501 lines
24 KiB
C++
501 lines
24 KiB
C++
//----------------------------------------------------------------------------//
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// //
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// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
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// and distributed under the MIT License (MIT). //
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// //
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// Copyright (c) Guillaume Blanc //
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// //
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// Permission is hereby granted, free of charge, to any person obtaining a //
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// copy of this software and associated documentation files (the "Software"), //
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// to deal in the Software without restriction, including without limitation //
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// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
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// and/or sell copies of the Software, and to permit persons to whom the //
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// Software is furnished to do so, subject to the following conditions: //
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// //
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// The above copyright notice and this permission notice shall be included in //
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// all copies or substantial portions of the Software. //
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// //
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
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// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
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// DEALINGS IN THE SOFTWARE. //
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// //
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//----------------------------------------------------------------------------//
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#include "gtest/gtest.h"
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#include "ozz/base/gtest_helper.h"
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#include "ozz/base/maths/gtest_math_helper.h"
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#include "ozz/base/maths/math_constant.h"
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#include "ozz/base/maths/math_ex.h"
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#include "ozz/base/maths/simd_math.h"
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using ozz::math::Float4x4;
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using ozz::math::SimdFloat4;
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TEST(Float4x4Constant, ) {
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const Float4x4 identity = Float4x4::identity();
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EXPECT_FLOAT4x4_EQ(identity, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f,
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1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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}
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TEST(Float4x4Arithmetic, ozz_simd_math) {
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const Float4x4 m0 = {{ozz::math::simd_float4::Load(0.f, 1.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(4.f, 5.f, 6.f, 7.f),
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ozz::math::simd_float4::Load(8.f, 9.f, 10.f, 11.f),
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ozz::math::simd_float4::Load(12.f, 13.f, 14.f, 15.f)}};
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const Float4x4 m1 = {
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{ozz::math::simd_float4::Load(-0.f, -1.f, -2.f, -3.f),
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ozz::math::simd_float4::Load(-4.f, -5.f, -6.f, -7.f),
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ozz::math::simd_float4::Load(-8.f, -9.f, -10.f, -11.f),
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ozz::math::simd_float4::Load(-12.f, -13.f, -14.f, -15.f)}};
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const Float4x4 m2 = {
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{ozz::math::simd_float4::Load(0.f, -1.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(-4.f, 5.f, 6.f, -7.f),
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ozz::math::simd_float4::Load(8.f, -9.f, -10.f, 11.f),
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ozz::math::simd_float4::Load(-12.f, 13.f, -14.f, 15.f)}};
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const SimdFloat4 v = ozz::math::simd_float4::Load(-0.f, -1.f, -2.f, -3.f);
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const SimdFloat4 mul_vector = m0 * v;
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EXPECT_SIMDFLOAT_EQ(mul_vector, -56.f, -62.f, -68.f, -74.f);
