magnum/src/Magnum/Math/Test/DualComplexTest.cpp

/*
    This file is part of Magnum.

    Copyright © 2010, 2011, 2012, 2013, 2014, 2015
              Vladimír Vondruš <mosra@centrum.cz>

    Permission is hereby granted, free of charge, to any person obtaining a
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    to deal in the Software without restriction, including without limitation
    the rights to use, copy, modify, merge, publish, distribute, sublicense,
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    Software is furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included
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    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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    DEALINGS IN THE SOFTWARE.
*/

#include <sstream>
#include <Corrade/TestSuite/Tester.h>

#include "Magnum/Math/DualComplex.h"
#include "Magnum/Math/DualQuaternion.h"

struct DualCmpl {
    float re, im, x, y;
};

namespace Magnum { namespace Math {

namespace Implementation {

template<> struct DualComplexConverter<Float, DualCmpl> {
    #if !defined(__GNUC__) || defined(__clang__)
    constexpr /* See the convert() test case */
    #endif
    static DualComplex<Float> from(const DualCmpl& other) {
        return {{other.re, other.im}, {other.x, other.y}};
    }

    constexpr static DualCmpl to(const DualComplex<Float>& other) {
        return {other.real().real(), other.real().imaginary(), other.dual().real(), other.dual().imaginary() };
    }
};

}

namespace Test {

struct DualComplexTest: Corrade::TestSuite::Tester {
    explicit DualComplexTest();

    void construct();
    void constructIdentity();
    void constructZero();
    void constructNoInit();
    void constructFromVector();
    void constructCopy();
    void convert();

    void isNormalized();

    void multiply();

    void lengthSquared();
    void length();
    void normalized();

    void complexConjugated();
    void dualConjugated();
    void conjugated();
    void inverted();
    void invertedNormalized();

    void rotation();
    void translation();
    void combinedTransformParts();
    void matrix();
    void transformPoint();

    void debug();
};

typedef Math::Deg<Float> Deg;
typedef Math::Rad<Float> Rad;
typedef Math::Complex<Float> Complex;
typedef Math::Dual<Float> Dual;
typedef Math::DualComplex<Float> DualComplex;
typedef Math::Matrix3<Float> Matrix3;
typedef Math::Vector2<Float> Vector2;

DualComplexTest::DualComplexTest() {
    addTests({&DualComplexTest::construct,
              &DualComplexTest::constructIdentity,
              &DualComplexTest::constructZero,
              &DualComplexTest::constructNoInit,
              &DualComplexTest::constructFromVector,
              &DualComplexTest::constructCopy,
              &DualComplexTest::convert,

              &DualComplexTest::isNormalized,

              &DualComplexTest::multiply,

              &DualComplexTest::lengthSquared,
              &DualComplexTest::length,
              &DualComplexTest::normalized,

              &DualComplexTest::complexConjugated,
              &DualComplexTest::dualConjugated,
              &DualComplexTest::conjugated,
              &DualComplexTest::inverted,
              &DualComplexTest::invertedNormalized,

              &DualComplexTest::rotation,
              &DualComplexTest::translation,
              &DualComplexTest::combinedTransformParts,
              &DualComplexTest::matrix,
              &DualComplexTest::transformPoint,

              &DualComplexTest::debug});
}

void DualComplexTest::construct() {
    constexpr DualComplex a({-1.0f, 2.5f}, {3.0f, -7.5f});
    CORRADE_COMPARE(a, DualComplex({-1.0f, 2.5f}, {3.0f, -7.5f}));

    constexpr Complex b = a.real();
    constexpr Complex c = a.dual();
    CORRADE_COMPARE(b, Complex(-1.0f, 2.5f));
    CORRADE_COMPARE(c, Complex(3.0f, -7.5f));

    constexpr DualComplex d(Complex(-1.0f, 2.5f));
    CORRADE_COMPARE(d, DualComplex({-1.0f, 2.5f}, {0.0f, 0.0f}));
}

void DualComplexTest::constructIdentity() {
    constexpr DualComplex a;
    constexpr DualComplex b{IdentityInit};
    CORRADE_COMPARE(a, DualComplex({1.0f, 0.0f}, {0.0f, 0.0f}));
    CORRADE_COMPARE(b, DualComplex({1.0f, 0.0f}, {0.0f, 0.0f}));
    CORRADE_COMPARE(a.length(), 1.0f);
    CORRADE_COMPARE(b.length(), 1.0f);
}

void DualComplexTest::constructZero() {
    constexpr DualComplex a{ZeroInit};
    CORRADE_COMPARE(a, DualComplex({0.0f, 0.0f}, {0.0f, 0.0f}));
}

void DualComplexTest::constructNoInit() {
    DualComplex a{{-1.0f, 2.5f}, {3.0f, -7.5f}};
    new(&a) DualComplex{NoInit};
    CORRADE_COMPARE(a, DualComplex({-1.0f, 2.5f}, {3.0f, -7.5f}));
}

void DualComplexTest::constructFromVector() {
    constexpr DualComplex a(Vector2(1.5f, -3.0f));
    CORRADE_COMPARE(a, DualComplex({1.0f, 0.0f}, {1.5f, -3.0f}));

