135 lines
4.8 KiB
C++
135 lines
4.8 KiB
C++
#include <Nazara/Math/Matrix4.hpp>
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#include <catch.hpp>
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SCENARIO("Matrix4", "[MATH][MATRIX4]")
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{
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GIVEN("Two identity matrix")
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{
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NzMatrix4f firstIdentity(NzMatrix4<int>::Identity());
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NzMatrix4f secondIdentity(1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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WHEN("We compare them")
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{
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THEN("They are equal")
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{
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REQUIRE(firstIdentity == secondIdentity);
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}
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}
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WHEN("We multiply the first with a vector")
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{
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THEN("Vector stay the same")
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{
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REQUIRE(firstIdentity.Transform(NzVector2f::Unit()) == NzVector2f::Unit());
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REQUIRE(firstIdentity.Transform(NzVector3f::Unit()) == NzVector3f::Unit());
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REQUIRE(firstIdentity.Transform(NzVector4f(1.f, 1.f, 1.f, 1.f)) == NzVector4f(1.f, 1.f, 1.f, 1.f));
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}
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}
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WHEN("We multiply them")
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{
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THEN("It keeps being a identity")
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{
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REQUIRE(firstIdentity.Concatenate(secondIdentity) == firstIdentity);
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REQUIRE(firstIdentity.ConcatenateAffine(secondIdentity) == firstIdentity);
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REQUIRE((firstIdentity * secondIdentity) == firstIdentity);
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REQUIRE((1.f * firstIdentity) == firstIdentity);
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REQUIRE(firstIdentity.Inverse() == secondIdentity.InverseAffine());
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}
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}
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}
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GIVEN("Two different matrix")
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{
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NzMatrix4f matrix1(1.0f, 0.0f, 0.0f, 0.0f,
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7.0f, 2.0f, 0.0f, 0.0f,
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1.0f, 5.0f, 3.0f, 0.0f,
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8.0f, 9.0f, 2.0f, 4.0f);
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NzMatrix4f matrix2(1.0f, 1.0f, 2.0f, -1.0f,
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-2.0f, -1.0f, -2.0f, 2.0f,
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4.0f, 2.0f, 5.0f, -4.0f,
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5.0f, -3.0f, -7.0f, -6.0f);
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WHEN("We ask for determinant")
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{
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THEN("These results are expected")
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{
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REQUIRE(matrix1.GetDeterminant() == Approx(24.f));
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REQUIRE(matrix2.GetDeterminant() == Approx(-1.f));
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}
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}
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WHEN("We multiply the matrix and its inverse")
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{
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NzMatrix4f invMatrix1;
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matrix1.GetInverse(&invMatrix1);
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NzMatrix4f invMatrix2;
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matrix2.GetInverse(&invMatrix2);
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THEN("We get the identity")
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{
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NzMatrix4f tmp = matrix1 * invMatrix1;
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REQUIRE(tmp.m32 == Approx(0.f));
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REQUIRE(tmp.m42 == Approx(0.f));
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tmp.m32 = 0.f;
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tmp.m42 = 0.f;
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REQUIRE(tmp == NzMatrix4f::Identity());
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REQUIRE((matrix2 * invMatrix2) == NzMatrix4f::Identity());
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}
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}
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}
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GIVEN("One transformed matrix from rotation 45 and translation 0")
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{
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NzMatrix4f transformedMatrix = NzMatrix4f::Transform(NzVector3f::Zero(), NzQuaternionf::Identity());
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REQUIRE(transformedMatrix == NzMatrix4f::Identity());
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WHEN("We compare with the right matrix")
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{
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THEN("Rotation around X")
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{
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transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(NzFromDegrees(45.f), 0.f, 0.f).ToQuaternion());
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NzMatrix4f rotation45X(1.f, 0.f, 0.f, 0.f,
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0.f, std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, -std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, 0.f, 0.f, 1.f);
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REQUIRE(transformedMatrix == rotation45X);
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transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(NzFromDegrees(45.f), 0.f, 0.f).ToQuaternion());
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rotation45X.ApplyTranslation(NzVector3f::Unit());
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REQUIRE(transformedMatrix == rotation45X);
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}
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THEN("Rotation around Y")
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{
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transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(0.f, NzFromDegrees(45.f), 0.f).ToQuaternion());
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NzMatrix4f rotation45Y(std::sqrt(2.f) / 2.f, 0.f, -std::sqrt(2.f) / 2.f, 0.f,
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0.f, 1.f, 0.f, 0.f,
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std::sqrt(2.f) / 2.f, 0.f, std::sqrt(2.f) / 2.f, 0.f,
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0.f, 0.f, 0.f, 1.f);
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REQUIRE(transformedMatrix == rotation45Y);
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transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(0.f, NzFromDegrees(45.f), 0.f).ToQuaternion());
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rotation45Y.ApplyTranslation(NzVector3f::Unit());
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REQUIRE(transformedMatrix == rotation45Y);
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}
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THEN("Rotation around Z")
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{
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transformedMatrix.MakeTransform(NzVector3f::Zero(), NzEulerAnglesf(0.f, 0.f, NzFromDegrees(45.f)).ToQuaternion());
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NzMatrix4f rotation45Z( std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f, 0.f,
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-std::sqrt(2.f) / 2.f, std::sqrt(2.f) / 2.f, 0.f, 0.f,
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0.f, 0.f, 1.f, 0.f,
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0.f, 0.f, 0.f, 1.f);
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REQUIRE(transformedMatrix == rotation45Z);
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transformedMatrix.MakeTransform(NzVector3f::Unit(), NzEulerAnglesf(NzEulerAnglesf(0.f, 0.f, NzFromDegrees(45.f)).ToQuaternion()));
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rotation45Z.ApplyTranslation(NzVector3f::Unit());
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REQUIRE(transformedMatrix == rotation45Z);
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}
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}
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}
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}
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