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const SimdFloat4 transform_point = TransformPoint(m0, v);
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EXPECT_SIMDFLOAT_EQ(transform_point, -8.f, -10.f, -12.f, -14.f);
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const SimdFloat4 transform_vector = TransformVector(m0, v);
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EXPECT_SIMDFLOAT_EQ(transform_vector, -20.f, -23.f, -26.f, -29.f);
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const Float4x4 mul_mat = m0 * m1;
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EXPECT_FLOAT4x4_EQ(mul_mat, -56.f, -62.f, -68.f, -74.f, -152.f, -174.f,
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-196.f, -218.f, -248.f, -286.f, -324.f, -362.f, -344.f,
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-398.f, -452.f, -506.f);
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const Float4x4 add_mat = m0 + m1;
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EXPECT_FLOAT4x4_EQ(add_mat, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, 0.f, 0.f, 0.f);
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const Float4x4 sub_mat = m0 - m1;
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EXPECT_FLOAT4x4_EQ(sub_mat, 0.f, 2.f, 4.f, 6.f, 8.f, 10.f, 12.f, 14.f, 16.f,
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18.f, 20.f, 22.f, 24.f, 26.f, 28.f, 30.f);
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const Float4x4 transpose = Transpose(m0);
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EXPECT_FLOAT4x4_EQ(transpose, 0.f, 4.f, 8.f, 12.f, 1.f, 5.f, 9.f, 13.f, 2.f,
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6.f, 10.f, 14.f, 3.f, 7.f, 11.f, 15.f);
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// Invertible
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const Float4x4 invert_ident = Invert(Float4x4::identity());
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EXPECT_FLOAT4x4_EQ(invert_ident, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f,
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0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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const Float4x4 invert = Invert(m2);
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EXPECT_FLOAT4x4_EQ(invert, .216667f, 2.75f, 1.6f, .066666f, .2f, 2.5f, 1.4f,
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.1f, .25f, .5f, .25f, 0.f, .233333f, .5f, .3f, .03333f);
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const Float4x4 invert_mul = m2 * invert;
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EXPECT_FLOAT4x4_EQ(invert_mul, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f,
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0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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ozz::math::SimdInt4 invertible;
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EXPECT_FLOAT4x4_EQ(Invert(m2, &invertible), 0.216667f, 2.75f, 1.6f, .066666f,
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.2f, 2.5f, 1.4f, .1f, .25f, .5f, .25f, 0.f, .233333f, .5f,
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.3f, .03333f);
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EXPECT_TRUE(ozz::math::AreAllTrue1(invertible));
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// Non invertible
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EXPECT_ASSERTION(Invert(m0), "Matrix is not invertible");
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ozz::math::SimdInt4 not_invertible;
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EXPECT_FLOAT4x4_EQ(Invert(m0, ¬_invertible), 0.f, 0.f, 0.f, 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f);
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EXPECT_FALSE(ozz::math::AreAllTrue1(not_invertible));
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}
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TEST(Float4x4Normal, ozz_simd_math) {
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const Float4x4 not_orthogonal = {
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{ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(not_orthogonal)));
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(
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Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, -1.f, 1.f, 0.f)))));
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EXPECT_FALSE(ozz::math::AreAllTrue3(IsNormalized(
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Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, 46.f, 1.f, 0.f)))));
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(Float4x4::identity())));
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(
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Float4x4::FromAxisAngle(ozz::math::simd_float4::x_axis(),
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ozz::math::simd_float4::LoadX(1.24f)))));
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(Float4x4::Translation(
