// Copyright (C) 2008-2011 Colin MacDonald // No rights reserved: this software is in the public domain. #include "testUtils.h" using namespace irr; using namespace core; using namespace scene; using namespace video; using namespace io; using namespace gui; namespace { // Basic tests for identity matrix bool identity(void) { bool result = true; matrix4 m; // Check default init result &= (m==core::IdentityMatrix); result &= (core::IdentityMatrix==m); assert(result); // Since the last test can be made with isDefinitelyIdentityMatrix we set it to false here m.setDefinitelyIdentityMatrix(false); result &= (m==core::IdentityMatrix); result &= (core::IdentityMatrix==m); assert(result); // also equals should see this result &= m.equals(core::IdentityMatrix); result &= core::IdentityMatrix.equals(m); assert(result); // Check inequality m[12]=5.f; result &= (m!=core::IdentityMatrix); result &= (core::IdentityMatrix!=m); result &= !m.equals(core::IdentityMatrix); result &= !core::IdentityMatrix.equals(m); assert(result); // Test multiplication result &= (m==(core::IdentityMatrix*m)); result &= m.equals(core::IdentityMatrix*m); result &= (m==(m*core::IdentityMatrix)); result &= m.equals(m*core::IdentityMatrix); assert(result); return result; } // Test rotations bool transformations(void) { bool result = true; matrix4 m, s; m.setRotationDegrees(core::vector3df(30,40,50)); s.setScale(core::vector3df(2,3,4)); m *= s; m.setTranslation(core::vector3df(5,6,7)); result &= (core::vector3df(5,6,7).equals(m.getTranslation())); assert(result); result &= (core::vector3df(2,3,4).equals(m.getScale())); assert(result); core::vector3df newRotation = m.getRotationDegrees(); result &= (core::vector3df(30,40,50).equals(newRotation, 0.000004f)); assert(result); m.setRotationDegrees(vector3df(90.0001f, 270.85f, 180.0f)); s.setRotationDegrees(vector3df(0,0, 0.860866f)); m *= s; newRotation = m.getRotationDegrees(); result &= (core::vector3df(0,270,270).equals(newRotation, 0.0001f)); assert(result); m.setRotationDegrees(vector3df(270.0f, 89.8264f, 0.000100879f)); s.setRotationDegrees(vector3df(0,0, 0.189398f)); m *= s; newRotation = m.getRotationDegrees(); result &= (core::vector3df(0,90,90).equals(newRotation, 0.0001f)); assert(result); m.setRotationDegrees(vector3df(270.0f, 89.0602f, 359.999f)); s.setRotationDegrees(vector3df(0,0, 0.949104f)); m *= s; newRotation = m.getRotationDegrees(); result &= (core::vector3df(0,90,89.999f).equals(newRotation)); assert(result); return result; } // Test rotations bool rotations(void) { bool result = true; matrix4 rot1,rot2,rot3,rot4,rot5; core::vector3df vec1(1,2,3),vec12(1,2,3); core::vector3df vec2(-5,0,0),vec22(-5,0,0); core::vector3df vec3(20,0,-20), vec32(20,0,-20); // Make sure the matrix multiplication and rotation application give same results rot1.setRotationDegrees(core::vector3df(90,0,0)); rot2.setRotationDegrees(core::vector3df(0,90,0)); rot3.setRotationDegrees(core::vector3df(0,0,90)); rot4.setRotationDegrees(core::vector3df(90,90,90)); rot5 = rot3*rot2*rot1; result &= (rot4.equals(rot5, ROUNDING_ERROR_f32)); assert(result); rot4.transformVect(vec1);rot5.transformVect(vec12); rot4.transformVect(vec2);rot5.transformVect(vec22); rot4.transformVect(vec3);rot5.transformVect(vec32); result &= (vec1.equals(vec12)); result &= (vec2.equals(vec22)); result &= (vec3.equals(vec32)); assert(result); vec1.set(1,2,3);vec12.set(1,2,3); vec2.set(-5,0,0);vec22.set(-5,0,0); vec3.set(20,0,-20);vec32.set(20,0,-20); rot1.setRotationDegrees(core::vector3df(45,0,0)); rot2.setRotationDegrees(core::vector3df(0,45,0)); rot3.setRotationDegrees(core::vector3df(0,0,45)); rot4.setRotationDegrees(core::vector3df(45,45,45)); rot5 = rot3*rot2*rot1; result &= (rot4.equals(rot5, ROUNDING_ERROR_f32)); assert(result); rot4.transformVect(vec1);rot5.transformVect(vec12); rot4.transformVect(vec2);rot5.transformVect(vec22); rot4.transformVect(vec3);rot5.transformVect(vec32); result &= (vec1.equals(vec12)); result &= (vec2.equals(vec22)); result &= (vec3.equals(vec32)); assert(result); vec1.set(1,2,3);vec12.set(1,2,3); vec2.set(-5,0,0);vec22.set(-5,0,0); vec3.set(20,0,-20);vec32.set(20,0,-20); rot1.setRotationDegrees(core::vector3df(-60,0,0)); rot2.setRotationDegrees(core::vector3df(0,-60,0)); rot3.setRotationDegrees(core::vector3df(0,0,-60)); rot4.setRotationDegrees(core::vector3df(-60,-60,-60)); rot5 = rot3*rot2*rot1; result &= (rot4.equals(rot5, ROUNDING_ERROR_f32)); assert(result); rot4.transformVect(vec1);rot5.transformVect(vec12); rot4.transformVect(vec2);rot5.transformVect(vec22); rot4.transformVect(vec3);rot5.transformVect(vec32); result &= (vec1.equals(vec12)); result &= (vec2.equals(vec22)); // this one needs higher tolerance due to rounding issues result &= (vec3.equals(vec32, 0.000002f)); assert(result); vec1.set(1,2,3);vec12.set(1,2,3); vec2.set(-5,0,0);vec22.set(-5,0,0); vec3.set(20,0,-20);vec32.set(20,0,-20); rot1.setRotationDegrees(core::vector3df(113,0,0)); rot2.setRotationDegrees(core::vector3df(0,-27,0)); rot3.setRotationDegrees(core::vector3df(0,0,193)); rot4.setRotationDegrees(core::vector3df(113,-27,193)); rot5 = rot3*rot2*rot1; result &= (rot4.equals(rot5, ROUNDING_ERROR_f32)); assert(result); rot4.transformVect(vec1);rot5.transformVect(vec12); rot4.transformVect(vec2);rot5.transformVect(vec22); rot4.transformVect(vec3);rot5.transformVect(vec32); // these ones need higher tolerance due to rounding issues result &= (vec1.equals(vec12, 0.000002f)); assert(result); result &= (vec2.equals(vec22)); assert(result); result &= (vec3.equals(vec32, 0.000002f)); assert(result); rot1.setRotationDegrees(core::vector3df(0,0,34)); rot2.setRotationDegrees(core::vector3df(0,43,0)); vec1=(rot2*rot1).getRotationDegrees(); result &= (vec1.equals(core::vector3df(27.5400505f, 34.4302292f, 42.6845398f), 0.000002f)); assert(result); // corner cases rot1.setRotationDegrees(irr::core::vector3df(180.0f, 0.f, 0.f)); vec1=rot1.getRotationDegrees(); result &= (vec1.equals(core::vector3df(180.0f, 0.f, 0.f), 0.000002f)); assert(result); rot1.setRotationDegrees(irr::core::vector3df(0.f, 180.0f, 0.f)); vec1=rot1.getRotationDegrees(); result &= (vec1.equals(core::vector3df(180.0f, 360, 180.0f), 0.000002f)); assert(result); rot1.setRotationDegrees(irr::core::vector3df(0.f, 0.f, 180.0f)); vec1=rot1.getRotationDegrees(); result &= (vec1.equals(core::vector3df(0.f, 0.f, 180.0f), 0.000002f)); assert(result); rot1.makeIdentity(); rot1.setRotationDegrees(core::vector3df(270.f,0,0)); rot2.makeIdentity(); rot2.setRotationDegrees(core::vector3df(-90.f,0,0)); vec1=(rot1*rot2).getRotationDegrees(); result &= (vec1.equals(core::vector3df(180.f, 0.f, 0.0f))); assert(result); return result; } // Test isOrthogonal bool isOrthogonal(void) { matrix4 rotationMatrix; if (!rotationMatrix.isOrthogonal()) { logTestString("irr::core::matrix4::isOrthogonal() failed with Identity.\n"); return false; } rotationMatrix.setRotationDegrees(vector3df(90, 0, 0)); if (!rotationMatrix.isOrthogonal()) { logTestString("irr::core::matrix4::isOrthogonal() failed with rotation.\n"); return false; } matrix4 translationMatrix; translationMatrix.setTranslation(vector3df(0, 3, 0)); if (translationMatrix.isOrthogonal()) { logTestString("irr::core::matrix4::isOrthogonal() failed with translation.\n"); return false; } matrix4 scaleMatrix; scaleMatrix.setScale(vector3df(1, 2, 3)); if (!scaleMatrix.isOrthogonal()) { logTestString("irr::core::matrix4::isOrthogonal() failed with scale.\n"); return false; } return true; } } bool matrixOps(void) { bool result = true; result &= identity(); result &= rotations(); result &= isOrthogonal(); result &= transformations(); return result; }