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/*
* Author: Sven Gothel <sgothel@jausoft.com>
* 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/int_math.hpp>
#include <jau/float_math.hpp>
#include <jau/math/vec2f.hpp>
#include <jau/math/vec2i.hpp>
#include <jau/math/vec3f.hpp>
#include <jau/math/vec4f.hpp>
#include <jau/math/mat4f.hpp>
#include <jau/math/quaternion.hpp>
#include <jau/math/aabbox2f.hpp>
#include <jau/math/aabbox3f.hpp>
#include <jau/math/mat4f.hpp>
#include <jau/math/recti.hpp>
#include <jau/math/math_error.hpp>
using namespace jau;
using namespace jau::math;
static const float EPSILON = std::numeric_limits<float>::epsilon();
static const float mI_0[] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 };
static const Mat4f mI(mI_0);
static const float m1_0[] = { 1, 3, 4, 0,
6, 7, 8, 5,
98, 7, 6, 9,
54, 3, 2, 5 };
static const Mat4f m1(m1_0);
static const float m1T_0[] = { 1, 6, 98, 54,
3, 7, 7, 3,
4, 8, 6, 2,
0, 5, 9, 5 };
static const Mat4f m1T(m1T_0);
static const float m2_0[] = { 1, 6, 98, 54,
3, 7, 7, 3,
4, 8, 6, 2,
0, 5, 9, 5 };
static const Mat4f m2(m2_0);
static const float m2xm1_0[] = { 26, 59, 143, 71,
59, 174, 730, 386,
143, 730, 9770, 5370,
71, 386, 5370, 2954 };
static const Mat4f m2xm1(m2xm1_0);
static const float m1xm2_0[] = {12557, 893, 748, 1182,
893, 116, 116, 113,
748, 116, 120, 104,
1182, 113, 104, 131 };
static const Mat4f m1xm2(m1xm2_0);
TEST_CASE( "Test 00 Load Get", "[mat4f][linear_algebra][math]" ) {
{
Mat4f m;
REQUIRE(mI == m);
}
{
float f16[16];
m1.get(f16);
COMPARE_NARRAYS_EPS(m1_0, f16, 16, EPSILON);
Mat4f m;
m.load(f16);
REQUIRE(m1 == m);
}
}
TEST_CASE( "Test 01 Mul", "[mat4f][linear_algebra][math]" ) {
{
REQUIRE(m1xm2 == m1 * m2);
Mat4f m; m.mul(m1, m2);
REQUIRE(m1xm2 == m);
}
{
REQUIRE(m2xm1 == m2 * m1);
Mat4f m; m.mul(m2, m1);
REQUIRE(m2xm1 == m);
}
}
TEST_CASE( "Test 02 Transpose", "[mat4f][linear_algebra][math]" ) {
REQUIRE(m1T == Mat4f(m1).transpose());
REQUIRE(m1T == Mat4f().transpose(m1));
}
TEST_CASE( "Test 80 LookAtNegZ", "[mat4f][linear_algebra][math]" ) {
Mat4f tmp;
Mat4f m;
// Look towards -z
m.setToLookAt(
Vec3f(0, 0, 0), // eye
Vec3f(0, 0, -1), // center
Vec3f(0, 1, 0), // up
tmp);
/**
* The 3 rows of the matrix (= the 3 columns of the array/buffer) should be: side, up, -forward.
*/
Mat4f exp( { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 } );
REQUIRE(exp == m);
}
TEST_CASE( "Test 81 LookAtPosY", "[mat4f][linear_algebra][math]" ) {
Mat4f tmp;
Mat4f m;
// Look towards -z
m.setToLookAt(
Vec3f(0, 0, 0), // eye
Vec3f(0, 1, 0), // center
Vec3f(0, 0, 1), // up
tmp);
/**
* The 3 rows of the matrix (= the 3 columns of the array/buffer) should be: side, up, -forward.
*/
Mat4f exp( { 1, 0, 0, 0,
0, 0, -1, 0,
0, 1, 0, 0,
0, 0, 0, 1
} );
REQUIRE(exp == m);
}
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