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ozz::math::simd_float4::Load(46.f, 0.f, 0.f, 1.f)))));
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}
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TEST(Float4x4Orthogonal, ozz_simd_math) {
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const Float4x4 zero = {{ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
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const Float4x4 not_orthogonal = {
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{ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(not_orthogonal)));
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(zero)));
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const Float4x4 reflexion1x =
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Float4x4::Scaling(ozz::math::simd_float4::Load(-1.f, 1.f, 1.f, 0.f));
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion1x)));
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const Float4x4 reflexion1y =
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Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, -1.f, 1.f, 0.f));
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion1y)));
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const Float4x4 reflexion1z =
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Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, 1.f, -1.f, 0.f));
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion1z)));
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const Float4x4 reflexion2x =
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Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, -1.f, -1.f, 0.f));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion2x)));
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const Float4x4 reflexion2y =
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Float4x4::Scaling(ozz::math::simd_float4::Load(-1.f, 1.f, -1.f, 0.f));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion2y)));
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const Float4x4 reflexion2z =
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Float4x4::Scaling(ozz::math::simd_float4::Load(-1.f, -1.f, 1.f, 0.f));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion2z)));
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const Float4x4 reflexion3 =
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Float4x4::Scaling(ozz::math::simd_float4::Load(-1.f, -1.f, -1.f, 0.f));
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EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(reflexion3)));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(Float4x4::identity())));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(Float4x4::Translation(
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ozz::math::simd_float4::Load(46.f, 0.f, 0.f, 1.f)))));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(
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Float4x4::FromAxisAngle(ozz::math::simd_float4::x_axis(),
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ozz::math::simd_float4::LoadX(1.24f)))));
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}
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TEST(Float4x4Translate, ozz_simd_math) {
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const SimdFloat4 v = ozz::math::simd_float4::Load(-1.f, 1.f, 2.f, 3.f);
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const Float4x4 m0 = {{ozz::math::simd_float4::Load(0.f, 1.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(4.f, 5.f, 6.f, 7.f),
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ozz::math::simd_float4::Load(8.f, 9.f, 10.f, 11.f),
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ozz::math::simd_float4::Load(12.f, 13.f, 14.f, 15.f)}};
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const Float4x4 translation = Float4x4::Translation(v);
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EXPECT_FLOAT4x4_EQ(translation, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f,
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0.f, 1.f, 0.f, -1.f, 1.f, 2.f, 1.f);
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const Float4x4 translate_mul = m0 * translation;
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EXPECT_FLOAT4x4_EQ(translate_mul, 0.f, 1.f, 2.f, 3.f, 4.f, 5.f, 6.f, 7.f, 8.f,
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9.f, 10.f, 11.f, 32.f, 35.f, 38.f, 41.f);
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const Float4x4 translate = Translate(m0, v);
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EXPECT_FLOAT4x4_EQ(translate, 0.f, 1.f, 2.f, 3.f, 4.f, 5.f, 6.f, 7.f, 8.f,
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9.f, 10.f, 11.f, 32.f, 35.f, 38.f, 41.f);
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}
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TEST(Float4x4Scale, ozz_simd_math) {
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const SimdFloat4 v = ozz::math::simd_float4::Load(-1.f, 1.f, 2.f, 3.f);
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const Float4x4 m0 = {{ozz::math::simd_float4::Load(0.f, 1.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(4.f, 5.f, 6.f, 7.f),
