///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
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// 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
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// in the documentation and/or other materials provided with the
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///////////////////////////////////////////////////////////////////////////
#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;
}
}