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Diffstat (limited to 'linmath_test.h')
| -rw-r--r-- | linmath_test.h | 242 |
1 files changed, 242 insertions, 0 deletions
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 */ |