diff options
Diffstat (limited to '3rdparty/glm/source/test/gtx/gtx_dual_quaternion.cpp')
| -rw-r--r-- | 3rdparty/glm/source/test/gtx/gtx_dual_quaternion.cpp | 205 |
1 files changed, 0 insertions, 205 deletions
diff --git a/3rdparty/glm/source/test/gtx/gtx_dual_quaternion.cpp b/3rdparty/glm/source/test/gtx/gtx_dual_quaternion.cpp deleted file mode 100644 index ceedc2c..0000000 --- a/3rdparty/glm/source/test/gtx/gtx_dual_quaternion.cpp +++ /dev/null @@ -1,205 +0,0 @@ -#define GLM_ENABLE_EXPERIMENTAL -#define GLM_FORCE_CTOR_INIT -#include <glm/gtx/dual_quaternion.hpp> -#include <glm/gtc/matrix_transform.hpp> -#include <glm/gtc/epsilon.hpp> -#include <glm/gtx/euler_angles.hpp> -#include <glm/vector_relational.hpp> -#if GLM_HAS_TRIVIAL_QUERIES -# include <type_traits> -#endif - -int myrand() -{ - static int holdrand = 1; - return (((holdrand = holdrand * 214013L + 2531011L) >> 16) & 0x7fff); -} - -float myfrand() // returns values from -1 to 1 inclusive -{ - return float(double(myrand()) / double( 0x7ffff )) * 2.0f - 1.0f; -} - -int test_dquat_type() -{ - glm::dvec3 vA; - glm::dquat dqA, dqB; - glm::ddualquat C(dqA, dqB); - glm::ddualquat B(dqA); - glm::ddualquat D(dqA, vA); - return 0; -} - -int test_scalars() -{ - float const Epsilon = 0.0001f; - - int Error(0); - - glm::quat src_q1 = glm::quat(1.0f,2.0f,3.0f,4.0f); - glm::quat src_q2 = glm::quat(5.0f,6.0f,7.0f,8.0f); - glm::dualquat src1(src_q1,src_q2); - - { - glm::dualquat dst1 = src1 * 2.0f; - glm::dualquat dst2 = 2.0f * src1; - glm::dualquat dst3 = src1; - dst3 *= 2.0f; - glm::dualquat dstCmp(src_q1 * 2.0f,src_q2 * 2.0f); - Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst3.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst3.dual,dstCmp.dual, Epsilon)) ? 0 : 1; - } - - { - glm::dualquat dst1 = src1 / 2.0f; - glm::dualquat dst2 = src1; - dst2 /= 2.0f; - glm::dualquat dstCmp(src_q1 / 2.0f,src_q2 / 2.0f); - Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1; - } - return Error; -} - -int test_inverse() -{ - int Error(0); - - float const Epsilon = 0.0001f; - - glm::dualquat dqid = glm::dual_quat_identity<float, glm::defaultp>(); - glm::mat4x4 mid(1.0f); - - for (int j = 0; j < 100; ++j) - { - glm::mat4x4 rot = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f); - glm::vec3 vt = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f); - - glm::mat4x4 m = glm::translate(mid, vt) * rot; - - glm::quat qr = glm::quat_cast(m); - - glm::dualquat dq(qr); - - glm::dualquat invdq = glm::inverse(dq); - - glm::dualquat r1 = invdq * dq; - glm::dualquat r2 = dq * invdq; - - Error += glm::all(glm::epsilonEqual(r1.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r1.dual, dqid.dual, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(r2.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r2.dual, dqid.dual, Epsilon)) ? 0 : 1; - - // testing commutative property - glm::dualquat r ( glm::quat( myfrand() * glm::pi<float>() * 2.0f, myfrand(), myfrand(), myfrand() ), - glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f) ); - glm::dualquat riq = (r * invdq) * dq; - glm::dualquat rqi = (r * dq) * invdq; - - Error += glm::all(glm::epsilonEqual(riq.real, rqi.real, Epsilon)) && glm::all(glm::epsilonEqual(riq.dual, rqi.dual, Epsilon)) ? 