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

/*
    This file is part of Magnum.

    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016
              Vladimír Vondruš <mosra@centrum.cz>

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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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    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
    DEALINGS IN THE SOFTWARE.
*/

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

#include "Magnum/Math/DualQuaternion.h"

struct DualQuat {
    struct { float x, y, z, w; } re;
    struct { float x, y, z, w; } du;
};

namespace Magnum { namespace Math {

namespace Implementation {

template<> struct DualQuaternionConverter<Float, DualQuat> {
    #if !defined(__GNUC__) || defined(__clang__)
    constexpr /* See the convert() test case */
    #endif
    static DualQuaternion<Float> from(const DualQuat& other) {
        return {{{other.re.x, other.re.y, other.re.z}, other.re.w},
                {{other.du.x, other.du.y, other.du.z}, other.du.w}};
    }

    constexpr static DualQuat to(const DualQuaternion<Float>& other) {
        return {{other.real().vector().x(), other.real().vector().y(), other.real().vector().z(), other.real().scalar()},
                {other.dual().vector().x(), other.dual().vector().y(), other.dual().vector().z(), other.dual().scalar()}};
    }
};

}

namespace Test {

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

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

    void isNormalized();

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

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

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

    void sclerp();

    void debug();
};

typedef Math::Deg<Float> Deg;
typedef Math::Rad<Float> Rad;
typedef Math::Dual<Float> Dual;
typedef Math::Matrix4<Float> Matrix4;
typedef Math::DualQuaternion<Float> DualQuaternion;
typedef Math::Quaternion<Float> Quaternion;
typedef Math::Vector3<Float> Vector3;

using namespace Literals;

DualQuaternionTest::DualQuaternionTest() {
    addTests({&DualQuaternionTest::construct,
              &DualQuaternionTest::constructVectorScalar,
              &DualQuaternionTest::constructIdentity,
              &DualQuaternionTest::constructZero,
              &DualQuaternionTest::constructNoInit,
              &DualQuaternionTest::constructFromVector,
              &DualQuaternionTest::constructConversion,
              &DualQuaternionTest::constructCopy,
              &DualQuaternionTest::convert,

              &DualQuaternionTest::isNormalized,

              &DualQuaternionTest::lengthSquared,
              &DualQuaternionTest::length,
              &DualQuaternionTest::normalized,

              &DualQuaternionTest::quaternionConjugated,
              &DualQuaternionTest::dualConjugated,
              &DualQuaternionTest::conjugated,
              &DualQuaternionTest::inverted,
              &DualQuaternionTest::invertedNormalized,

              &DualQuaternionTest::rotation,
              &DualQuaternionTest::translation,
              &DualQuaternionTest::combinedTransformParts,
              &DualQuaternionTest::matrix,
              &DualQuaternionTest::transformPoint,
              &DualQuaternionTest::transformPointNormalized,

              &DualQuaternionTest::sclerp,

              &DualQuaternionTest::debug});
}

void DualQuaternionTest::construct() {
    constexpr DualQuaternion a = {{{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f}};
    CORRADE_COMPARE(a, DualQuaternion({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f}));

    constexpr Quaternion b = a.real();
    CORRADE_COMPARE(b, Quaternion({1.0f, 2.0f, 3.0f}, -4.0f));

    constexpr Quaternion c = a.dual();
    CORRADE_COMPARE(c, Quaternion({0.5f, -3.1f, 3.3f}, 2.0f));

    constexpr DualQuaternion d({{1.0f, 2.0f, 3.0f}, -4.0f});
    CORRADE_COMPARE(d, DualQuaternion({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.0f, 0.0f, 0.0f}, 0.0f}));
}

void DualQuaternionTest::constructVectorScalar() {
    constexpr DualQuaternion a = {{{1.0f, 2.0f, 3.0f}, {0.5f, -3.1f, 3.3f}}, {-4.0f, 2.0f}};
    CORRADE_COMPARE(a, DualQuaternion({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f}));

    constexpr Quaternion b = a.real();
    CORRADE_COMPARE(b, Quaternion({1.0f, 2.0f, 3.0f}, -4.0f));

    constexpr Quaternion c = a.dual();
    CORRADE_COMPARE(c, Quaternion({0.5f, -3.1f, 3.3f}, 2.0f));
}

