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authordatenwolf <code+github@datenwolf.net>2021-01-06 11:28:51 +0100
committerGitHub <noreply@github.com>2021-01-06 11:28:51 +0100
commit05387571f57224f8cbc2b390b423dab6b9158988 (patch)
treeed88a346f022c7f01dfbb6d44f2d242f52857e08
parent3db0026ffe2c3b57abb71e2793c61ec363091359 (diff)
parentffcb15d3f25ebc25ee0dab68fadfe5e88e2b755f (diff)
downloadlinmath.h-05387571f57224f8cbc2b390b423dab6b9158988.tar.gz
linmath.h-05387571f57224f8cbc2b390b423dab6b9158988.tar.bz2
Merge pull request #42 from dizcza/tests
Added tests, fixed a bug, and more
-rw-r--r--.circleci/config.yml35
-rw-r--r--README.md (renamed from README)3
-rw-r--r--linmath.h133
-rw-r--r--linmath_test.c9
-rw-r--r--linmath_test.h242
5 files changed, 349 insertions, 73 deletions
diff --git a/.circleci/config.yml b/.circleci/config.yml
new file mode 100644
index 0000000..17987bb
--- /dev/null
+++ b/.circleci/config.yml
@@ -0,0 +1,35 @@
+version: 2.1
+
+jobs:
+ linmath-test:
+ machine:
+ image: ubuntu-1604:201903-01
+ steps:
+ - run: gcc --version
+ - checkout
+ - run:
+ command: |
+ gcc -O0 -o linmath_test.o linmath_test.c -lm
+ ./linmath_test.o
+ name: linmath tests gcc -O0
+ - run:
+ command: |
+ gcc -O1 -o linmath_test.o linmath_test.c -lm
+ ./linmath_test.o
+ name: linmath tests gcc -O1
+ - run:
+ command: |
+ gcc -O2 -o linmath_test.o linmath_test.c -lm
+ ./linmath_test.o
+ name: linmath tests gcc -O2
+ - run:
+ command: |
+ gcc -O3 -o linmath_test.o linmath_test.c -lm
+ ./linmath_test.o
+ name: linmath tests gcc -O3
+
+
+workflows:
+ main:
+ jobs:
+ - linmath-test
diff --git a/README b/README.md
index a61a9e0..7a06566 100644
--- a/README
+++ b/README.md
@@ -1,5 +1,8 @@
# linmath.h -- A small library for linear math as required for computer graphics
+[![CircleCI](https://circleci.com/gh/datenwolf/linmath.h.svg?style=svg)](https://app.circleci.com/pipelines/github/datenwolf/linmath.h)
+
+
linmath.h provides the most used types required for programming computer graphics:
vec3 -- 3 element vector of floats
diff --git a/linmath.h b/linmath.h
index a7ecf8f..be37caf 100644
--- a/linmath.h
+++ b/linmath.h
@@ -1,6 +1,7 @@
#ifndef LINMATH_H
#define LINMATH_H
+#include <string.h>
#include <math.h>
#include <string.h>
@@ -58,6 +59,12 @@ LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n const a, vec##n const b) \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i]>b[i] ? a[i] : b[i]; \
+} \
+LINMATH_H_FUNC void vec##n##_dup(vec##n r, vec##n const src) \
+{ \
+ int i; \
+ for(i=0; i<n; ++i) \
+ r[i] = src[i]; \
}
LINMATH_H_DEFINE_VEC(2)
@@ -79,7 +86,7 @@ LINMATH_H_FUNC void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
r[i] = v[i] - p*n[i];
}
-LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
+LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 const a, vec4 const b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
@@ -87,7 +94,7 @@ LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
r[3] = 1.f;
}
-LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 v, vec4 n)
+LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 const v, vec4 const n)
{
float p = 2.f*vec4_mul_inner(v, n);
int i;
@@ -103,61 +110,59 @@ LINMATH_H_FUNC void mat4x4_identity(mat4x4 M)
for(j=0; j<4; ++j)
M[i][j] = i==j ? 1.f : 0.f;
}
-LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 const N)
{
- int i, j;
+ int i;
for(i=0; i<4; ++i)
- for(j=0; j<4; ++j)
- M[i][j] = N[i][j];
+ vec4_dup(M[i], N[i]);
}
-LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 const M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[k][i];
}
-LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 const M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[i][k];
}
-LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 const N)
{
+ // Note: if M and N are the same, the user has to
+ // explicitly make a copy of M and set it to N.