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ozz::math::simd_float4::Load(8.f, 9.f, 10.f, 11.f),
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ozz::math::simd_float4::Load(12.f, 13.f, 14.f, 15.f)}};
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const Float4x4 scaling = Float4x4::Scaling(v);
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EXPECT_FLOAT4x4_EQ(scaling, -1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f,
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2.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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const Float4x4 scale_mul = m0 * scaling;
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EXPECT_FLOAT4x4_EQ(scale_mul, 0.f, -1.f, -2.f, -3.f, 4.f, 5.f, 6.f, 7.f, 16.f,
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18.f, 20.f, 22.f, 12.f, 13.f, 14.f, 15.f);
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const Float4x4 scale = Scale(m0, v);
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EXPECT_FLOAT4x4_EQ(scale, 0.f, -1.f, -2.f, -3.f, 4.f, 5.f, 6.f, 7.f, 16.f,
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18.f, 20.f, 22.f, 12.f, 13.f, 14.f, 15.f);
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}
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TEST(Float4x4ColumnMultiply, ozz_simd_math) {
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const SimdFloat4 v = ozz::math::simd_float4::Load(-1.f, -2.f, -3.f, -4.f);
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const Float4x4 m0 = {{ozz::math::simd_float4::Load(0.f, 1.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(4.f, 5.f, 6.f, 7.f),
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ozz::math::simd_float4::Load(8.f, 9.f, 10.f, 11.f),
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ozz::math::simd_float4::Load(12.f, 13.f, 14.f, 15.f)}};
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const Float4x4 column_multiply = ozz::math::ColumnMultiply(m0, v);
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EXPECT_FLOAT4x4_EQ(column_multiply, 0.f, -2.f, -6.f, -12.f, -4.f, -10.f,
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-18.f, -28.f, -8.f, -18.f, -30.f, -44.f, -12.f, -26.f,
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-42.f, -60.f);
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}
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TEST(Float4x4Rotate, ozz_simd_math) {
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const Float4x4 euler_identity =
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Float4x4::FromEuler(ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f));
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EXPECT_FLOAT4x4_EQ(euler_identity, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f,
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0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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const Float4x4 euler_yaw = Float4x4::FromEuler(
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ozz::math::simd_float4::Load(ozz::math::kPi_2, 0.f, 0.f, 0.f));
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EXPECT_FLOAT4x4_EQ(euler_yaw, 0.f, 0.f, -1.f, 0.f, 0.f, 1.f, 0.f, 0.f, 1.f,
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0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(euler_yaw)));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(euler_yaw)));
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const Float4x4 euler_pitch = Float4x4::FromEuler(
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ozz::math::simd_float4::Load(0.f, ozz::math::kPi_2, 0.f, 0.f));
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EXPECT_FLOAT4x4_EQ(euler_pitch, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f,
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-1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(euler_pitch)));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(euler_pitch)));
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const Float4x4 euler_roll = Float4x4::FromEuler(
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ozz::math::simd_float4::Load(0.f, 0.f, ozz::math::kPi_2, 0.f));
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EXPECT_FLOAT4x4_EQ(euler_roll, 0.f, 1.f, 0.f, 0.f, -1.f, 0.f, 00.f, 0.f, 0.f,
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0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(euler_roll)));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(euler_roll)));
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EXPECT_ASSERTION(Float4x4::FromQuaternion(
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ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 1.f)),
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"IsNormalized");
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const Float4x4 quaternion_identity = Float4x4::FromQuaternion(
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f));
