrix.m11 = -1;
check_matrix.m22 = -1;
euler.fromEuler(0, 0, 3.14159265f);
expectSameMatrices(euler, check_matrix);
check_matrix = Lumix::Matrix::IDENTITY;
check_matrix.m22 = -1;
check_matrix.m33 = -1;
euler.fromEuler(0, 3.14159265f, 0);
expectSameMatrices(euler, check_matrix);
}