int i, j;
for(j=0; j<4; ++j)
for(i=0; i<4; ++i)
M[i][j] = N[j][i];
}
-LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
int i;
for(i=0; i<4; ++i)
vec4_add(M[i], a[i], b[i]);
}
-LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
int i;
for(i=0; i<4; ++i)
vec4_sub(M[i], a[i], b[i]);
}
-LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
+LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 const a, float k)
{
int i;
for(i=0; i<4; ++i)
vec4_scale(M[i], a[i], k);
}
-LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 const a, float x, float y, float z)
{
- int i;
vec4_scale(M[0], a[0], x);
vec4_scale(M[1], a[1], y);
vec4_scale(M[2], a[2], z);
- for(i = 0; i < 4; ++i) {
- M[3][i] = a[3][i];
- }
+ vec4_dup(M[3], a[3]);
}
-LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
mat4x4 temp;
int k, r, c;
@@ -168,7 +173,7 @@ LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
}
mat4x4_dup(M, temp);
}
-LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
+LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 const M, vec4 const v)
{
int i, j;
for(j=0; j<4; ++j) {
@@ -194,13 +199,13 @@ LINMATH_H_FUNC void mat4x4_translate_in_place(mat4x4 M, float x, float y, float
M[3][i] += vec4_mul_inner(r, t);
}
}
-LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
+LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 const a, vec3 const b)
{
int i, j;
for(i=0; i<4; ++i) for(j=0; j<4; ++j)
M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
}
-LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
+LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 const M, float x, float y, float z, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -228,13 +233,13 @@ LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
mat4x4_add(T, T, C);
mat4x4_add(T, T, S);
- T[3][3] = 1.;
+ T[3][3] = 1.f;
mat4x4_mul(R, M, T);
} else {
mat4x4_dup(R, M);
}
}
-LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -246,7 +251,7 @@ LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
-LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -258,7 +263,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
-LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -270,7 +275,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
-LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 const M)
{
float s[6];
float c[6];
@@ -311,10 +316,10 @@ LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
}
-LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 const M)
{
mat4x4_dup(R, M);
- float s = 1.;
+ float s = 1.f;
vec3 h;
vec3_norm(R[2], R[2]);
@@ -370,7 +375,7 @@ LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, floa
{
/* NOTE: Degrees are an unhandy unit to work with.
* linmath.h uses radians for everything! */
- float const a = 1.f / tan(y_fov / 2.f);
+ float const a = 1.f / tanf(y_fov / 2.f);
m[0][0] = a / aspect;
m[0][1] = 0.f;
@@ -392,7 +397,7 @@ LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, floa
m[3][2] = -((2.f * f * n) / (f - n));
m[3][3] = 0.f;
}
-LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
+LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 const eye, vec3 const center, vec3 const up)
{
/* Adapted from Android's OpenGL Matrix.java. */
/* See the OpenGL GLUT documentation for gluLookAt for a description */
@@ -435,24 +440,18 @@ LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
}
typedef float quat[4];
+#define quat_add vec4_add
