magnum/src/Math/Test/Matrix4Test.cpp

/*
    Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz>

    This file is part of Magnum.

    Magnum is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License version 3
    only, as published by the Free Software Foundation.

    Magnum is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU Lesser General Public License version 3 for more details.
*/

#include "Matrix4Test.h"

#include <sstream>

#include "Constants.h"
#include "Matrix4.h"

CORRADE_TEST_MAIN(Magnum::Math::Test::Matrix4Test)

using namespace std;
using namespace Corrade::Utility;

namespace Magnum { namespace Math { namespace Test {

typedef Math::Matrix4<float> Matrix4;
typedef Math::Matrix<3, float> Matrix3;
typedef Math::Vector3<float> Vector3;

Matrix4Test::Matrix4Test() {
    addTests(&Matrix4Test::constructIdentity,
             &Matrix4Test::translation,
             &Matrix4Test::scaling,
             &Matrix4Test::rotation,
             &Matrix4Test::rotationX,
             &Matrix4Test::rotationY,
             &Matrix4Test::rotationZ,
             &Matrix4Test::rotationScalingPart,
             &Matrix4Test::rotationPart,
             &Matrix4Test::vectorParts,
             &Matrix4Test::debug,
             &Matrix4Test::configuration);
}

void Matrix4Test::constructIdentity() {
    Matrix4 identity;
    Matrix4 identity2(Matrix4::Identity);
    Matrix4 identity3(Matrix4::Identity, 4.0f);

    Matrix4 identityExpected(
        1.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f, 0.0f,
        0.0f, 0.0f, 1.0f, 0.0f,
        0.0f, 0.0f, 0.0f, 1.0f
    );

    Matrix4 identity3Expected(
        4.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 4.0f, 0.0f, 0.0f,
        0.0f, 0.0f, 4.0f, 0.0f,
        0.0f, 0.0f, 0.0f, 4.0f
    );

    CORRADE_COMPARE(identity, identityExpected);
    CORRADE_COMPARE(identity2, identityExpected);
    CORRADE_COMPARE(identity3, identity3Expected);
}

void Matrix4Test::translation() {
    Matrix4 matrix(
        1.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f, 0.0f,
        0.0f, 0.0f, 1.0f, 0.0f,
        3.0f, 1.0f, 2.0f, 1.0f
    );

    CORRADE_COMPARE(Matrix4::translation({3.0f, 1.0f, 2.0f}), matrix);
}

void Matrix4Test::scaling() {
    Matrix4 matrix(
        3.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 1.5f, 0.0f, 0.0f,
        0.0f, 0.0f, 2.0f, 0.0f,
        0.0f, 0.0f, 0.0f, 1.0f
    );

    CORRADE_COMPARE(Matrix4::scaling({3.0f, 1.5f, 2.0f}), matrix);
}

void Matrix4Test::rotation() {
    ostringstream o;
    Error::setOutput(&o);

    CORRADE_COMPARE(Matrix4::rotation(deg(-74.0f), {-1.0f, 2.0f, 2.0f}), Matrix4());
    CORRADE_COMPARE(o.str(), "Math::Matrix4::rotation(): axis must be normalized\n");

    Matrix4 matrix(
         0.35612214f, -0.80181062f,   0.47987163f, 0.0f,
         0.47987163f,  0.59757638f,   0.6423595f,  0.0f,
        -0.80181062f,  0.0015183985f, 0.59757638f, 0.0f,
         0.0f,         0.0f,          0.0f,        1.0f
    );
    CORRADE_COMPARE(Matrix4::rotation(deg(-74.0f), Vector3(-1.0f, 2.0f, 2.0f).normalized()), matrix);
}

void Matrix4Test::rotationX() {
    Matrix4 matrix(1.0f,  0.0f,        0.0f,        0.0f,
                   0.0f,  0.90096887f, 0.43388374f, 0.0f,
                   0.0f, -0.43388374f, 0.90096887f, 0.0f,
                   0.0f,  0.0f,        0.0f,        1.0f);
    CORRADE_COMPARE(Matrix4::rotation(rad(Math::Constants<float>::pi()/7), Vector3::xAxis()), matrix);
    CORRADE_COMPARE(Matrix4::rotationX(rad(Math::Constants<float>::pi()/7)), matrix);
}