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

void DualQuaternionTest::constructZero() {
    constexpr DualQuaternion a{ZeroInit};
    CORRADE_COMPARE(a, DualQuaternion({{0.0f, 0.0f, 0.0f}, 0.0f}, {{0.0f, 0.0f, 0.0f}, 0.0f}));
}

void DualQuaternionTest::constructNoInit() {
    DualQuaternion a{{{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f}};
    new(&a) DualQuaternion{NoInit};
    CORRADE_COMPARE(a, DualQuaternion({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f}));
}

void DualQuaternionTest::constructFromVector() {
    constexpr DualQuaternion a(Vector3(1.0f, 2.0f, 3.0f));
    CORRADE_COMPARE(a, DualQuaternion({{0.0f, 0.0f, 0.0f}, 1.0f}, {{1.0f, 2.0f, 3.0f}, 0.0f}));

    /* Implicit conversion is not allowed */
    CORRADE_VERIFY(!(std::is_convertible<Vector3, DualQuaternion>::value));
}

void DualQuaternionTest::constructConversion() {
    typedef Math::DualQuaternion<Int> DualQuaternioni;

    constexpr DualQuaternion a{{{1.3f, 2.7f, -15.0f}, 7.0f}, {{1.0f, -2.0f, 3.0f}, 0.0f}};
    constexpr DualQuaternioni b{a};

    CORRADE_COMPARE(b, (DualQuaternioni{{{1, 2, -15}, 7}, {{1, -2, 3}, 0}}));

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

void DualQuaternionTest::constructCopy() {
    constexpr Math::Dual<Quaternion> a({{1.0f, 2.0f, -3.0f}, -3.5f}, {{4.5f, -7.0f, 2.0f}, 1.0f});
    #ifndef CORRADE_MSVC2015_COMPATIBILITY /* Why can't be copy constexpr? */
    constexpr
    #endif
    DualQuaternion b(a);
    CORRADE_COMPARE(b, DualQuaternion({{1.0f, 2.0f, -3.0f}, -3.5f}, {{4.5f, -7.0f, 2.0f}, 1.0f}));
}

void DualQuaternionTest::convert() {
    constexpr DualQuat a{{1.5f, -3.5f, 7.0f, -0.5f}, {15.0f, 0.25f, -9.5f, 0.8f}};
    constexpr DualQuaternion b{{{1.5f, -3.5f, 7.0f}, -0.5f}, {{15.0f, 0.25f, -9.5f}, 0.8f}};

    /* 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
    DualQuaternion c{a};
    CORRADE_COMPARE(c, b);

    constexpr DualQuat d(b);
    CORRADE_COMPARE(d.re.x, a.re.x);
    CORRADE_COMPARE(d.re.y, a.re.y);
    CORRADE_COMPARE(d.re.z, a.re.z);
    CORRADE_COMPARE(d.re.w, a.re.w);
    CORRADE_COMPARE(d.du.x, a.du.x);
    CORRADE_COMPARE(d.du.y, a.du.y);
    CORRADE_COMPARE(d.du.z, a.du.z);
    CORRADE_COMPARE(d.du.w, a.du.w);

