From 0a79c70dfff72f140e4296ed370faf6f62371edb Mon Sep 17 00:00:00 2001 From: Ben Visness Date: Wed, 20 Jun 2018 16:00:24 +0200 Subject: [PATCH] Add more tests that actually break stuff for some reason --- HandmadeMath.h | 28 ++++---- test/categories/MatrixOps.h | 124 ++++++++++++++++++++++++++++++++---- 2 files changed, 125 insertions(+), 27 deletions(-) diff --git a/HandmadeMath.h b/HandmadeMath.h index 13de666..5306201 100644 --- a/HandmadeMath.h +++ b/HandmadeMath.h @@ -2354,29 +2354,29 @@ hmm_quaternion HMM_Mat4ToQuaternion(hmm_mat4 m) float trace = m.Elements[0][0] + m.Elements[1][1] + m.Elements[2][2]; if (trace > 0) { float s = 0.5f / HMM_SquareRootF(trace + 1.0f); - q.X = (m.Elements[2][1] - m.Elements[1][2] ) * s; - q.Y = (m.Elements[0][2] - m.Elements[2][0] ) * s; - q.Z = (m.Elements[1][0] - m.Elements[0][1] ) * s; + q.X = (m.Elements[1][2] - m.Elements[2][1] ) * s; + q.Y = (m.Elements[2][0] - m.Elements[0][2] ) * s; + q.Z = (m.Elements[0][1] - m.Elements[1][0] ) * s; q.W = 0.25f / s; } else { if (m.Elements[0][0] > m.Elements[1][1] && m.Elements[0][0] > m.Elements[2][2]) { float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[0][0] - m.Elements[1][1] - m.Elements[2][2]); q.X = 0.25f * s; - q.Y = (m.Elements[0][1] + m.Elements[1][0] ) / s; - q.Z = (m.Elements[0][2] + m.Elements[2][0] ) / s; - q.W = (m.Elements[2][1] - m.Elements[1][2] ) / s; + q.Y = (m.Elements[1][0] + m.Elements[0][1]) / s; + q.Z = (m.Elements[2][0] + m.Elements[0][2]) / s; + q.W = (m.Elements[1][2] - m.Elements[2][1]) / s; } else if (m.Elements[1][1] > m.Elements[2][2]) { - float s = 2.0f * HMM_SquareRootF( 1.0f + m.Elements[1][1] - m.Elements[0][0] - m.Elements[2][2]); - q.X = (m.Elements[0][1] + m.Elements[1][0] ) / s; + float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[1][1] - m.Elements[0][0] - m.Elements[2][2]); + q.X = (m.Elements[1][0] + m.Elements[0][1]) / s; q.Y = 0.25f * s; - q.Z = (m.Elements[1][2] + m.Elements[2][1] ) / s; - q.W = (m.Elements[0][2] - m.Elements[2][0] ) / s; + q.Z = (m.Elements[2][1] + m.Elements[1][2]) / s; + q.W = (m.Elements[2][0] - m.Elements[0][2]) / s; } else { - float s = 2.0f * HMM_SquareRootF( 1.0f + m.Elements[2][2] - m.Elements[0][0] - m.Elements[1][1] ); - q.X = (m.Elements[0][2] + m.Elements[2][0] ) / s; - q.Y = (m.Elements[1][2] + m.Elements[2][1] ) / s; + float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[2][2] - m.Elements[0][0] - m.Elements[1][1]); + q.X = (m.Elements[2][0] + m.Elements[0][2]) / s; + q.Y = (m.Elements[2][1] + m.Elements[1][2]) / s; q.Z = 0.25f * s; - q.W = (m.Elements[1][0] - m.Elements[0][1] ) / s; + q.W = (m.Elements[0][1] - m.Elements[1][0]) / s; } } diff --git a/test/categories/MatrixOps.h b/test/categories/MatrixOps.h index d86400b..343a07c 100644 --- a/test/categories/MatrixOps.h +++ b/test/categories/MatrixOps.h @@ -1,5 +1,9 @@ #include "../HandmadeTest.h" +void printQuat(hmm_quaternion quat) { + printf("\n%f %f %f %f", quat.X, quat.Y, quat.Z, quat.W); +} + TEST(MatrixOps, Transpose) { hmm_mat4 m4 = HMM_Mat4(); // will have 1 - 16 @@ -37,20 +41,114 @@ TEST(MatrixOps, Transpose) TEST(MatrixOps, ToQuaternion) { - hmm_mat4 rotateY = { - 0.0f, 0.0f, -1.0f, 0.0f, // first column (X) - 0.0f, 1.0f, 0.0f, 0.0f, // second column (Y) - 1.0f, 0.0f, 0.0f, 0.0f, // third column (Z) - 0.0f, 0.0f, 0.0f, 1.0f - }; + { // Test 90 degree rotation about X axis + hmm_mat4 rot = { + 1.0f, 0.0f, 0.0f, 0.0f, // first column (X) + 0.0f, 0.0f, 1.0f, 0.0f, // second column (Y) + 0.0f, -1.0f, 0.