    /* Implicit conversion is not allowed */
    CORRADE_VERIFY(!(std::is_convertible<Vector2, DualComplex>::value));
}

void DualComplexTest::constructCopy() {
    constexpr Math::Dual<Complex> a({-1.0f, 2.5f}, {3.0f, -7.5f});
    constexpr DualComplex b(a);
    CORRADE_COMPARE(b, DualComplex({-1.0f, 2.5f}, {3.0f, -7.5f}));
}

void DualComplexTest::convert() {
    constexpr DualCmpl a{1.5f, -3.5f, 7.0f, -0.5f};
    constexpr DualComplex b{{1.5f, -3.5f}, {7.0f, -0.5f}};

    /* GCC 5.1 fills the result with zeros instead of properly calling
       delegated copy constructor if using constexpr. Reported here:
       https://gcc.gnu.org/bugzilla/show_bug.cgi?id=66450 */
    #if !defined(__GNUC__) || defined(__clang__)
    constexpr
    #endif
    DualComplex c{a};
    CORRADE_COMPARE(c, b);

    constexpr DualCmpl d(b);
    CORRADE_COMPARE(d.re, a.re);
    CORRADE_COMPARE(d.im, a.im);
    CORRADE_COMPARE(d.x, a.x);
    CORRADE_COMPARE(d.y, a.y);

    /* Implicit conversion is not allowed */
    CORRADE_VERIFY(!(std::is_convertible<DualCmpl, DualComplex>::value));
    CORRADE_VERIFY(!(std::is_convertible<DualComplex, DualCmpl>::value));
}

void DualComplexTest::isNormalized() {
    CORRADE_VERIFY(!DualComplex({2.0f, 1.0f}, {}).isNormalized());
    CORRADE_VERIFY((DualComplex::rotation(Deg(23.0f))*DualComplex::translation({6.0f, 3.0f})).isNormalized());
}

void DualComplexTest::multiply() {
    DualComplex a({-1.5f,  2.0f}, { 3.0f, -6.5f});
    DualComplex b({ 2.0f, -7.5f}, {-0.5f,  1.0f});;
    CORRADE_COMPARE(a*b, DualComplex({12.0f, 15.25f}, {1.75f, -9.0f}));
}

void DualComplexTest::lengthSquared() {
    DualComplex a({-1.0f, 3.0f}, {0.5f, -2.0f});
    CORRADE_COMPARE(a.lengthSquared(), 10.0f);
}

void DualComplexTest::length() {
    DualComplex a({-1.0f, 3.0f}, {0.5f, -2.0f});
    CORRADE_COMPARE(a.length(), 3.162278f);
}

void DualComplexTest::normalized() {
    DualComplex a({-1.0f, 3.0f}, {0.5f, -2.0f});
    DualComplex b({-0.316228f, 0.948683f}, {0.5f, -2.0f});
    CORRADE_COMPARE(a.normalized().length(), 1.0f);
    CORRADE_COMPARE(a.normalized(), b);
}

void DualComplexTest::complexConjugated() {
    DualComplex a({-1.0f,  2.5f}, {3.0f, -7.5f});
    DualComplex b({-1.0f, -2.5f}, {3.0f,  7.5f});
    CORRADE_COMPARE(a.complexConjugated(), b);
}

void DualComplexTest::dualConjugated() {
    DualComplex a({-1.0f, 2.5f}, { 3.0f, -7.5f});
    DualComplex b({-1.0f, 2.5f}, {-3.0f,  7.5f});
    CORRADE_COMPARE(a.dualConjugated(), b);
}

void DualComplexTest::conjugated() {
    DualComplex a({-1.0f,  2.5f}, { 3.0f, -7.5f});
    DualComplex b({-1.0f, -2.5f}, {-3.0f, -7.5f});
    CORRADE_COMPARE(a.conjugated(), b);
}

void DualComplexTest::inverted() {
    DualComplex a({-1.0f, 1.5f}, {3.0f, -7.5f});
    DualComplex b({-0.307692f, -0.461538f}, {4.384616f, -0.923077f});
    CORRADE_COMPARE(a*a.inverted(), DualComplex());
    CORRADE_COMPARE(a.inverted(), b);
}

void DualComplexTest::invertedNormalized() {
    DualComplex a({-0.316228f,  0.9486831f}, {     3.0f,    -2.5f});
    DualComplex b({-0.316228f, -0.9486831f}, {3.320391f, 2.05548f});

    std::ostringstream o;
    Error::setOutput(&o);
    DualComplex({-1.0f, -2.5f}, {}).invertedNormalized();
    CORRADE_COMPARE(o.str(), "Math::Complex::invertedNormalized(): complex number must be normalized\n");

