Blame ImathTest/testQuat.cpp

Packit 8dc392
///////////////////////////////////////////////////////////////////////////
Packit 8dc392
//
Packit 8dc392
// Copyright (c) 2007, Industrial Light & Magic, a division of Lucas
Packit 8dc392
// Digital Ltd. LLC
Packit 8dc392
// 
Packit 8dc392
// All rights reserved.
Packit 8dc392
// 
Packit 8dc392
// Redistribution and use in source and binary forms, with or without
Packit 8dc392
// modification, are permitted provided that the following conditions are
Packit 8dc392
// met:
Packit 8dc392
// *       Redistributions of source code must retain the above copyright
Packit 8dc392
// notice, this list of conditions and the following disclaimer.
Packit 8dc392
// *       Redistributions in binary form must reproduce the above
Packit 8dc392
// copyright notice, this list of conditions and the following disclaimer
Packit 8dc392
// in the documentation and/or other materials provided with the
Packit 8dc392
// distribution.
Packit 8dc392
// *       Neither the name of Industrial Light & Magic nor the names of
Packit 8dc392
// its contributors may be used to endorse or promote products derived
Packit 8dc392
// from this software without specific prior written permission. 
Packit 8dc392
// 
Packit 8dc392
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Packit 8dc392
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Packit 8dc392
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
Packit 8dc392
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
Packit 8dc392
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
Packit 8dc392
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
Packit 8dc392
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
Packit 8dc392
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
Packit 8dc392
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
Packit 8dc392
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Packit 8dc392
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Packit 8dc392
//
Packit 8dc392
///////////////////////////////////////////////////////////////////////////
Packit 8dc392
Packit 8dc392
Packit 8dc392
#include <testQuat.h>
Packit 8dc392
#include "ImathQuat.h"
Packit 8dc392
#include "ImathMatrixAlgo.h"
Packit 8dc392
#include "ImathFun.h"
Packit 8dc392
#include "ImathLimits.h"
Packit 8dc392
#include "ImathPlatform.h" /* [i_a] M_PI_2 */
Packit 8dc392
#include <iostream>
Packit 8dc392
#include <cassert>
Packit 8dc392
#include <cmath>
Packit 8dc392
Packit 8dc392
Packit 8dc392
using namespace std;
Packit 8dc392
using namespace IMATH_INTERNAL_NAMESPACE;
Packit 8dc392
Packit 8dc392
namespace {
Packit 8dc392
Packit 8dc392
template <class T>
Packit 8dc392
void
Packit 8dc392
testQuatT ()
Packit 8dc392
{
Packit 8dc392
    const T s = limits<T>::smallest();
Packit 8dc392
    const T e = 4 * limits<T>::epsilon();
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // constructors, r(), v()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q = Quat<T>();
Packit 8dc392
	assert (q.r == 1 && q.v == Vec3<T> (0, 0, 0));
Packit 8dc392
Packit 8dc392
	q = Quat<T> (2, 3, 4, 5);
Packit 8dc392
	assert (q.r == 2 && q.v == Vec3<T> (3, 4, 5));
Packit 8dc392
Packit 8dc392
	q = Quat<T> (6, Vec3<T> (7, 8, 9));
Packit 8dc392