+#define quat_sub vec4_sub
+#define quat_norm vec4_norm
+#define quat_scale vec4_scale
+#define quat_mul_inner vec4_mul_inner
+
LINMATH_H_FUNC void quat_identity(quat q)
{
q[0] = q[1] = q[2] = 0.f;
q[3] = 1.f;
}
-LINMATH_H_FUNC void quat_add(quat r, quat a, quat b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] + b[i];
-}
-LINMATH_H_FUNC void quat_sub(quat r, quat a, quat b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] - b[i];
-}
-LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
+LINMATH_H_FUNC void quat_mul(quat r, quat const p, quat const q)
{
vec3 w;
vec3_mul_cross(r, p, q);
@@ -462,37 +461,22 @@ LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
}
-LINMATH_H_FUNC void quat_scale(quat r, quat v, float s)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = v[i] * s;
-}
-LINMATH_H_FUNC float quat_inner_product(quat a, quat b)
-{
- float p = 0.f;
- int i;
- for(i=0; i<4; ++i)
- p += b[i]*a[i];
- return p;
-}
-LINMATH_H_FUNC void quat_conj(quat r, quat q)
+LINMATH_H_FUNC void quat_conj(quat r, quat const q)
{
int i;
for(i=0; i<3; ++i)
r[i] = -q[i];
r[3] = q[3];
}
-LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) {
- vec3 v;
- vec3_scale(v, axis, sinf(angle / 2));
- int i;
- for(i=0; i<3; ++i)
- r[i] = v[i];
- r[3] = cosf(angle / 2);
+LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 const axis) {
+ vec3 axis_norm;
+ vec3_norm(axis_norm, axis);
+ float s = sinf(angle / 2);
+ float c = cosf(angle / 2);
+ vec3_scale(r, axis_norm, s);
+ r[3] = c;
}
-#define quat_norm vec4_norm
-LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v)
+LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat const q, vec3 const v)
{
/*
* Method by Fabian 'ryg' Giessen (of Farbrausch)
@@ -512,7 +496,7 @@ v' = v + q.w * t + cross(q.xyz, t)
vec3_add(r, v, t);
vec3_add(r, r, u);
}
-LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat const q)
{
float a = q[3];
float b = q[0];
@@ -542,18 +526,21 @@ LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
M[3][3] = 1.f;
}
-LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 const M, quat const q)
{
-/* XXX: The way this is written only works for othogonal matrices. */
+/* XXX: The way this is written only works for orthogonal matrices. */
/* TODO: Take care of non-orthogonal case. */
quat_mul_vec3(R[0], q, M[0]);
quat_mul_vec3(R[1], q, M[1]);
quat_mul_vec3(R[2], q, M[2]);
R[3][0] = R[3][1] = R[3][2] = 0.f;
- R[3][3] = 1.f;
+ R[0][3] = M[0][3];
+ R[1][3] = M[1][3];
+ R[2][3] = M[2][3];
+ R[3][3] = M[3][3]; // typically 1.0, but here we make it general
}
-LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
+LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 const M)
{
float r=0.f;
int i;
@@ -583,7 +570,7 @@ LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
}
-LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s)
+LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 const M, vec2 const _a, vec2 const _b, float s)
{
vec2 a; memcpy(a, _a, sizeof(a));
vec2 b; memcpy(b, _b, sizeof(b));
diff --git a/linmath_test.c b/linmath_test.c
new file mode 100644
index 0000000..d7ce1fa
--- /dev/null
+++ b/linmath_test.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+#include "linmath_test.h"
+
+int main() {
+ linmath_test_run_all();
+ printf("linmath tests passed\n");
+ return 0;
+}
diff --git a/linmath_test.h b/linmath_test.h
new file mode 100644
index 0000000..5c48444