    DualComplex inverted = a.invertedNormalized();
    CORRADE_COMPARE(a*inverted, DualComplex());
    CORRADE_COMPARE(inverted*a, DualComplex());
    CORRADE_COMPARE(inverted, b);
}

void DualComplexTest::rotation() {
    DualComplex a = DualComplex::rotation(Deg(120.0f));
    CORRADE_COMPARE(a.length(), 1.0f);
    CORRADE_COMPARE(a, DualComplex({-0.5f, 0.8660254f}, {0.0f, 0.0f}));
    CORRADE_COMPARE_AS(a.rotation().angle(), Deg(120.0f), Rad);

    /* Constexpr access to rotation */
    constexpr DualComplex b({-1.0f, 2.0f}, {});
    constexpr Complex c = b.rotation();
    CORRADE_COMPARE(c, Complex(-1.0f, 2.0f));
}

void DualComplexTest::translation() {
    Vector2 vec(1.5f, -3.5f);
    DualComplex a = DualComplex::translation(vec);
    CORRADE_COMPARE(a.length(), 1.0f);
    CORRADE_COMPARE(a, DualComplex({}, {1.5f, -3.5f}));
    CORRADE_COMPARE(a.translation(), vec);
}

void DualComplexTest::combinedTransformParts() {
    Vector2 translation = Vector2(-1.5f, 2.75f);
    DualComplex a = DualComplex::translation(translation)*DualComplex::rotation(Deg(23.0f));
    DualComplex b = DualComplex::rotation(Deg(23.0f))*DualComplex::translation(translation);

    CORRADE_COMPARE_AS(a.rotation().angle(), Deg(23.0f), Rad);
    CORRADE_COMPARE_AS(b.rotation().angle(), Deg(23.0f), Rad);
    CORRADE_COMPARE(a.translation(), translation);
    CORRADE_COMPARE(b.translation(), Complex::rotation(Deg(23.0f)).transformVector(translation));
}

void DualComplexTest::matrix() {
    DualComplex a = DualComplex::rotation(Deg(23.0f))*DualComplex::translation({2.0f, 3.0f});
    Matrix3 m = Matrix3::rotation(Deg(23.0f))*Matrix3::translation({2.0f, 3.0f});

    CORRADE_COMPARE(a.toMatrix(), m);

    std::ostringstream o;
    Error::setOutput(&o);
    DualComplex::fromMatrix(m*2);
    CORRADE_COMPARE(o.str(), "Math::DualComplex::fromMatrix(): the matrix doesn't represent rigid transformation\n");

    DualComplex b = DualComplex::fromMatrix(m);
    CORRADE_COMPARE(b, a);
}

void DualComplexTest::transformPoint() {
    DualComplex a = DualComplex::translation({2.0f, 3.0f})*DualComplex::rotation(Deg(23.0f));
    DualComplex b = DualComplex::rotation(Deg(23.0f))*DualComplex::translation({2.0f, 3.0f});
    Matrix3 m = Matrix3::translation({2.0f, 3.0f})*Matrix3::rotation(Deg(23.0f));
    Matrix3 n = Matrix3::rotation(Deg(23.0f))*Matrix3::translation({2.0f, 3.0f});
    Vector2 v(-3.6f, 0.7f);

    Vector2 transformedA = a.transformPoint(v);
    CORRADE_COMPARE(transformedA, m.transformPoint(v));
    CORRADE_COMPARE(transformedA, Vector2(-1.58733f, 2.237721f));

    Vector2 transformedB = b.transformPoint(v);
    CORRADE_COMPARE(transformedB, n.transformPoint(v));
    CORRADE_COMPARE(transformedB, Vector2(-2.918512f, 2.780698f));
}

void DualComplexTest::debug() {
    std::ostringstream o;

    Debug(&o) << DualComplex({-1.0f, -2.5f}, {-3.0f, -7.5f});
    CORRADE_COMPARE(o.str(), "DualComplex({-1, -2.5}, {-3, -7.5})\n");
}

}}}

CORRADE_TEST_MAIN(Magnum::Math::Test::DualComplexTest)