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EXPECT_FLOAT4x4_EQ(quaternion_identity, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f,
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0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(quaternion_identity)));
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EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(quaternion_identity)));
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const Float4x4 quaternion = Float4x4::FromQuaternion(
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ozz::math::simd_float4::Load(0.f, .70710677f, 0.f, .70710677f));
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EXPECT_FLOAT4x4_EQ(quaternion, 0.f, 0.f, -1.f, 0.f, 0.f, 1.f, 0.f, 0.f, 1.f,
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0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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EXPECT_ASSERTION(
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Float4x4::FromAxisAngle(ozz::math::simd_float4::Load(1.f, 1.f, 0.f, 0.f),
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ozz::math::simd_float4::zero()),
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"IsNormalized");
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const Float4x4 axis_angle_identity = Float4x4::FromAxisAngle(
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ozz::math::simd_float4::y_axis(), ozz::math::simd_float4::zero());
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EXPECT_FLOAT4x4_EQ(axis_angle_identity, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f,
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0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
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const Float4x4 axis_angle =
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Float4x4::FromAxisAngle(ozz::math::simd_float4::y_axis(),
|
|
ozz::math::simd_float4::LoadX(ozz::math::kPi_2));
|
|
EXPECT_FLOAT4x4_EQ(axis_angle, 0.f, 0.f, -1.f, 0.f, 0.f, 1.f, 0.f, 0.f, 1.f,
|
|
0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_TRUE(ozz::math::AreAllTrue3(IsNormalized(axis_angle)));
|
|
EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(axis_angle)));
|
|
}
|
|
|
|
TEST(Float4x4Affine, ozz_simd_math) {
|
|
EXPECT_ASSERTION(
|
|
Float4x4::FromAffine(ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 1.f),
|
|
ozz::math::simd_float4::Load(1.f, 1.f, 1.f, 1.f)),
|
|
"IsNormalized");
|
|
|
|
const Float4x4 identity =
|
|
Float4x4::FromAffine(ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f),
|
|
ozz::math::simd_float4::Load(1.f, 1.f, 1.f, 1.f));
|
|
EXPECT_FLOAT4x4_EQ(identity, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f,
|
|
1.f, 0.f, 0.f, 0.f, 0.f, 1.f);
|
|
|
|
const Float4x4 affine = Float4x4::FromAffine(
|
|
ozz::math::simd_float4::Load(-12.f, 46.f, 12.f, 9.f),
|
|
ozz::math::simd_float4::Load(0.f, .70710677f, 0.f, .70710677f),
|
|
ozz::math::simd_float4::Load(2.f, 46.f, 3.f, 1.f));
|
|
EXPECT_FLOAT4x4_EQ(affine, 0.f, 0.f, -2.f, 0.f, 0.f, 46.f, 0.f, 0.f, 3.f, 0.f,
|
|
0.f, 0.f, -12.f, 46.f, 12.f, 1.f);
|
|
EXPECT_FALSE(ozz::math::AreAllTrue3(IsNormalized(affine)));
|
|
EXPECT_TRUE(ozz::math::AreAllTrue1(IsOrthogonal(affine)));
|
|
|
|
const Float4x4 affine_reflexion = Float4x4::FromAffine(
|
|
ozz::math::simd_float4::Load(-12.f, 46.f, 12.f, 9.f),
|
|
ozz::math::simd_float4::Load(0.f, .70710677f, 0.f, .70710677f),
|
|
ozz::math::simd_float4::Load(2.f, -1.f, 3.f, 1.f));
|
|
EXPECT_FLOAT4x4_EQ(affine_reflexion, 0.f, 0.f, -2.f, 0.f, 0.f, -1.f, 0.f, 0.f,
|
|
3.f, 0.f, 0.f, 0.f, -12.f, 46.f, 12.f, 1.f);
|
|
EXPECT_FALSE(ozz::math::AreAllTrue3(IsNormalized(affine_reflexion)));
|
|
EXPECT_FALSE(ozz::math::AreAllTrue1(IsOrthogonal(affine_reflexion)));
|
|
}
|
|
|
|
TEST(Float4x4ToQuaternion, ozz_simd_math) {
|
|
#ifndef NDEBUG
|
|
const Float4x4 not_normalized = {
|
|
{ozz::math::simd_float4::Load(1.1f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
|
|
const Float4x4 not_orthogonal = {
|
|
{ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
|
|
#endif // NDEBUG
|
|
|
|
EXPECT_ASSERTION(ToQuaternion(not_normalized), "IsNormalized");
|
|
EXPECT_ASSERTION(ToQuaternion(not_orthogonal), "IsOrthogonal");
|
|
EXPECT_SIMDFLOAT_EQ(ToQuaternion(Float4x4::identity()), 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(ToQuaternion(Float4x4::FromQuaternion(
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f))),
|
|
0.f, 0.f, 1.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(ToQuaternion(Float4x4::FromQuaternion(
|
|
ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 0.f))),
|
|
0.f, 1.f, 0.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(ToQuaternion(Float4x4::FromQuaternion(
|
|
ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f))),
|
|
1.f, 0.f, 0.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(
|
|
ToQuaternion(Float4x4::FromQuaternion(
|
|
ozz::math::simd_float4::Load(.70710677f, 0.f, 0.f, .70710677f))),
|
|
.70710677f, 0.f, 0.f, .70710677f);
|
|
EXPECT_SIMDFLOAT_EQ(
|
|
ToQuaternion(Float4x4::FromQuaternion(ozz::math::simd_float4::Load(
|
|
.4365425f, .017589169f, -.30435428f, .84645736f))),
|
|