0 : 1; - } - - return Error; -} - -int test_mul() -{ - int Error(0); - - float const Epsilon = 0.0001f; - - glm::mat4x4 mid(1.0f); - - for (int j = 0; j < 100; ++j) - { - // generate random rotations and translations and compare transformed by matrix and dualquats random points - glm::vec3 vt1 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f); - glm::vec3 vt2 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f); - - glm::mat4x4 rot1 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f); - glm::mat4x4 rot2 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f); - glm::mat4x4 m1 = glm::translate(mid, vt1) * rot1; - glm::mat4x4 m2 = glm::translate(mid, vt2) * rot2; - glm::mat4x4 m3 = m2 * m1; - glm::mat4x4 m4 = m1 * m2; - - glm::quat qrot1 = glm::quat_cast(rot1); - glm::quat qrot2 = glm::quat_cast(rot2); - - glm::dualquat dq1 = glm::dualquat(qrot1,vt1); - glm::dualquat dq2 = glm::dualquat(qrot2,vt2); - glm::dualquat dq3 = dq2 * dq1; - glm::dualquat dq4 = dq1 * dq2; - - for (int i = 0; i < 100; ++i) - { - glm::vec4 src_pt = glm::vec4(myfrand() * 4.0f, myfrand() * 5.0f, myfrand() * 3.0f,1.0f); - // test both multiplication orders - glm::vec4 dst_pt_m3 = m3 * src_pt; - glm::vec4 dst_pt_dq3 = dq3 * src_pt; - - glm::vec4 dst_pt_m3_i = glm::inverse(m3) * src_pt; - glm::vec4 dst_pt_dq3_i = src_pt * dq3; - - glm::vec4 dst_pt_m4 = m4 * src_pt; - glm::vec4 dst_pt_dq4 = dq4 * src_pt; - - glm::vec4 dst_pt_m4_i = glm::inverse(m4) * src_pt; - glm::vec4 dst_pt_dq4_i = src_pt * dq4; - - Error += glm::all(glm::epsilonEqual(dst_pt_m3, dst_pt_dq3, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst_pt_m4, dst_pt_dq4, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst_pt_m3_i, dst_pt_dq3_i, Epsilon)) ? 0 : 1; - Error += glm::all(glm::epsilonEqual(dst_pt_m4_i, dst_pt_dq4_i, Epsilon)) ? 0 : 1; - } - } - - return Error; -} - -int test_dual_quat_ctr() -{ - int Error(0); - -# if GLM_HAS_TRIVIAL_QUERIES - // Error += std::is_trivially_default_constructible<glm::dualquat>::value ? 0 : 1; - // Error += std::is_trivially_default_constructible<glm::ddualquat>::value ? 0 : 1; - // Error += std::is_trivially_copy_assignable<glm::dualquat>::value ? 0 : 1; - // Error += std::is_trivially_copy_assignable<glm::ddualquat>::value ? 0 : 1; - Error += std::is_trivially_copyable<glm::dualquat>::value ? 0 : 1; - Error += std::is_trivially_copyable<glm::ddualquat>::value ? 0 : 1; - - Error += std::is_copy_constructible<glm::dualquat>::value ? 0 : 1; - Error += std::is_copy_constructible<glm::ddualquat>::value ? 0 : 1; -# endif - - return Error; -} - -int test_size() -{ - int Error = 0; - - Error += 32 == sizeof(glm::dualquat) ? 0 : 1; - Error += 64 == sizeof(glm::ddualquat) ? 0 : 1; - Error += glm::dualquat().length() == 2 ? 0 : 1; - Error += glm::ddualquat().length() == 2 ? 0 : 1; - Error += glm::dualquat::length() == 2 ? 0 : 1; - Error += glm::ddualquat::length() == 2 ? 0 : 1; - - return Error; -} - -int main() -{ - int Error = 0; - - Error += test_dual_quat_ctr(); - Error += test_dquat_type(); - Error += test_scalars(); - Error += test_inverse(); - Error += test_mul(); - Error += test_size(); - - return Error; -} |