#include "testing/unitTesting.h" #include "platform/platform.h" #include "console/simBase.h" #include "console/consoleTypes.h" #include "console/scriptObjects.h" #include "console/simBase.h" #include "console/engineAPI.h" #include "math/mMath.h" TEST(MatrixTest, TestIdentityInit) { MatrixF test(true); EXPECT_NEAR(test(0, 0), 1.0f, 0.001f); EXPECT_NEAR(test(1, 1), 1.0f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestIdentitySet) { MatrixF test(false); test.identity(); EXPECT_NEAR(test(0, 0), 1.0f, 0.001f); EXPECT_NEAR(test(1, 1), 1.0f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestIsIdentity) { MatrixF test(true); EXPECT_TRUE(test.isIdentity()); } TEST(MatrixTest, TestEulerInit) { MatrixF test(EulerF(1.0f, 0.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 0.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestEulerSet) { MatrixF test(true); test.set(EulerF(1.0f, 0.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 0.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestEulerPointInit) { MatrixF test(EulerF(1.0f, 0.0f, 1.0f), Point3F(5.0f, 0.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestEulerPointSet) { MatrixF test(true); test.set(EulerF(1.0f, 0.0f, 1.0f), Point3F(5.0f, 0.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestSetCrossProduct) { MatrixF test(true); test.setCrossProduct(Point3F(5.0f, 0.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 0.0f, 0.001f); EXPECT_NEAR(test(0, 1), -1.0f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f); EXPECT_NEAR(test(1, 0), 1.0f, 0.001f); EXPECT_NEAR(test(1, 1), 0.0, 0.001f); EXPECT_NEAR(test(1, 2), -5.0f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.0f, 0.001f); EXPECT_NEAR(test(2, 1), 5.0f, 0.001f); EXPECT_NEAR(test(2, 2), 0.0f, 0.001f); EXPECT_NEAR(test(2, 3), 0.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestSetTensorProduct) { MatrixF test(true); test.setTensorProduct(Point3F(5.0f, 2.0f, 1.0f), Point3F(5.0f, 2.0f, 1.0f)); EXPECT_NEAR(test(0, 0), 25.0f, 0.001f); EXPECT_NEAR(test(0, 1), 10.0f, 0.001f); EXPECT_NEAR(test(0, 2), 5.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f); EXPECT_NEAR(test(1, 0), 10.0f, 0.001f); EXPECT_NEAR(test(1, 1), 4.0, 0.001f); EXPECT_NEAR(test(1, 2), 2.0f, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f); EXPECT_NEAR(test(2, 0), 5.0f, 0.001f); EXPECT_NEAR(test(2, 1), 2.0f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0f, 0.001f); EXPECT_NEAR(test(2, 3), 0.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestMulFunction) { MatrixF test(true); test.setPosition(Point3F(5.0f, 2.0f, 1.0f)); MatrixF test2(EulerF(1.0f, 0.0f, 1.0f)); test.mul(test2); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 2.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestMulOperator) { MatrixF test(true); test.setPosition(Point3F(5.0f, 2.0f, 1.0f)); MatrixF test2(EulerF(1.0f, 0.0f, 1.0f)); test = test * test2; EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 2.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestMulLFunction) { MatrixF test(true); test.setPosition(Point3F(5.0f, 2.0f, 1.0f)); MatrixF test2(EulerF(1.0f, 0.0f, 1.0f)); test.mulL(test2); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 4.3845f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), -0.8479f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 3.1714, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestMulArgMatrixFunction) { MatrixF testResult(true); MatrixF test(true); test.setPosition(Point3F(5.0f, 2.0f, 1.0f)); MatrixF test2(EulerF(1.0f, 0.0f, 1.0f)); testResult.mul(test2, test); EXPECT_NEAR(testResult(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(testResult(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(testResult(0, 2), 0.0f, 0.001f); EXPECT_NEAR(testResult(0, 3), 4.3845f, 0.001f); EXPECT_NEAR(testResult(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(testResult(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(testResult(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(testResult(1, 3), -0.8479f, 0.001f); EXPECT_NEAR(testResult(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(testResult(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(testResult(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(testResult(2, 3), 3.1714, 0.001f); EXPECT_NEAR(testResult(3, 0), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 1), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 2), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 3), 1.0f, 0.001f); } TEST(MatrixTest, TestInverse) { MatrixF test(true); test.setPosition(Point3F(5.0f, 2.0f, 1.0f)); MatrixF test2(EulerF(1.0f, 0.0f, 1.0f)); test.mulL(test2); test.inverse(); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(0, 2), 0.7081f, 0.001f); EXPECT_NEAR(test(0, 3), -5.0f, 0.001f); EXPECT_NEAR(test(1, 0), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 3), -2.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.0, 0.001f); EXPECT_NEAR(test(2, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), -1.0f, 0.001f); EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f); }