	assert (q.r == 6 && q.v == Vec3<T> (7, 8, 9));
Packit 8dc392
Packit 8dc392
	Quat<T> q1 = Quat<T> (q);
Packit 8dc392
	assert (q1.r == 6 && q1.v == Vec3<T> (7, 8, 9));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // invert(), inverse()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q = Quat<T> (1, 0, 0, 1);
Packit 8dc392
	assert (q.inverse() == Quat<T> (0.5, 0, 0, -0.5));
Packit 8dc392
Packit 8dc392
	q.invert();
Packit 8dc392
	assert (q == Quat<T> (0.5, 0, 0, -0.5));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // normalize(), normalized()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q = Quat<T> (2, Vec3<T> (0, 0, 0));
Packit 8dc392
	assert (q.normalized() == Quat<T> (1, 0, 0, 0));
Packit 8dc392
Packit 8dc392
	q.normalize();
Packit 8dc392
	assert (q == Quat<T> (1, 0, 0, 0));
Packit 8dc392
Packit 8dc392
	q = Quat<T> (0, Vec3<T> (0, 2, 0));
Packit 8dc392
	assert (q.normalized() == Quat<T> (0, 0, 1, 0));
Packit 8dc392
Packit 8dc392
	q.normalize();
Packit 8dc392
	assert (q == Quat<T> (0, 0, 1, 0));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // length()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q = Quat<T> (3, 0, 4, 0);
Packit 8dc392
	assert (q.length() == 5);
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // setAxisAngle(), angle(), axis()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q;
Packit 8dc392
	q.setAxisAngle (Vec3<T> (0, 0, 1), M_PI_2);
Packit 8dc392
	Vec3<T> v = q.axis();
Packit 8dc392
	T a = q.angle();
Packit 8dc392
	assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
Packit 8dc392
	assert (IMATH_INTERNAL_NAMESPACE::equal (a, T (M_PI_2), e));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // Accuracy of angle() for very small angles
Packit 8dc392
    // and when real part is slightly greater than 1.
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	T t = 10 * Math<T>::sqrt (s);
Packit 8dc392
Packit 8dc392
	Quat<T> q;
Packit 8dc392
	q.setAxisAngle (Vec3<T> (0, 0, 1), t);
Packit 8dc392
	Vec3<T> v = q.axis();
Packit 8dc392
	T a = q.angle();
Packit 8dc392
	assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
Packit 8dc392
	assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
Packit 8dc392
Packit 8dc392
	q.r *= 1.1;
Packit 8dc392
	q.v *= 1.1;
Packit 8dc392
	v = q.axis();
Packit 8dc392
	a = q.angle();
Packit 8dc392
	assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
Packit 8dc392
	assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	T t = 0.001 * Math<T>::sqrt (s);
Packit 8dc392
Packit 8dc392
	Quat<T> q;
Packit 8dc392
	q.setAxisAngle (Vec3<T> (0, 0, 1), t);
Packit 8dc392
	Vec3<T> v = q.axis();
Packit 8dc392
	T a = q.angle();
Packit 8dc392
	assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
Packit 8dc392
	assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
Packit 8dc392
Packit 8dc392
	q.r *= 1.1;
Packit 8dc392
	q.v *= 1.1;
Packit 8dc392
	v = q.axis();
Packit 8dc392
	a = q.angle();
Packit 8dc392
	assert (v.equalWithAbsError (Vec3<T> (0, 0, 1), e));
Packit 8dc392
	assert (IMATH_INTERNAL_NAMESPACE::equal (a, t, t * e));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // toMatrix33(), toMatrix44()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quat<T> q;
Packit 8dc392
	q.setRotation (Vec3<T> (1, 0, 0), Vec3<T> (0, 1, 0));