void Matrix4Test::rotationY() {
    Matrix4 matrix(0.90096887f, 0.0f, -0.43388374f, 0.0f,
                   0.0f,        1.0f,  0.0f,        0.0f,
                   0.43388374f, 0.0f,  0.90096887f, 0.0f,
                   0.0f,        0.0f,  0.0f,        1.0f);
    CORRADE_COMPARE(Matrix4::rotation(rad(Math::Constants<float>::pi()/7), Vector3::yAxis()), matrix);
    CORRADE_COMPARE(Matrix4::rotationY(rad(Math::Constants<float>::pi()/7)), matrix);
}

void Matrix4Test::rotationZ() {
    Matrix4 matrix( 0.90096887f, 0.43388374f, 0.0f, 0.0f,
                   -0.43388374f, 0.90096887f, 0.0f, 0.0f,
                    0.0f,        0.0f,        1.0f, 0.0f,
                    0.0f,        0.0f,        0.0f, 1.0f);
    CORRADE_COMPARE(Matrix4::rotation(rad(Math::Constants<float>::pi()/7), Vector3::zAxis()), matrix);
    CORRADE_COMPARE(Matrix4::rotationZ(rad(Math::Constants<float>::pi()/7)), matrix);
}

void Matrix4Test::rotationScalingPart() {
    Matrix4 m(
        3.0f, 5.0f, 8.0f, 4.0f,
        4.0f, 4.0f, 7.0f, 3.0f,
        7.0f, -1.0f, 8.0f, 0.0f,
        9.0f, 4.0f, 5.0f, 9.0f
    );

    Matrix3 expected(
        3.0f, 5.0f, 8.0f,
        4.0f, 4.0f, 7.0f,
        7.0f, -1.0f, 8.0f
    );

    CORRADE_COMPARE(m.rotationScaling(), expected);
}

void Matrix4Test::rotationPart() {
    Matrix3 expectedRotationPart(
        0.35612214f,  -0.80181062f, 0.47987163f,
        0.47987163f,  0.59757638f,  0.6423595f,
        -0.80181062f, 0.0015183985f, 0.59757638f
    );

    Matrix4 rotation = Matrix4::rotation(deg(-74.0f), Vector3(-1.0f, 2.0f, 2.0f).normalized());
    CORRADE_COMPARE(rotation.rotation(), expectedRotationPart);

    Matrix4 rotationTransformed = Matrix4::translation({2.0f, 5.0f, -3.0f})*rotation*Matrix4::scaling(Vector3(9.0f));
    CORRADE_COMPARE(rotationTransformed.rotation(), expectedRotationPart);
}

void Matrix4Test::vectorParts() {
    Matrix4 m(-1.0f, 0.0f, 0.0f, 0.0f,
              0.0f, 12.0f, 0.0f, 0.0f,
              0.0f, 0.0f, 35.0f, 0.0f,
              -5.0f, 12.0f, 0.5f, 1.0f);

    CORRADE_COMPARE(m.right(), Vector3::xAxis(-1.0f));
    CORRADE_COMPARE(m.up(), Vector3::yAxis(12.0f));
    CORRADE_COMPARE(m.backward(), Vector3::zAxis(35.0f));
    CORRADE_COMPARE(m.translation(), Vector3(-5.0f, 12.0f, 0.5f));
}

void Matrix4Test::debug() {
    Matrix4 m(
        3.0f, 5.0f, 8.0f, 4.0f,
        4.0f, 4.0f, 7.0f, 3.0f,
        7.0f, -1.0f, 8.0f, 0.0f,
        9.0f, 4.0f, 5.0f, 9.0f
    );

    ostringstream o;
    Debug(&o) << m;
    CORRADE_COMPARE(o.str(), "Matrix(3, 4, 7, 9,\n"
                             "       5, 4, -1, 4,\n"
                             "       8, 7, 8, 5,\n"
                             "       4, 3, 0, 9)\n");
}

void Matrix4Test::configuration() {
    Matrix4 m(
        3.0f, 5.0f, 8.0f, 4.0f,
        4.0f, 4.0f, 7.0f, 3.125f,
        7.0f, -1.0f, 8.0f, 0.0f,
        9.0f, 4.0f, 5.0f, 9.55f
    );
    string value("3 4 7 9 5 4 -1 4 8 7 8 5 4 3.125 0 9.55");
    CORRADE_COMPARE(ConfigurationValue<Matrix4>::toString(m), value);
    CORRADE_COMPARE(ConfigurationValue<Matrix4>::fromString(value), m);
}

}}}