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

void DualQuaternionTest::isNormalized() {
    CORRADE_VERIFY(!DualQuaternion({{1.0f, 2.0f, 3.0f}, 4.0f}, {}).isNormalized());
    CORRADE_VERIFY((DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis())*DualQuaternion::translation({3.0f, 1.0f, -0.5f})).isNormalized());
}

void DualQuaternionTest::lengthSquared() {
    DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.0f, 3.0f}, 2.0f});
    CORRADE_COMPARE(a.lengthSquared(), Dual(30.0f, -9.0f));
}

void DualQuaternionTest::length() {
    DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.0f, 3.0f}, 2.0f});
    CORRADE_COMPARE(a.length(), Dual(5.477226f, -0.821584f));
}

void DualQuaternionTest::normalized() {
    DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.0f, 3.0f}, 2.0f});
    DualQuaternion b({{0.182574f, 0.365148f, 0.547723f}, -0.730297f}, {{0.118673f, -0.49295f, 0.629881f}, 0.255604f});
    CORRADE_COMPARE(a.normalized().length(), 1.0f);
    CORRADE_COMPARE(a.normalized(), b);
}

void DualQuaternionTest::quaternionConjugated() {
    DualQuaternion a({{ 1.0f,  2.0f,  3.0f}, -4.0f}, {{ 0.5f, -3.1f,  3.3f}, 2.0f});
    DualQuaternion b({{-1.0f, -2.0f, -3.0f}, -4.0f}, {{-0.5f,  3.1f, -3.3f}, 2.0f});

    CORRADE_COMPARE(a.quaternionConjugated(), b);
}

void DualQuaternionTest::dualConjugated() {
    DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{ 0.5f, -3.1f,  3.3f},  2.0f});
    DualQuaternion b({{1.0f, 2.0f, 3.0f}, -4.0f}, {{-0.5f,  3.1f, -3.3f}, -2.0f});

    CORRADE_COMPARE(a.dualConjugated(), b);
}

void DualQuaternionTest::conjugated() {
    DualQuaternion a({{ 1.0f,  2.0f,  3.0f}, -4.0f}, {{ 0.5f, -3.1f,  3.3f},  2.0f});
    DualQuaternion b({{-1.0f, -2.0f, -3.0f}, -4.0f}, {{ 0.5f, -3.1f,  3.3f}, -2.0f});

    CORRADE_COMPARE(a.conjugated(), b);
}

void DualQuaternionTest::inverted() {
    DualQuaternion a({{ 1.0f,  2.0f,  3.0f}, -4.0f}, {{ 2.5f, -3.1f,  3.3f}, 2.0f});
    DualQuaternion b({{-1.0f, -2.0f, -3.0f}, -4.0f}, {{-2.5f,  3.1f, -3.3f}, 2.0f});

    CORRADE_COMPARE(a*a.inverted(), DualQuaternion());
    CORRADE_COMPARE(a.inverted(), b/Dual(30.0f, -3.6f));
}

void DualQuaternionTest::invertedNormalized() {
    DualQuaternion a({{ 1.0f,  2.0f,  3.0f}, -4.0f}, {{ 2.5f, -3.1f,  3.3f}, 2.0f});
    DualQuaternion b({{-1.0f, -2.0f, -3.0f}, -4.0f}, {{-2.5f,  3.1f, -3.3f}, 2.0f});

    std::ostringstream o;
    Error redirectError{&o};
    CORRADE_COMPARE(a.invertedNormalized(), DualQuaternion());
    CORRADE_COMPARE(o.str(), "Math::DualQuaternion::invertedNormalized(): dual quaternion must be normalized\n");

    DualQuaternion normalized = a.normalized();
    DualQuaternion inverted = normalized.invertedNormalized();
    CORRADE_COMPARE(normalized*inverted, DualQuaternion());
    CORRADE_COMPARE(inverted*normalized, DualQuaternion());
    CORRADE_COMPARE(inverted, b/Math::sqrt(Dual(30.0f, -3.6f)));
}

void DualQuaternionTest::rotation() {
    std::ostringstream o;
    Error redirectError{&o};

    Vector3 axis(1.0f/Constants<Float>::sqrt3());

    CORRADE_COMPARE(DualQuaternion::rotation(Deg(120.0f), axis*2.0f), DualQuaternion());
    CORRADE_COMPARE(o.str(), "Math::Quaternion::rotation(): axis must be normalized\n");

