175 lines
6.2 KiB
C++
175 lines
6.2 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2013-02-10
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// Updated : 2013-02-11
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// Licence : This source is under MIT licence
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// File : test/gtc/gtc_dual_quaternion.cpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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#include <glm/gtx/dual_quaternion.hpp>
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#include <glm/gtc/matrix_transform.hpp>
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#include <glm/gtc/epsilon.hpp>
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#include <glm/gtx/euler_angles.hpp>
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#include <glm/vector_relational.hpp>
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#include <iostream>
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int myrand()
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{
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static int holdrand = 1;
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return (((holdrand = holdrand * 214013L + 2531011L) >> 16) & 0x7fff);
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}
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float myfrand() // returns values from -1 to 1 inclusive
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{
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return float(double(myrand()) / double( 0x7ffff )) * 2.0f - 1.0f;
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}
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int test_dquat_type()
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{
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glm::dvec3 vA;
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glm::dquat dqA,dqB;
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glm::ddualquat C(dqA,dqB);
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glm::ddualquat B(dqA);
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glm::ddualquat D(dqA,vA);
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return 0;
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}
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int test_scalars() {
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float const Epsilon = 0.0001f;
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int Error(0);
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glm::quat src_q1 = glm::quat(1.0f,2.0f,3.0f,4.0f);
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glm::quat src_q2 = glm::quat(5.0f,6.0f,7.0f,8.0f);
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glm::dualquat src1(src_q1,src_q2);
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{
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glm::dualquat dst1 = src1 * 2.0f;
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glm::dualquat dst2 = 2.0f * src1;
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glm::dualquat dst3 = src1;
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dst3 *= 2.0f;
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glm::dualquat dstCmp(src_q1 * 2.0f,src_q2 * 2.0f);
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Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst3.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst3.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
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}
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{
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glm::dualquat dst1 = src1 / 2.0f;
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glm::dualquat dst2 = src1;
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dst2 /= 2.0f;
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glm::dualquat dstCmp(src_q1 / 2.0f,src_q2 / 2.0f);
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Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
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}
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return Error;
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}
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int test_inverse()
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{
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int Error(0);
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float const Epsilon = 0.0001f;
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glm::dualquat dqid;
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glm::mat4x4 mid(1.0f);
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for (int j = 0; j < 100; ++j)
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{
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glm::mat4x4 rot = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
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glm::vec3 vt = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
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glm::mat4x4 m = glm::translate(mid, vt) * rot;
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glm::quat qr = glm::quat_cast(m);
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glm::dualquat dq(qr);
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glm::dualquat invdq = glm::inverse(dq);
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glm::dualquat r1 = invdq * dq;
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glm::dualquat r2 = dq * invdq;
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Error += glm::all(glm::epsilonEqual(r1.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r1.dual, dqid.dual, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(r2.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r2.dual, dqid.dual, Epsilon)) ? 0 : 1;
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// testing commutative property
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glm::dualquat r ( glm::quat( myfrand() * glm::pi<float>() * 2.0f, myfrand(), myfrand(), myfrand() ),
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glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f) );
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glm::dualquat riq = (r * invdq) * dq;
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glm::dualquat rqi = (r * dq) * invdq;
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Error += glm::all(glm::epsilonEqual(riq.real, rqi.real, Epsilon)) && glm::all(glm::epsilonEqual(riq.dual, rqi.dual, Epsilon)) ? 0 : 1;
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}
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return Error;
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}
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int test_mul()
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{
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int Error(0);
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float const Epsilon = 0.0001f;
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glm::mat4x4 mid(1.0f);
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for (int j = 0; j < 100; ++j) {
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// generate random rotations and translations and compare transformed by matrix and dualquats random points
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glm::vec3 vt1 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
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glm::vec3 vt2 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
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glm::mat4x4 rot1 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
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glm::mat4x4 rot2 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
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glm::mat4x4 m1 = glm::translate(mid, vt1) * rot1;
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glm::mat4x4 m2 = glm::translate(mid, vt2) * rot2;
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glm::mat4x4 m3 = m2 * m1;
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glm::mat4x4 m4 = m1 * m2;
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glm::quat qrot1 = glm::quat_cast(rot1);
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glm::quat qrot2 = glm::quat_cast(rot2);
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glm::dualquat dq1 = glm::dualquat(qrot1,vt1);
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glm::dualquat dq2 = glm::dualquat(qrot2,vt2);
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glm::dualquat dq3 = dq2 * dq1;
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glm::dualquat dq4 = dq1 * dq2;
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for (int i = 0; i < 100; ++i) {
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glm::vec4 src_pt = glm::vec4(myfrand() * 4.0f, myfrand() * 5.0f, myfrand() * 3.0f,1.0f);
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// test both multiplication orders
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glm::vec4 dst_pt_m3 = m3 * src_pt;
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glm::vec4 dst_pt_dq3 = dq3 * src_pt;
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glm::vec4 dst_pt_m3_i = glm::inverse(m3) * src_pt;
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glm::vec4 dst_pt_dq3_i = src_pt * dq3;
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glm::vec4 dst_pt_m4 = m4 * src_pt;
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glm::vec4 dst_pt_dq4 = dq4 * src_pt;
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glm::vec4 dst_pt_m4_i = glm::inverse(m4) * src_pt;
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glm::vec4 dst_pt_dq4_i = src_pt * dq4;
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Error += glm::all(glm::epsilonEqual(dst_pt_m3, dst_pt_dq3, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst_pt_m4, dst_pt_dq4, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst_pt_m3_i, dst_pt_dq3_i, Epsilon)) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(dst_pt_m4_i, dst_pt_dq4_i, Epsilon)) ? 0 : 1;
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}
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}
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return Error;
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}
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int main()
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{
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int Error(0);
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Error += test_dquat_type();
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Error += test_scalars();
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Error += test_inverse();
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Error += test_mul();
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//std::cout << "Errors count: " << Error << std::endl;
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return Error;
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}
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