math: Fix and test Matrix4::mapWinToObj, unit test test_math_mat4f_10_project01

3 files changed, 115 insertions, 6 deletions

diff --git a/include/jau/math/mat4f.hpp b/include/jau/math/mat4f.hpp
index 6ba18c9..fa0afcf 100644
--- a/include/jau/math/mat4f.hpp
+++ b/include/jau/math/mat4f.hpp
@@ -1551,7 +1551,7 @@ class alignas(Value_type) Matrix4 {
                             Matrix4& mat4Tmp) noexcept
     {
         // invPMv = Inv(P x Mv)
-        const Matrix4& invPMv = mat4Tmp.mul(mP, mMv);
+        Matrix4& invPMv = mat4Tmp.mul(mP, mMv);
         if( !invPMv.invert() ) {
             return false;
         }
@@ -1694,7 +1694,7 @@ class alignas(Value_type) Matrix4 {
                              Matrix4& mat4Tmp) noexcept
     {
         // invPMv = Inv(P x Mv)
-        const Matrix4& invPMv = mat4Tmp.mul(mP, mMv);
+        Matrix4& invPMv = mat4Tmp.mul(mP, mMv);
         if( !invPMv.invert() ) {
             return false;
         }
diff --git a/test/test_math_mat4f_10_project01.cpp b/test/test_math_mat4f_10_project01.cpp
index a639832..ab6a6bf 100644
--- a/test/test_math_mat4f_10_project01.cpp
+++ b/test/test_math_mat4f_10_project01.cpp
@@ -41,7 +41,7 @@ static const float EPSILON = std::numeric_limits<float>::epsilon();
  *
  * Both using same Mat4f::mapObjToWin(..).
  */
-TEST_CASE( "Test 01 PMVMatrixToMatrix4f", "[mat4f][linear_algebra][math]" ) {
+TEST_CASE( "Test 01 Project PMVMatrixToMatrix4f", "[project][mat4f][linear_algebra][math]" ) {
     // Simple 10 x 10 view port
     const Recti viewport(0,0,10,10);
 
@@ -90,7 +90,7 @@ TEST_CASE( "Test 01 PMVMatrixToMatrix4f", "[mat4f][linear_algebra][math]" ) {
  *
  * Both using same Mat4f::mapObjToWin().
  */
-TEST_CASE( "Test 02 PMVMatrixToMatrix4f 2", "[mat4f][linear_algebra][math]" ) {
+TEST_CASE( "Test 02 Project PMVMatrixToMatrix4f 2", "[project][mat4f][linear_algebra][math]" ) {
     // Simple 10 x 10 view port
     const Recti viewport(0,0,10,10);
 
@@ -155,7 +155,7 @@ TEST_CASE( "Test 02 PMVMatrixToMatrix4f 2", "[mat4f][linear_algebra][math]" ) {
     REQUIRE_MSG("A/B 1.1 Project 0,0 failure", winB11 == winA11);
 }
 
-TEST_CASE( "Test 10 Matrix4f 1", "[mat4f][linear_algebra][math]" ) {
+TEST_CASE( "Test 10 Project Matrix4f 1", "[project][mat4f][linear_algebra][math]" ) {
     Vec3f winHas;
     Vec2f winExp( 297, 360 );
 
@@ -187,7 +187,7 @@ TEST_CASE( "Test 10 Matrix4f 1", "[mat4f][linear_algebra][math]" ) {
     REQUIRE_THAT( winExp.y, Catch::Matchers::WithinAbs(std::round(winHas.y), EPSILON) );
 }
 