--- /dev/null
+++ b/linmath_test.h
@@ -0,0 +1,242 @@
+/*
+ * linmath_test.h
+ *
+ * Created on: Apr 9, 2017
+ * Author: Danylo Ulianych
+ */
+
+#ifndef LINMATH_TEST_H
+#define LINMATH_TEST_H
+
+#include <stdlib.h>
+#include "linmath.h"
+
+#define LINMATH_EPS (0.0001f)
+#define linmath_is_close(val1, val2) (fabsf(val1 - val2) < LINMATH_EPS)
+
+#ifndef linmath_assert
+#include <assert.h>
+#define linmath_assert assert
+#endif /* linmath_assert */
+
+
+static float linmath_random_float() {
+ return rand() / (float) RAND_MAX;
+}
+
+#define LINMATH_TEST_DEFINE_VEC(n) \
+static void linmath_vec##n##_set(vec##n v, float value) { \
+ int i; \
+ for (i=0; i<n; i++) { \
+ v[i] = value; \
+ } \
+} \
+static void linmath_vec##n##_init_random(vec##n v) { \
+ int i; \
+ for (i=0; i<n; i++) { \
+ v[i] = linmath_random_float(); \
+ } \
+} \
+static int linmath_vec##n##_allclose(vec##n const a, vec##n const b) { \
+ int i, equal = 1; \
+ for(i = 0; i < n; ++i) \
+ equal &= linmath_is_close(a[i], b[i]); \
+ return equal; \
+} \
+static void linmath_test_vec##n##_mul_inner() { \
+ /* The inner product of a vector of ones with itself must equal 'n'. */ \
+ vec##n v; \
+ linmath_vec##n##_set(v, 1.0f); \
+ float inner_prod = vec##n##_mul_inner(v, v); \
+ linmath_assert(linmath_is_close(inner_prod, n)); \
+} \
+static void linmath_test_vec##n##_len() { \
+ /* The length of a vector of ones must equal sqrt(n). */ \
+ vec##n v; \
+ int i; \
+ for (i=0; i<n; i++) { \
+ v[i] = 1.0f; \
+ } \
+ float norm = vec##n##_len(v); \
+ linmath_assert(linmath_is_close(norm, sqrtf(n))); \
+} \
+static void linmath_test_vec##n##_norm() { \
+ /* The norm of a normalized vector must be 1.0. */ \
+ srand(17U); /* set any seed */ \
+ vec##n v; \
+ linmath_vec##n##_init_random(v); \
+ vec##n r; \
+ vec##n##_norm(r, v); \
+ float norm = vec##n##_len(r); \
+ linmath_assert(linmath_is_close(norm, 1.0f)); \
+}
+
+
+LINMATH_TEST_DEFINE_VEC(2);
+LINMATH_TEST_DEFINE_VEC(3);
+LINMATH_TEST_DEFINE_VEC(4);
+
+
+static void linmath_test_vec3_mul_cross() {
+ srand(13U); /* set any seed */
+ vec3 v1, v2, r;
+ linmath_vec3_init_random(v1);
+ vec3_dup(v2, v1);
+ vec3_mul_cross(r, v1, v2);
+ vec3 v_expected;
+
+ // the cross product of equal vectors must be zero
+ linmath_vec3_set(v_expected, 0.0f);
+ linmath_assert(linmath_vec3_allclose(r, v_expected));
+
+ // test ijk axes cross product
+ vec3 i = {1, 0, 0};
+ vec3 j = {0, 1, 0};
+ vec3 k = {0, 0, 1};
+ vec3_mul_cross(r, i, j);
+ linmath_assert(linmath_vec3_allclose(r, k));
+}
+
+static void linmath_test_vec4_mul_cross() {
+ srand(13U); /* set any seed */
+ vec4 v1, v2, r;
+ linmath_vec4_init_random(v1);
+ vec4_dup(v2, v1);
+ vec4_mul_cross(r, v1, v2);
+ vec4 v_expected;
+
+ // the cross product of equal vectors must be zero
+ linmath_vec4_set(v_expected, 0.0f);
+ v_expected[3] = 1.0f;
+ linmath_assert(linmath_vec4_allclose(r, v_expected));
+
+ // test ijk axes cross product
+ vec4 i = {1, 0, 0, 1};
+ vec4 j = {0, 1, 0, 1};
+ vec4 k = {0, 0, 1, 1};
+ vec4_mul_cross(r, i, j);
+ linmath_assert(linmath_vec4_allclose(r, k));
+}
+
+
+static int linmath_mat4x4_allclose(mat4x4 const M, mat4x4 const N) {
+ int i, equal = 1;
+ for (i = 0; i < 4; ++i)
+ equal &= linmath_vec4_allclose(M[i], N[i]);
+ return equal;
+}
+
+/**
+ * Test the correctnes of a quaternion creation
+ * that is used as a linear operator to rotate
+ * vectors and matrices (later on).