    DualQuaternion q = DualQuaternion::rotation(Deg(120.0f), axis);
    CORRADE_COMPARE(q.length(), 1.0f);
    CORRADE_COMPARE(q, DualQuaternion({Vector3(0.5f, 0.5f, 0.5f), 0.5f}, {{}, 0.0f}));
    CORRADE_COMPARE_AS(q.rotation().angle(), Deg(120.0f), Deg);
    CORRADE_COMPARE(q.rotation().axis(), axis);

    /* Constexpr access to rotation */
    constexpr DualQuaternion b({{-1.0f, 2.0f, 3.0f}, 4.0f}, {});
    constexpr Quaternion c = b.rotation();
    CORRADE_COMPARE(c, Quaternion({-1.0f, 2.0f, 3.0f}, 4.0f));
}

void DualQuaternionTest::translation() {
    Vector3 vec(1.0f, -3.5f, 0.5f);
    DualQuaternion q = DualQuaternion::translation(vec);
    CORRADE_COMPARE(q.length(), 1.0f);
    CORRADE_COMPARE(q, DualQuaternion({}, {{0.5f, -1.75f, 0.25f}, 0.0f}));
    CORRADE_COMPARE(q.translation(), vec);
}

void DualQuaternionTest::combinedTransformParts() {
    Vector3 translation = Vector3(-1.0f, 2.0f, 3.0f);
    DualQuaternion a = DualQuaternion::translation(translation)*DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis());
    DualQuaternion b = DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis())*DualQuaternion::translation(translation);

    CORRADE_COMPARE(a.rotation().axis(), Vector3::xAxis());
    CORRADE_COMPARE(b.rotation().axis(), Vector3::xAxis());
    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(), Quaternion::rotation(Deg(23.0f), Vector3::xAxis()).transformVector(translation));
}

void DualQuaternionTest::matrix() {
    DualQuaternion q = DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis())*DualQuaternion::translation({-1.0f, 2.0f, 3.0f});
    Matrix4 m = Matrix4::rotationX(Deg(23.0f))*Matrix4::translation({-1.0f, 2.0f, 3.0f});

    /* Verify that negated dual quaternion gives the same transformation */
    CORRADE_COMPARE(q.toMatrix(), m);
    CORRADE_COMPARE((-q).toMatrix(), m);

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

    DualQuaternion p = DualQuaternion::fromMatrix(m);
    CORRADE_COMPARE(p, q);
}

void DualQuaternionTest::transformPoint() {
    DualQuaternion a = DualQuaternion::translation({-1.0f, 2.0f, 3.0f})*DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis());
    DualQuaternion b = DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis())*DualQuaternion::translation({-1.0f, 2.0f, 3.0f});
    Matrix4 m = Matrix4::translation({-1.0f, 2.0f, 3.0f})*Matrix4::rotationX(Deg(23.0f));
    Matrix4 n = Matrix4::rotationX(Deg(23.0f))*Matrix4::translation({-1.0f, 2.0f, 3.0f});
    Vector3 v(0.0f, -3.6f, 0.7f);

    Vector3 transformedA = (a*Dual(2)).transformPoint(v);
    CORRADE_COMPARE(transformedA, m.transformPoint(v));
    CORRADE_COMPARE(transformedA, Vector3(-1.0f, -1.58733f, 2.237721f));

    Vector3 transformedB = (b*Dual(2)).transformPoint(v);
    CORRADE_COMPARE(transformedB, n.transformPoint(v));
    CORRADE_COMPARE(transformedB, Vector3(-1.0f, -2.918512f, 2.780698f));
}

void DualQuaternionTest::transformPointNormalized() {
    DualQuaternion a = DualQuaternion::translation({-1.0f, 2.0f, 3.0f})*DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis());
    DualQuaternion b = DualQuaternion::rotation(Deg(23.0f), Vector3::xAxis())*DualQuaternion::translation({-1.0f, 2.0f, 3.0f});
    Matrix4 m = Matrix4::translation({-1.0f, 2.0f, 3.0f})*Matrix4::rotationX(Deg(23.0f));
    Matrix4 n = Matrix4::rotationX(Deg(23.0f))*Matrix4::translation({-1.0f, 2.0f, 3.0f});
    Vector3 v(0.0f, -3.6f, 0.7f);

    std::ostringstream o;
    Error redirectError{&o};
    (a*Dual(2)).transformPointNormalized(v);
    CORRADE_COMPARE(o.str(), "Math::DualQuaternion::transformPointNormalized(): dual quaternion must be normalized\n");