-TEST_CASE( "Test 11 Matrix4f 2", "[mat4f][linear_algebra][math]" ) {
+TEST_CASE( "Test 11 Project Matrix4f 2", "[project][mat4f][linear_algebra][math]" ) {
     Vec3f winHas;
     Vec2f winExp( 136, 360 );
 
diff --git a/test/test_math_mat4f_11_unproject.cpp b/test/test_math_mat4f_11_unproject.cpp
new file mode 100644
index 0000000..e407645
--- /dev/null
+++ b/test/test_math_mat4f_11_unproject.cpp
@@ -0,0 +1,109 @@
+/*
+ * Author: Sven Gothel <[email protected]>
+ * Copyright (c) 2024 Gothel Software e.K.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <thread>
+#include <cassert>
+#include <cinttypes>
+#include <cstring>
+
+#include <jau/test/catch2_ext.hpp>
+
+#include <jau/math/util/pmvmat4f.hpp>
+
+using namespace jau;
+using namespace jau::math;
+using namespace jau::math::util;
+
+static const float NaN =  std::numeric_limits<float>::quiet_NaN();
+
+TEST_CASE( "Test 01 Unproject NaN", "[unproject][mat4f][linear_algebra][math]" ) {
+    const Mat4f mMv({1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1});
+    const Mat4f mP({1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1});
+    const Recti viewport(0,0,800,600);
+    const float pick[] = { 400, 300, 0 };
+
+    Vec3f objPos(NaN, NaN, NaN);
+    Mat4f tmp;
+
+    // gluUnProject
+    bool res = Mat4f::mapWinToObj(pick[0], pick[1], pick[2],
+                                  mMv, mP, viewport,
+                                  objPos, tmp);
+
+    REQUIRE( false == std::isnan(objPos.x) );
+    REQUIRE( false == std::isnan(objPos.y) );
+    REQUIRE( false == std::isnan(objPos.z) );
+
+    REQUIRE( true == res );
+}
+
+TEST_CASE( "Test 10 Unproject Pick 1", "[unproject][mat4f][linear_algebra][math]" ) {
+    const Mat4f mMv({ 1, 0, 0, 0,
+                      0, 1, 0, 0,
+                      0, 0, 1, 0,
+                      0, 0, 0, 1 });
+    const Mat4f mP({ 2.3464675f, 0,          0,        0,
+                     0,          2.4142134f, 0,        0,
+                     0,          0,         -1.0002f, -1,
+                     0,          0,        -20.002f,   0 });
+    const Recti viewport(0, 0, 1000, 1000);
+    const float pick[] = { 250, 250, 0.5f };
+
+    const Vec3f expected(-4.2612f, -4.1417f, -19.9980f );
+    Vec3f result;
+    Mat4f tmp;
+
+    // gluUnProject
+    bool res = Mat4f::mapWinToObj(pick[0], pick[1], pick[2],
+                                  mMv, mP, viewport,
+                                  result, tmp);
+
+    REQUIRE( true == res );
+    COMPARE_NARRAYS_EPS(expected.cbegin(), result.cbegin(), 3, 0.0001f);
+}
+
+TEST_CASE( "Test 11 Unproject Pick 2", "[unproject][mat4f][linear_algebra][math]" ) {
+    const Mat4f mMv({ 1, 0,    0, 0,
+                      0, 1,    0, 0,
+                      0, 0,    1, 0,
+                      0, 0, -200, 1 });
+    const Mat4f mP({ 2.3464675f, 0,          0,        0,
+                     0,          2.4142134f, 0,        0,
+                     0,          0,         -1.0002f, -1,
+                     0,          0,        -20.002f,   0 });
+    const Recti viewport(0, 0, 1000, 1000);
+    const float pick[] = { 250, 250, 0.5f };
+
+    const Vec3f expected(-4.2612f, -4.1417f, 180.002f );
+    Vec3f result;
+    Mat4f tmp;
+
+    // gluUnProject
+    bool res = Mat4f::mapWinToObj(pick[0], pick[1], pick[2],
+                                  mMv, mP, viewport,
+                                  result, tmp);
+
+    REQUIRE( true == res );
+    COMPARE_NARRAYS_EPS(expected.cbegin(), result.cbegin(), 3, 0.0001f);
+}
+