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102 lines
3.7 KiB
102 lines
3.7 KiB
/* |
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This file is part of Magnum. |
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Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, |
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2020, 2021, 2022, 2023 Vladimír Vondruš <mosra@centrum.cz> |
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Permission is hereby granted, free of charge, to any person obtaining a |
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copy of this software and associated documentation files (the "Software"), |
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to deal in the Software without restriction, including without limitation |
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the rights to use, copy, modify, merge, publish, distribute, sublicense, |
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and/or sell copies of the Software, and to permit persons to whom the |
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Software is furnished to do so, subject to the following conditions: |
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The above copyright notice and this permission notice shall be included |
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in all copies or substantial portions of the Software. |
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
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THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
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DEALINGS IN THE SOFTWARE. |
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*/ |
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#include <Corrade/TestSuite/Tester.h> |
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#include "Magnum/Math/Matrix3.h" |
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#include "Magnum/Math/Matrix4.h" |
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#include "Magnum/Math/Algorithms/Qr.h" |
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namespace Magnum { namespace Math { namespace Algorithms { namespace Test { namespace { |
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struct QrTest: TestSuite::Tester { |
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explicit QrTest(); |
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void test(); |
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void decomposeRotationScaling(); |
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void decomposeRotationShear(); |
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}; |
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using namespace Math::Literals; |
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using Magnum::Matrix3x3; |
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using Magnum::Vector3; |
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using Magnum::Matrix4; |
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QrTest::QrTest() { |
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addTests({&QrTest::test, |
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&QrTest::decomposeRotationScaling, |
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&QrTest::decomposeRotationShear}); |
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} |
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void QrTest::test() { |
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Matrix3x3 a{Vector3{ 0.0f, 3.0f, 4.0f}, |
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Vector3{-20.0f, 27.0f, 11.0f}, |
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Vector3{-14.0f, -4.0f, -2.0f}}; |
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std::pair<Matrix3x3, Matrix3x3> qr = Algorithms::qr(a); |
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auto qExpected = Matrix3x3{Vector3{ 0.0f, 15.0f, 20.0f}, |
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Vector3{-20.0f, 12.0f, -9.0f}, |
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Vector3{-15.0f, -16.0f, 12.0f}}/25.0f; |
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CORRADE_COMPARE(qr.first, qExpected); |
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Matrix3x3 rExpected{Vector3{ 5.0f, 0.0f, 0.0f}, |
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Vector3{25.0f, 25.0f, 0.0f}, |
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Vector3{-4.0f, 10.0f, 10.0f}}; |
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CORRADE_COMPARE(qr.second, rExpected); |
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} |
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void QrTest::decomposeRotationScaling() { |
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Matrix4 a = Matrix4::rotationZ(35.0_degf)*Matrix4::scaling({1.5f, 2.0f, 1.0f}); |
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std::pair<Matrix3x3, Matrix3x3> qr = Algorithms::qr(a.rotationScaling()); |
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CORRADE_COMPARE(qr.first*qr.second, a.rotationScaling()); |
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auto q4 = Matrix4::from(qr.first, {}); |
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auto r4 = Matrix4::from(qr.second, {}); |
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CORRADE_COMPARE(q4, Matrix4::rotationZ(35.0_degf)); |
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CORRADE_COMPARE(r4, Matrix4::scaling({1.5f, 2.0f, 1.0f})); |
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} |
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void QrTest::decomposeRotationShear() { |
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/* Like above, but with order flipped, which results in a shear */ |
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Matrix4 a = Matrix4::scaling({1.5f, 2.0f, 1.0f})*Matrix4::rotationZ(35.0_degf); |
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std::pair<Matrix3x3, Matrix3x3> qr = Algorithms::qr(a.rotationScaling()); |
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CORRADE_COMPARE(qr.first*qr.second, a.rotationScaling()); |
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auto q4 = Matrix4::from(qr.first, {}); |
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auto r4 = Matrix4::from(qr.second, {}); |
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CORRADE_COMPARE(q4, Matrix4::rotationZ(43.03357_degf)); |
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CORRADE_COMPARE(r4.scaling(), (Vector3{1.68099f, 1.85048f, 1.0f})); |
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CORRADE_COMPARE(r4.rotationShear(), Matrix4::shearingXZ(0.274077f, 0.0f).rotationShear()); |
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} |
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}}}}} |
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CORRADE_TEST_MAIN(Magnum::Math::Algorithms::Test::QrTest)
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