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#include "test.h"
#include "../math/math.h"
#include "../util/time.h"
Mat4 m1 = {
1, 5, 9,13,
2, 6,10,14,
3, 7,11,15,
4, 8,12,16
};
Mat4 m2 = {
16,12, 8, 4,
15,11, 7, 3,
14,10, 6, 2,
13, 9, 5, 1
};
static void test_multiply() {
print("test_multiply\n");
Mat4 res;
internal_mat4_multiply(&m1, &m2, &res);
internal_mat4_print(&res);
}
static void test_invert() {
print("test_invert\n");
Mat4 m = {
0, 3, 0, 0,
2, 7, 0, 1,
8, 1, 1, 0,
6, 0, 2, 1,
};
Mat4 res, res2;
internal_mat4_invertfull(&m, &res);
internal_mat4_print(&res);
internal_mat4_multiply(&m1, &m, &res2);
internal_mat4_multiply(&res2, &res, &res2);
internal_mat4_print(&res2);
/*
-0.250 0.333 1.667 -1.833
0.083 0.000 -0.667 0.833
0.167 -0.000 -0.333 -0.333
-0.083 0.000 0.667 0.167
*/
}
static void test_transpose() {
print("test_transpose\n");
Mat4 res;
internal_mat4_transpose(&m1, &res);
internal_mat4_print(&res);
}
static void test_scale() {
print("test_scale\n");
Mat4 scale;
internal_mat4_setscale(1, 2, 3, &scale);
Mat4 res;
internal_mat4_multiply(&scale, &m1, &res);
internal_mat4_print(&scale);
}
static void test_position() {
print("test_position\n");
Mat4 pos;
internal_mat4_setposition(1, 2, 3, &pos);
internal_mat4_print(&pos);
}
static void test_rotation() {
print("test_rotation\n");
Mat4 i;
internal_mat4_setidentity(&i);
Vec3 axis = { 0, 0, 1 };
internal_mat4_rotate(&i, 90, &axis, &i);
internal_mat4_print(&i);
}
static void test_invertgeneral3d() {
print("test_invertgeneral3d\n");
Mat4 trans;
internal_mat4_setidentity(&trans);
print("original matrix"); internal_mat4_print(&m1);
Vec3 v;
v.x = 1; v.y = 3.3; v.z = 0; internal_mat4_translate(&trans, &v, &trans);
v.x = 1; v.y = 0; v.z = 0; internal_mat4_rotate(&trans, 23, &v, &trans);
v.x = 1; v.y = 1.2; v.z = 1; internal_mat4_scale(&trans, &v, &trans);
v.x = 1; v.y = 3; v.z = 0; internal_mat4_rotate(&trans, 23, &v, &trans);
v.x = 2; v.y = 3.3; v.z = 0; internal_mat4_translate(&trans, &v, &trans);
print("transform matrix"); internal_mat4_print(&trans);
Mat4 res;
internal_mat4_multiply(&trans, &m1, &res);
internal_mat4_invertgeneral3d(&trans, &trans);
print("inverse transform matrix"); internal_mat4_print(&trans);
internal_mat4_multiply(&trans, &res, &res);
print("inverted result"); internal_mat4_print(&res);
}
void test_invertrot() {
print("test_invertrot\n");
print("original matrix"); internal_mat4_print(&m1);
Mat4 rot; internal_mat4_setidentity(&rot);
Vec3 axis = { 1,2,3 }; internal_mat4_rotate(&rot, 90, &axis, &rot);
print("rotation matrix"); internal_mat4_print(&rot);
Mat4 res;
internal_mat4_multiply(&rot, &m1, &res);
print("result matrix"); internal_mat4_print(&res);
internal_mat4_invertgeneral3d(&rot, &rot);
print("inverse rotation matrix"); internal_mat4_print(&rot);
internal_mat4_multiply(&rot, &res, &res);
print("result matrix"); internal_mat4_print(&res);
}
TEST(test_orthogonalize)
ROWMAT(A0,
1, 2, 4, 0,
0, 0, 5, 0,
0, 3, 6, 0,
0, 0, 0, 0
);
Mat4 A;
TIME_STAMP("internal_mat4_orthogonalize time used")
for (int i = 0; i < 1000000; ++i) {
internal_mat4_orthogonalize(&A0, &A);
}
TIME_STAMP_END
TIME_STAMP("internal_mat4_isorthogonal time used")
for (int i = 0; i < 1000000; ++i) {
internal_mat4_isorthogonal(&A0);
}
TIME_STAMP_END
internal_mat4_print(&A);
float res = internal_vec3_dot(&A.basis.y, &A.basis.x);
printf("%f\n", res);
printf("%d\n", internal_mat4_isorthogonal(&A));
Mat4 rev;
internal_mat4_transpose(&A, &rev);
internal_mat4_multiply(&A, &rev, &rev);
internal_mat4_print(&rev);
END
TEST(test_toeuler)
Euler euler = { 90, 0, 33 };
Quat rot;
internal_quat_fromeuler(&euler, &rot);
Mat4 m;
internal_quat_tomat4(&rot, &m);
Euler res;
internal_quat_toeuler(&rot, &res);
internal_euler_print(&res);
END
TEST(test_rotatematrix)
Euler euler = { 10, 20, 30 };
Quat rot;
internal_quat_fromeuler(&euler, &rot);
Mat4 m;
internal_quat_tomat4(&rot, &m);
internal_mat4_print(&m);
Mat4 mz, mx, my;
internal_mat4_setrotatez(30, &mz);
internal_mat4_setrotatex(10, &mx);
internal_mat4_setrotatey(20, &my);
internal_mat4_multiply(&mx, &mz, &mx);
internal_mat4_multiply(&my, &mx, &m);
internal_mat4_print(&m);
internal_mat4_setrotate(10, 20, 30, &m);
internal_mat4_print(&m);
END
TEST(test_isidentity)
ROWMAT(mat,
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
)
bool res;
TIME_STAMP_1000000("test is isidentity")
res = internal_mat4_isidentity(&mat);
TIME_STAMP_END
printf("%d\n", res);
END
void test_mat4() {
print("================================================\n");
print("test_mat4\n");
print("================================================\n");
//test_transpose();
//test_multiply();
//test_invert();
//test_scale();
//test_position();
//test_rotation();
//test_invertgeneral3d();
//test_invertrot();
//test_orthogonalize();
//test_toeuler();
test_rotatematrix();
//test_isidentity();
}
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