Packit 8dc392
Packit 8dc392
	Matrix33<T> m1 = q.toMatrix33();
Packit 8dc392
Packit 8dc392
	assert (m1.equalWithAbsError (Matrix33<T> (0, 1, 0,
Packit 8dc392
						  -1, 0, 0,
Packit 8dc392
						   0, 0, 1),
Packit 8dc392
				      e));
Packit 8dc392
Packit 8dc392
	Matrix44<T> m2 = q.toMatrix44();
Packit 8dc392
Packit 8dc392
	assert (m2.equalWithAbsError (Matrix44<T> (0, 1, 0, 0,
Packit 8dc392
						  -1, 0, 0, 0,
Packit 8dc392
						   0, 0, 1, 0,
Packit 8dc392
						   0, 0, 0, 1),
Packit 8dc392
				      e));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // +, - (unary and binary), ~ *, /, ^
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (1, 2, 3, 4) + Quat<T> (5, 6, 7, 8) ==
Packit 8dc392
	    Quat<T> (6, 8, 10, 12));
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (-1, -2, -3, -4) - Quat<T> (5, 6, 7, 8) ==
Packit 8dc392
	    Quat<T> (-6, -8, -10, -12));
Packit 8dc392
Packit 8dc392
    assert (-Quat<T> (1, 2, 3, 4) == Quat<T> (-1, -2, -3, -4));
Packit 8dc392
    
Packit 8dc392
    assert (~Quat<T> (1, 2, 3, 4) == Quat<T> (1, -2, -3, -4));
Packit 8dc392
Packit 8dc392
    assert (T (2) * Quat<T> (1, 2, 3, 4) == Quat<T> (2, 4, 6, 8));
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (1, 2, 3, 4) * T (2 )== Quat<T> (2, 4, 6, 8));
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (1, 0, 0, 1) * Quat<T> (1, 1, 0, 0) ==
Packit 8dc392
	    Quat<T> (1, 1, 1, 1));
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (1, 1, 0, 0) * Quat<T> (1, 0, 0, 1) ==
Packit 8dc392
	    Quat<T> (1, 1, -1, 1));
Packit 8dc392
    
Packit 8dc392
    assert (Quat<T> (1, 0, 0, 1) / Quat<T> (0.5, -0.5, 0, 0) ==
Packit 8dc392
	    Quat<T> (1, 1, 1, 1));
Packit 8dc392
Packit 8dc392
    assert (Quat<T> (2, 4, 6, 8) / T (2) == Quat<T> (1, 2, 3, 4));
Packit 8dc392
Packit 8dc392
    assert ((Quat<T> (1, 2, 3, 4) ^ Quat<T> (2, 2, 2, 2)) == 20);
Packit 8dc392
Packit 8dc392
    //
Packit 8dc392
    // extract()
Packit 8dc392
    //
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Vec3<T> vFrom (1, 0, 0);
Packit 8dc392
	Vec3<T> vTo (0, 1, 1);
Packit 8dc392
	Matrix44<T> m1 = rotationMatrix (vFrom, vTo);
Packit 8dc392
	
Packit 8dc392
	Quat<T> q = extractQuat (m1);;
Packit 8dc392
Packit 8dc392
	Matrix44<T> m2 = q.toMatrix44();
Packit 8dc392
Packit 8dc392
	assert (m2.equalWithAbsError (m1, 2 * e));
Packit 8dc392
    }
Packit 8dc392
}
Packit 8dc392
Packit 8dc392
Packit 8dc392
void
Packit 8dc392
testQuatConversions ()
Packit 8dc392
{
Packit 8dc392
    {
Packit 8dc392
	Quatf q (1, V3f (2, 3, 4));
Packit 8dc392
	Quatd q1 = Quatd (q);
Packit 8dc392
	assert (q1.r == 1 && q1.v == V3d (2, 3, 4));
Packit 8dc392
    }
Packit 8dc392
Packit 8dc392
    {
Packit 8dc392
	Quatd q (1, V3d (2, 3, 4));
Packit 8dc392
	Quatf q1 = Quatf (q);
Packit 8dc392
	assert (q1.r == 1 && q1.v == V3f (2, 3, 4));
Packit 8dc392
    }
Packit 8dc392
}
Packit 8dc392
Packit 8dc392
} // namespace
Packit 8dc392
Packit 8dc392
Packit 8dc392
void
Packit 8dc392
testQuat ()
Packit 8dc392
{
Packit 8dc392
    cout << "Testing basic quaternion operations" << endl;
Packit 8dc392
Packit 8dc392
    testQuatT<float>();
Packit 8dc392
    testQuatT<double>();
Packit 8dc392
    testQuatConversions();
Packit 8dc392
Packit 8dc392
    cout << "ok\n" << endl;
Packit 8dc392
}