    Vector3 transformedA = a.transformPointNormalized(v);
    CORRADE_COMPARE(transformedA, m.transformPoint(v));
    CORRADE_COMPARE(transformedA, Vector3(-1.0f, -1.58733f, 2.237721f));

    Vector3 transformedB = b.transformPointNormalized(v);
    CORRADE_COMPARE(transformedB, n.transformPoint(v));
    CORRADE_COMPARE(transformedB, Vector3(-1.0f, -2.918512f, 2.780698f));
}

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

    Debug(&o) << DualQuaternion({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.1f, 3.3f}, 2.0f});
    CORRADE_COMPARE(o.str(), "DualQuaternion({{1, 2, 3}, -4}, {{0.5, -3.1, 3.3}, 2})\n");
}

void DualQuaternionTest::sclerp() {
    const DualQuaternion from = DualQuaternion::translation(Vector3{20.0f, .0f, .0f})*DualQuaternion::rotation(180.0_degf, Vector3{.0f, 1.0f, .0f});
    const DualQuaternion to = DualQuaternion::translation(Vector3{42.0f, 42.0f, 42.0f})*DualQuaternion::rotation(75.0_degf, Vector3{1.0f, .0f, .0f});

    constexpr DualQuaternion expected1{Quaternion{{.23296291314453416f, .9238795325112867f, .0f}, .303603179340959f},
                                       Quaternion{{2.235619101917766f, 2.8169719855488395f, 10.722240915237789f}, -10.287636336847847f}};
    constexpr DualQuaternion expected2{Quaternion{{.4437679833315842f, .6845471059286887f, .0f}, .5783296955322937f},
                                       Quaternion{{5.764394870292371f, 11.161306653193549f, 9.671267015501789f}, -17.634394590712066f}};
    constexpr DualQuaternion expected3{Quaternion{{.5979785904506439f, .18738131458572468f, .0f}, .7793008714910992f},
                                       Quaternion{{13.409627907069353f, 25.452124456683414f, 5.681581047706807f}, -16.409481115504978f}};

    const DualQuaternion interp1 = Math::sclerp(from, to, 0.25f);
    const DualQuaternion interp2 = Math::sclerp(from, to, 0.52f);
    const DualQuaternion interp3 = Math::sclerp(from, to, 0.88f);

    CORRADE_COMPARE(interp1, expected1);
    CORRADE_COMPARE(interp2, expected2);
    CORRADE_COMPARE(interp3, expected3);

    /* Edge cases: */

    /* Dual quaternions with identical rotation */
    CORRADE_COMPARE(Math::sclerp(from, from, 0.42f), from);
    CORRADE_COMPARE(Math::sclerp(from, DualQuaternion(-from.real(), from.dual()), 0.42f), from);

    /* No difference in rotation, but in translation */
    const auto rotation = DualQuaternion::rotation(35.0_degf, Vector3{0.3f, 0.2f, 0.1f});
    CORRADE_COMPARE(Math::sclerp(DualQuaternion::translation(Vector3{1.0f, 2.0f, 4.0f})*rotation, DualQuaternion::translation(Vector3{5, -6, 2})*rotation, 0.25f),
                    DualQuaternion::translation(Vector3{2.0f, 0.0f, 3.5f})*rotation);
}

}}}

CORRADE_TEST_MAIN(Magnum::Math::Test::DualQuaternionTest)