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124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
// rotmatrix_test.cpp (RotMatrix<> test functions)
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//
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// The WorldForge Project
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// Copyright (C) 2001 The WorldForge Project
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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//
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// For information about WorldForge and its authors, please contact
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// the Worldforge Web Site at http://www.worldforge.org.
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// Author: Ron Steinke
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// Created: 2001-12-7
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#ifdef NDEBUG
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#undef NDEBUG
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#endif
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#ifndef DEBUG
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#define DEBUG
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#endif
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#include "wfmath/const.h"
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#include "wfmath/vector.h"
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#include "wfmath/rotmatrix.h"
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#include "wfmath/stream.h"
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#include "general_test.h"
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#include <cmath>
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using namespace WFMath;
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template<int dim>
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void test_rotmatrix(const RotMatrix<dim>& m)
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{
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std::cout << "Testing RotMatrix: " << m << std::endl;
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test_general(m);
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RotMatrix<dim> minv = m.inverse();
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// cout << "Inverse is: " << minv << std::endl;
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RotMatrix<dim> ident;
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ident.identity();
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RotMatrix<dim> try_ident;
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try_ident = ProdInv(m, m);
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// cout << "This should be the identity: " << try_ident << std::endl;
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for(int i = 0; i < dim; ++i)
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for(int j = 0; j < dim; ++j)
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assert(Equal(ident.elem(i, j), try_ident.elem(i, j)));
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try_ident = Prod(m, minv);
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// cout << "This should be the identity: " << try_ident << std::endl;
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for(int i = 0; i < dim; ++i)
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for(int j = 0; j < dim; ++j)
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assert(Equal(ident.elem(i, j), try_ident.elem(i, j)));
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std::string s_mat = ToString(m);
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RotMatrix<dim> str_m;
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FromString(str_m, s_mat);
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// cout << "After conversion through a string, the matrix is " << str_m << std::endl;
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// cout << "Element differences after conversion are: ";
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for(int i = 0; i < dim; ++i) {
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for(int j = 0; j < dim; ++j) {
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CoordType diff = m.elem(i, j) - str_m.elem(i, j);
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// cout << diff;
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assert(std::fabs(diff) < FloatMax(numeric_constants<CoordType>::epsilon(), 1e-6f));
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// if(i < dim - 1 || j < dim - 1)
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// cout << ", ";
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}
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}
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// cout << std::endl;
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RotMatrix<dim> conv_ident = Prod(str_m, str_m.inverse());
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// cout << "Converted M * M^T identity check: " << conv_ident;
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// cout << std::endl;
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for(int i = 0; i < dim; ++i)
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for(int j = 0; j < dim; ++j)
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assert(Equal(conv_ident.elem(i, j), (i == j) ? 1 : 0));
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// FIXME much more
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}
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int main()
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{
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RotMatrix<2> m2;
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RotMatrix<3> m3;
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m2.rotation(numeric_constants<CoordType>::pi() / 6);
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m3.rotation(Vector<3>(1, 0, numeric_constants<CoordType>::sqrt2()),
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numeric_constants<CoordType>::pi() / 5);
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test_rotmatrix(m2);
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test_rotmatrix(m3);
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// FIXME toEuler(), fromEuler()
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return 0;
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}
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