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Improve math module (#396)

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* Improve math module

- Mark almost everything constexpr
- Equality (a == b) is now exact, down to the bit level. If you want approximate equality use the new ApproxEqual method/static method
- Rename Nz::Extend to Nz::Extent
- Removed Make[] and Set[] methods in favor of their static counterpart and operator=
This commit is contained in:
Jérôme Leclercq
2023-06-02 22:30:51 +02:00
committed by GitHub
parent de88873c35
commit 1a55b550fb
64 changed files with 2200 additions and 3758 deletions
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30
tests/UnitTests/Engine/Math/QuaternionTest.cpp
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@@ -13,7 +13,7 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
{
THEN("They are the same and the proprieties of quaternions are respected")
{
REQUIRE(firstQuaternion == secondQuaternion);
REQUIRE(firstQuaternion.ApproxEqual(secondQuaternion));
REQUIRE(firstQuaternion.ComputeW() == secondQuaternion.Normalize());
REQUIRE(firstQuaternion.Conjugate() == secondQuaternion.Inverse());
REQUIRE(firstQuaternion.DotProduct(secondQuaternion) == Catch::Approx(1.f));
@@ -24,13 +24,13 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
{
THEN("Multiply with a vectorX is identity")
{
REQUIRE((firstQuaternion * Nz::Vector3f::UnitX()) == Nz::Vector3f::UnitX());
REQUIRE((firstQuaternion * Nz::Vector3f::UnitX()).ApproxEqual(Nz::Vector3f::UnitX()));
}
AND_THEN("Multiply with a vectorY or Z is opposite")
{
REQUIRE((firstQuaternion * Nz::Vector3f::UnitY()) == -Nz::Vector3f::UnitY());
REQUIRE((firstQuaternion * Nz::Vector3f::UnitZ()) == -Nz::Vector3f::UnitZ());
REQUIRE((firstQuaternion * Nz::Vector3f::UnitY()).ApproxEqual(-Nz::Vector3f::UnitY()));
REQUIRE((firstQuaternion * Nz::Vector3f::UnitZ()).ApproxEqual(-Nz::Vector3f::UnitZ()));
}
}
@@ -108,7 +108,7 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
{
THEN("These results are expected")
{
REQUIRE(x20 == Nz::Quaternionf(Nz::DegreeAnglef(20.f), Nz::Vector3f::UnitX()));
REQUIRE(x20.ApproxEqual(Nz::Quaternionf(Nz::DegreeAnglef(20.f), Nz::Vector3f::UnitX())));
REQUIRE(x30a == x30b);
}
}
@@ -136,7 +136,7 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
Nz::Quaternionf tmp(1.f, 1.f, 0.f, 0.f);
tmp.Normalize();
REQUIRE(tmp == tmp.ToEulerAngles().ToQuaternion());
REQUIRE(tmp.ApproxEqual(tmp.ToEulerAngles().ToQuaternion()));
}
}
@@ -154,8 +154,8 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
REQUIRE(slerpx10x30b.x == Catch::Approx(x20.x));
REQUIRE(slerpx10x30b.y == Catch::Approx(x20.y));
REQUIRE(slerpx10x30b.z == Catch::Approx(x20.z));
REQUIRE(Nz::Quaternionf::Slerp(x10, x30a, 0.f) == x10);
REQUIRE(Nz::Quaternionf::Slerp(x10, x30a, 1.f) == x30a);
REQUIRE(Nz::Quaternionf::Slerp(x10, x30a, 0.f).ApproxEqual(x10));
REQUIRE(Nz::Quaternionf::Slerp(x10, x30a, 1.f).ApproxEqual(x30a));
}
AND_THEN("The half of 45 is 22.5")
@@ -178,21 +178,21 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
{
Nz::Quaternionf rotationBetweenXY = Nz::Quaternionf::RotationBetween(Nz::Vector3f::UnitX(), Nz::Vector3f::UnitY());
Nz::Quaternionf rotation90Z(Nz::DegreeAnglef(90.f), Nz::Vector3f::UnitZ());
REQUIRE(rotation90Z == rotationBetweenXY);
REQUIRE(rotation90Z.ApproxEqual(rotationBetweenXY));
}
THEN("The rotation in right-handed is 90 degree on y")
{
Nz::Quaternionf rotationBetweenXZ = Nz::Quaternionf::RotationBetween(Nz::Vector3f::UnitX(), Nz::Vector3f::UnitZ());
Nz::Quaternionf rotation90Y(Nz::DegreeAnglef(-90.f), Nz::Vector3f::UnitY());
REQUIRE(rotation90Y == rotationBetweenXZ);
REQUIRE(rotation90Y.ApproxEqual(rotationBetweenXZ));
}
THEN("The rotation in right-handed is 90 degree on x")
{
Nz::Quaternionf rotationBetweenYZ = Nz::Quaternionf::RotationBetween(Nz::Vector3f::UnitY(), Nz::Vector3f::UnitZ());
Nz::Quaternionf rotation90X(Nz::DegreeAnglef(90.f), Nz::Vector3f::UnitX());
REQUIRE(rotation90X == rotationBetweenYZ);
REQUIRE(rotation90X.ApproxEqual(rotationBetweenYZ));
}
THEN("The rotation in right-handed is 90 degree on y with non-unit vectors")
@@ -200,7 +200,7 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
Nz::Vector3f origin(1.f, 0.f, 1.f);
Nz::Vector3f extremity(-1.f, 0.f, 1.f);
Nz::Quaternionf rotation = Nz::Quaternionf::RotationBetween(origin, extremity);
REQUIRE(rotation * origin == extremity);
REQUIRE((rotation * origin).ApproxEqual(extremity));
}
}
}
@@ -229,9 +229,9 @@ SCENARIO("Quaternion", "[MATH][QUATERNION]")
CHECK(Nz::NumberEquals(rotation90Y.ToEulerAngles().yaw.ToDegrees(), 90.f, 0.1f));
CHECK(Nz::NumberEquals(rotation90Z.ToEulerAngles().roll.ToDegrees(), 90.f, 0.1f));
CHECK(rotation180X == Nz::EulerAnglesf(180.f, 0.f, 0.f));
CHECK(rotation180Y == Nz::EulerAnglesf(0.f, 180.f, 0.f));
CHECK(rotation180Z == Nz::EulerAnglesf(0.f, 0.f, 180.f));
CHECK(rotation180X.ApproxEqual(Nz::EulerAnglesf(180.f, 0.f, 0.f)));
CHECK(rotation180Y.ApproxEqual(Nz::EulerAnglesf(0.f, 180.f, 0.f)));
CHECK(rotation180Z.ApproxEqual(Nz::EulerAnglesf(0.f, 0.f, 180.f)));
CHECK(Nz::NumberEquals(rotation270X.ToEulerAngles().pitch.ToDegrees(), -90.f, 0.1f));
CHECK(Nz::NumberEquals(rotation270Y.ToEulerAngles().yaw.ToDegrees(), -90.f, 0.1f));