1 files changed, 122 insertions, 0 deletions
diff --git a/3rdparty/glm/source/test/gtx/gtx_matrix_interpolation.cpp b/3rdparty/glm/source/test/gtx/gtx_matrix_interpolation.cpp
new file mode 100644
index 0000000..108f02e
--- /dev/null
+++ b/3rdparty/glm/source/test/gtx/gtx_matrix_interpolation.cpp
@@ -0,0 +1,122 @@
+#define GLM_ENABLE_EXPERIMENTAL
+#include <glm/gtc/quaternion.hpp>
+#include <glm/gtx/component_wise.hpp>
+#include <glm/gtx/matrix_interpolation.hpp>
+
+#include <iostream>
+#include <limits>
+#include <math.h>
+
+
+static int test_axisAngle()
+{
+	int Error = 0;
+
+	glm::mat4 m1(-0.9946f, 0.0f, -0.104531f, 0.0f,
+		0.0f, 1.0f, 0.0f, 0.0f,
+		0.104531f, 0.0f, -0.9946f, 0.0f,
+		0.0f, 0.0f, 0.0f, 1.0f);
+	glm::mat4 m2(-0.992624f, 0.0f, -0.121874f, 0.0f,
+		0.0f, 1.0f, 0.0f, 0.0f,
+		0.121874f, 0.0f, -0.992624f, 0.0f,
+		0.0f, 0.0f, 0.0f, 1.0f);
+
+	glm::mat4 const m1rot = glm::extractMatrixRotation(m1);
+	glm::mat4 const dltRotation = m2 * glm::transpose(m1rot);
+
+	glm::vec3 dltAxis(0.0f);
+	float dltAngle = 0.0f;
+	glm::axisAngle(dltRotation, dltAxis, dltAngle);
+
+	std::cout << "dltAxis: (" << dltAxis.x << ", " << dltAxis.y << ", " << dltAxis.z << "), dltAngle: " << dltAngle << std::endl;
+
+	glm::quat q = glm::quat_cast(dltRotation);
+	std::cout << "q: (" << q.x << ", " << q.y << ", " << q.z << ", " << q.w << ")" << std::endl;
+	float yaw = glm::yaw(q);
+	std::cout << "Yaw: " << yaw << std::endl;
+
+	return Error;
+}
+
+template <class T>
+int testForAxisAngle(glm::vec<3, T, glm::defaultp> const axisTrue, T const angleTrue)
+{
+    T const eps = std::sqrt(std::numeric_limits<T>::epsilon());
+
+    glm::mat<4, 4, T, glm::defaultp> const matTrue = glm::axisAngleMatrix(axisTrue, angleTrue);
+
+    glm::vec<3, T, glm::defaultp> axis;
+    T angle;
+    glm::axisAngle(matTrue, axis, angle);
+    glm::mat<4, 4, T, glm::defaultp> const matRebuilt = glm::axisAngleMatrix(axis, angle);
+
+    glm::mat<4, 4, T, glm::defaultp> const errMat = matTrue - matRebuilt;
+    T const maxErr = glm::compMax(glm::vec<4, T, glm::defaultp>(
+            glm::compMax(glm::abs(errMat[0])),
+            glm::compMax(glm::abs(errMat[1])),
+            glm::compMax(glm::abs(errMat[2])),
+            glm::compMax(glm::abs(errMat[3]))
+        ));
+    
+    return maxErr < eps ? 0 : 1;
+}
+
+static int test_axisAngle2()
+{
+	int Error = 0;
+    
+    Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.0f);
+    Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.00001f);
+    Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), 0.0001f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.005f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.005f);
+    Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.03f);
+    Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.0003f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.01f);
+    Error += testForAxisAngle(glm::dvec3(0.0f, 1.0f, 0.0f), 0.00005);
+    Error += testForAxisAngle(glm::dvec3(-1.0f, 0.0f, 0.0f), 0.000001);
+    Error += testForAxisAngle(glm::dvec3(0.7071f, 0.7071f, 0.0f), 0.5);
+    Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0002);
+    Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.00002);
+    Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.000002);
+    Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0000002);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 1.3f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 6.3f);
+    Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), -0.23456f);
+    Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>());
+    Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), -glm::pi<float>());
+    Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), -glm::pi<float>());
+    Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>() + 2e-6f);
+    Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>() + 1e-4f);
+    Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), -glm::pi<float>() + 1e-3f);
+    Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), -glm::pi<float>() + 5e-3f);
+
+	return Error;
+}
+
+static int test_rotate()
+{
+	glm::mat4 m2(1.0);
+	float myAngle = 1.0f;
+	m2 = glm::rotate(m2, myAngle, glm::vec3(1.0f, 0.0f, 0.0f));
+	glm::vec3 m2Axis;
+	float m2Angle;
+	glm::axisAngle(m2, m2Axis, m2Angle);
+
+	return 0;
+}
+
+int main()
+{
+	int Error = 0;
+
+	Error += test_axisAngle();
+	Error += test_axisAngle2();
+	Error += test_rotate();
+
+	return Error;
+}
+
+