+ */
+static void linmath_test_quat_rotate() {
+ vec3 axis = {0, 1, 0};
+ quat q;
+ float theta = M_PI_4;
+ quat_rotate(q, theta, axis);
+ quat q_refernce = {0, sinf(theta / 2), 0, cosf(theta / 2)};
+ linmath_assert(linmath_vec4_allclose(q, q_refernce));
+}
+
+/**
+ * The conjugate of a quaternion must correspond to
+ * the rotation with a negative angle.
+ */
+static void linmath_test_quat_conj() {
+ srand(15U);
+ quat q, q_conj, q_reference;
+ vec3 axis = { 0, 1, 0 };
+ float angle_rads = linmath_random_float();
+ quat_rotate(q, angle_rads, axis);
+ quat_conj(q_conj, q);
+ quat_rotate(q_reference, -angle_rads, axis);
+ linmath_assert(linmath_vec4_allclose(q_conj, q_reference));
+}
+
+/* Rotate a vector back and forth. */
+static void linmath_test_quat_mul_vec3() {
+ srand(11U);
+ quat q, q_conj;
+ vec3 axis = { 0, 1, 0 };
+ float angle_rads = linmath_random_float();
+ quat_rotate(q, angle_rads, axis);
+ quat_conj(q_conj, q);
+
+ vec3 v_initial, v_rotated, v_restored;
+ linmath_vec3_init_random(v_initial);
+ quat_mul_vec3(v_rotated, q, v_initial);
+ quat_mul_vec3(v_restored, q_conj, v_rotated);
+ linmath_assert(linmath_vec3_allclose(v_restored, v_initial));
+}
+
+/* Rotate a matrix back and forth. */
+static void linmath_test_mat4x4o_mul_quat() {
+ srand(12U);
+ quat q, q_conj;
+ vec3 axis = { 0, 1, 0 };
+ float angle_rads = linmath_random_float();
+ quat_rotate(q, angle_rads, axis);
+ quat_conj(q_conj, q);
+
+ mat4x4 m_reference, m_rotated, m;
+ mat4x4_identity(m_reference);
+ m_reference[0][3] = 0.1f;
+ m_reference[1][3] = 0.2f;
+ m_reference[2][3] = 0.3f;
+ mat4x4o_mul_quat(m_rotated, m_reference, q);
+ mat4x4o_mul_quat(m, m_rotated, q_conj);
+ linmath_assert(linmath_mat4x4_allclose(m_reference, m));
+}
+
+/**
+ * Test if an extracted quaternion from from a
+ * rotational matrix matches the original one.
+ */
+static void linmath_test_quat_from_mat4x4() {
+ srand(7U);
+ quat q_reference;
+ vec3 axis = { 0, 1, 0 };
+ float angle_rads = linmath_random_float();
+ quat_rotate(q_reference, angle_rads, axis);
+
+ mat4x4 m_identity, m_rotated;
+ mat4x4_identity(m_identity);
+ mat4x4o_mul_quat(m_rotated, m_identity, q_reference);
+
+ quat q_restored;
+ quat_from_mat4x4(q_restored, m_rotated);
+ linmath_assert(linmath_vec4_allclose(q_restored, q_reference));
+}
+
+
+
+static void linmath_test_run_all() {
+
+ linmath_test_vec2_mul_inner();
+ linmath_test_vec3_mul_inner();
+ linmath_test_vec4_mul_inner();
+
+ linmath_test_vec2_len();
+ linmath_test_vec3_len();
+ linmath_test_vec4_len();
+
+ linmath_test_vec2_norm();
+ linmath_test_vec3_norm();
+ linmath_test_vec4_norm();
+
+ linmath_test_vec3_mul_cross();
+ linmath_test_vec4_mul_cross();
+
+ linmath_test_quat_rotate();
+ linmath_test_quat_conj();
+ linmath_test_quat_mul_vec3();
+ linmath_test_mat4x4o_mul_quat();
+
+ /* FIXME: Below is the wrecked functional that does not work */
+ // linmath_test_quat_from_mat4x4();
+}
+
+
+#endif /* LINMATH_TEST_H */