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(1.0f, 0.0f, 0.0f), HMM_ToRadians(90.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); + + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } + + { // Test 90 degree rotation about Y axis + hmm_mat4 rot = { + 0.0f, 0.0f, -1.0f, 0.0f, // first column (X) + 0.0f, 1.0f, 0.0f, 0.0f, // second column (Y) + 1.0f, 0.0f, 0.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(90.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); + + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } + + { // Test 90 degree rotation about Z axis + hmm_mat4 rot = { + 0.0f, 1.0f, 0.0f, 0.0f, // first column (X) + -1.0f, 0.0f, 0.0f, 0.0f, // second column (Y) + 0.0f, 0.0f, 1.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 0.0f, 1.0f), HMM_ToRadians(90.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); + + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } - hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(90.0f)); - hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rotateY); + { // Test 180 degree rotation about X axis + hmm_mat4 rot = { + 1.0f, 0.0f, 0.0f, 0.0f, // first column (X) + 0.0f, -1.0f, 1.0f, 0.0f, // second column (Y) + 0.0f, 0.0f, -1.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(1.0f, 0.0f, 0.0f), HMM_ToRadians(180.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); - printf("%f %f %f %f\n", expected.X, expected.Y, expected.Z, expected.W); + printQuat(expected); + printQuat(actualResult); - EXPECT_FLOAT_EQ(actualResult.X, expected.X); - EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); - EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); - EXPECT_FLOAT_EQ(actualResult.W, expected.W); + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } + + { // Test 180 degree rotation about Y axis + hmm_mat4 rot = { + -1.0f, 0.0f, 0.0f, 0.0f, // first column (X) + 0.0f, 1.0f, 1.0f, 0.0f, // second column (Y) + 0.0f, 0.0f, -1.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(180.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); + + printQuat(expected); + printQuat(actualResult); + + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } + + { // Test 180 degree rotation about Z axis + hmm_mat4 rot = { + -1.0f, 0.0f, 0.0f, 0.0f, // first column (X) + 0.0f, -1.0f, 1.0f, 0.0f, // second column (Y) + 0.0f, 0.0f, 1.0f, 0.0f, // third column (Z) + 0.0f, 0.0f, 0.0f, 0.0f + }; + + hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 0.0f, 1.0f), HMM_ToRadians(180.0f)); + hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot); + + printQuat(expected); + printQuat(actualResult); + + EXPECT_FLOAT_EQ(actualResult.X, expected.X); + EXPECT_FLOAT_EQ(actualResult.Y, expected.Y); + EXPECT_FLOAT_EQ(actualResult.Z, expected.Z); + EXPECT_FLOAT_EQ(actualResult.W, expected.W); + } }