.4365425f, .017589169f, -.30435428f, .84645736f);
|
|
EXPECT_SIMDFLOAT_EQ(
|
|
ToQuaternion(Float4x4::FromQuaternion(ozz::math::simd_float4::Load(
|
|
.56098551f, -.092295974f, 0.43045932f, .70105737f))),
|
|
.56098551f, -.092295974f, 0.43045932f, .70105737f);
|
|
EXPECT_SIMDFLOAT_EQ(
|
|
ToQuaternion(Float4x4::FromQuaternion(ozz::math::simd_float4::Load(
|
|
-.6172133f, -.1543033f, 0.f, .7715167f))),
|
|
-.6172133f, -.1543033f, 0.f, .7715167f);
|
|
}
|
|
|
|
TEST(Float4x4ToAffine, ozz_simd_math) {
|
|
SimdFloat4 translate = ozz::math::simd_float4::zero();
|
|
SimdFloat4 rotate = ozz::math::simd_float4::zero();
|
|
SimdFloat4 scale = ozz::math::simd_float4::zero();
|
|
|
|
EXPECT_FALSE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(0.f, 0.f, 1.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_FALSE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, 0.f, 0.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_FALSE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
|
|
EXPECT_TRUE(ToAffine(Float4x4::identity(), &translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 1.f, 1.f, 1.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(0.f, 1.f, 1.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 0.f, 1.f, 1.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, 0.f, 1.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 1.f, 0.f, 1.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(1.f, 1.f, 0.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 1.f, 1.f, 0.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Translation(
|
|
ozz::math::simd_float4::Load(46.f, 69.f, 58.f, 1.f)) *
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, 3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 46.f, 69.f, 58.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, 3.f, 4.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Translation(
|
|
ozz::math::simd_float4::Load(46.f, -69.f, -58.f, 1.f)) *
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(-2.f, 3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 46.f, -69.f, -58.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 1.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, -3.f, 4.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, -3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, -3.f, 4.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, 3.f, -4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 1.f, 0.f, 0.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, -3.f, 4.f, 1.f);
|
|
|
|
// This one is not a reflexion.
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(-2.f, -3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 1.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, 3.f, 4.f, 1.f);
|
|
|
|
// This one is not a reflexion.
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, -3.f, -4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 1.f, 0.f, 0.f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, 3.f, 4.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Translation(
|
|
ozz::math::simd_float4::Load(46.f, -69.f, -58.f, 1.f)) *
|
|
Float4x4::FromQuaternion(ozz::math::simd_float4::Load(
|
|
-.6172133f, -.1543033f, 0.f, .7715167f)) *
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, 3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 46.f, -69.f, -58.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, -.6172133f, -.1543033f, 0.f, .7715167f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, 3.f, 4.f, 1.f);
|
|
|
|
EXPECT_TRUE(ToAffine(
|
|
Float4x4::Translation(
|
|
ozz::math::simd_float4::Load(46.f, -69.f, -58.f, 1.f)) *
|
|
Float4x4::FromQuaternion(
|
|
ozz::math::simd_float4::Load(.70710677f, 0.f, 0.f, .70710677f)) *
|
|
Float4x4::Scaling(ozz::math::simd_float4::Load(2.f, -3.f, 4.f, 0.f)),
|
|
&translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 46.f, -69.f, -58.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, .70710677f, 0.f, 0.f, .70710677f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 2.f, -3.f, 4.f, 1.f);
|
|
|
|
const Float4x4 trace = {
|
|
{ozz::math::simd_float4::Load(-.916972f, 0.f, -.398952f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, -1, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(-.398952f, 0, .916972f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 1.f)}};
|
|
EXPECT_TRUE(ToAffine(trace, &translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, -.20375007f, 0.f, .97902298f, 0.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, 1.f, 1.f, 1.f, 1.f);
|
|
|
|
const Float4x4 small = {
|
|
{ozz::math::simd_float4::Load(.000907520065f, 0.f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, .000959928846f, 0.f, 0.f),
|
|
ozz::math::simd_float4::Load(0.f, 0.f, .0159599986f, 0.f),
|
|
ozz::math::simd_float4::Load(.00649994006f, .00719946623f,
|
|
-.000424541620f, .999999940f)}};
|
|
EXPECT_TRUE(ToAffine(small, &translate, &rotate, &scale));
|
|
EXPECT_SIMDFLOAT_EQ(translate, .00649994006f, .00719946623f, -.000424541620f,
|
|
1.f);
|
|
EXPECT_SIMDFLOAT_EQ(rotate, 0.f, 0.f, 0.f, 1.f);
|
|
EXPECT_SIMDFLOAT_EQ(scale, .000907520065f, .000959928846f, .0159599986f, 1.f);
|
|
}
|