170 lines
9.3 KiB
C++
170 lines
9.3 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 "ozz/base/maths/soa_quaternion.h"
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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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using ozz::math::SoaQuaternion;
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using ozz::math::SoaFloat4;
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using ozz::math::SoaFloat3;
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TEST(SoaQuaternionConstant, ozz_soa_math) {
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EXPECT_SOAQUATERNION_EQ(SoaQuaternion::identity(), 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, 1.f, 1.f, 1.f,
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1.f);
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}
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TEST(SoaQuaternionArithmetic, ozz_soa_math) {
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const SoaQuaternion a = SoaQuaternion::Load(
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ozz::math::simd_float4::Load(.70710677f, 0.f, 0.f, .382683432f),
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ozz::math::simd_float4::Load(0.f, 0.f, .70710677f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(.70710677f, 1.f, .70710677f, .9238795f));
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const SoaQuaternion b = SoaQuaternion::Load(
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ozz::math::simd_float4::Load(0.f, .70710677f, 0.f, -.382683432f),
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ozz::math::simd_float4::Load(0.f, 0.f, .70710677f, 0.f),
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ozz::math::simd_float4::Load(0.f, 0.f, 0.f, 0.f),
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ozz::math::simd_float4::Load(1.f, .70710677f, .70710677f, .9238795f));
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const SoaQuaternion denorm =
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SoaQuaternion::Load(ozz::math::simd_float4::Load(.5f, 0.f, 2.f, 3.f),
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ozz::math::simd_float4::Load(4.f, 0.f, 6.f, 7.f),
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ozz::math::simd_float4::Load(8.f, 0.f, 10.f, 11.f),
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ozz::math::simd_float4::Load(12.f, 1.f, 14.f, 15.f));
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(a)));
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(b)));
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EXPECT_SIMDINT_EQ(ozz::math::IsNormalized(denorm), 0, 0xffffffff, 0, 0);
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const SoaQuaternion conjugate = Conjugate(a);
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EXPECT_SOAQUATERNION_EQ(conjugate, -.70710677f, -0.f, -0.f, -.382683432f,
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-0.f, -0.f, -.70710677f, -0.f, -0.f, -0.f, -0.f, -0.f,
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.70710677f, 1.f, .70710677f, .9238795f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(conjugate)));
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const SoaQuaternion negate = -a;
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EXPECT_SOAQUATERNION_EQ(negate, -.70710677f, 0.f, 0.f, -.382683432f, 0.f, 0.f,
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-.70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, -.70710677f,
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-1.f, -.70710677f, -.9238795f);
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const SoaQuaternion add = a + b;
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EXPECT_SOAQUATERNION_EQ(add, .70710677f, .70710677f, 0.f, 0.f, 0.f, 0.f,
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1.41421354f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.70710677f,
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1.70710677f, 1.41421354f, 1.847759f);
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const SoaQuaternion muls = a * ozz::math::simd_float4::Load1(2.f);
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EXPECT_SOAQUATERNION_EQ(muls, 1.41421354f, 0.f, 0.f, .765366864f, 0.f, 0.f,
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1.41421354f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.41421354f,
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2.f, 1.41421354f, 1.847759f);
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const SoaQuaternion mul0 = a * conjugate;
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EXPECT_SOAQUATERNION_EQ(mul0, 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, 1.f, 1.f, 1.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(mul0)));
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const SoaQuaternion mul1 = conjugate * a;
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EXPECT_SOAQUATERNION_EQ(mul1, 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, 1.f, 1.f, 1.f, 1.f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(mul1)));
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const ozz::math::SimdFloat4 dot = Dot(a, b);
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EXPECT_SOAFLOAT1_EQ(dot, .70710677f, .70710677f, 1.f, .70710677f);
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const SoaQuaternion normalize = Normalize(denorm);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(normalize)));
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EXPECT_SOAQUATERNION_EQ(normalize, .033389f, 0.f, .1091089f, .1492555f,
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.267112f, 0.f, .3273268f, .348263f, .53422445f, 0.f,
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.545544f, .547270f, .80133667f, 1.f, .763762f,
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.74627789f);
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const SoaQuaternion normalize_est = NormalizeEst(denorm);
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EXPECT_SOAQUATERNION_EQ_EST(normalize_est, .033389f, 0.f, .1091089f,
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.1492555f, .267112f, 0.f, .3273268f, .348263f,
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.53422445f, 0.f, .545544f, .547270f, .80133667f,
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1.f, .763762f, .74627789f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalizedEst(normalize_est)));
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const SoaQuaternion lerp_0 = Lerp(a, b, ozz::math::simd_float4::zero());
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EXPECT_SOAQUATERNION_EQ(lerp_0, .70710677f, 0.f, 0.f, .382683432f, 0.f, 0.f,
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.70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, .70710677f, 1.f,
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.70710677f, .9238795f);
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const SoaQuaternion lerp_1 = Lerp(a, b, ozz::math::simd_float4::one());
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EXPECT_SOAQUATERNION_EQ(lerp_1, 0.f, .70710677f, 0.f, -.382683432f, 0.f, 0.f,
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.70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f, .70710677f,
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.70710677f, .9238795f);
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const SoaQuaternion lerp_0_2 = Lerp(a, b, ozz::math::simd_float4::Load1(.2f));
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EXPECT_SOAQUATERNION_EQ(lerp_0_2, .565685416f, .14142136f, 0.f, .22961006f,
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0.f, 0.f, .70710677f, 0.f, 0.f, 0.f, 0.f, 0.f,
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.76568544f, .94142133f, .70710677f, .92387950f);
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const SoaQuaternion lerp_m =
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Lerp(a, b, ozz::math::simd_float4::Load(0.f, 1.f, 1.f, .2f));
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EXPECT_SOAQUATERNION_EQ(lerp_m, .70710677f, .70710677f, 0.f, .22961006f, 0.f,
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0.f, .70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, .70710677f,
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.70710677f, .70710677f, .92387950f);
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const SoaQuaternion nlerp_0 = NLerp(a, b, ozz::math::simd_float4::zero());
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EXPECT_SOAQUATERNION_EQ(nlerp_0, .70710677f, 0.f, 0.f, .382683432f, 0.f, 0.f,
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.70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, .70710677f, 1.f,
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.70710677f, .9238795f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(nlerp_0)));
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const SoaQuaternion nlerp_1 = NLerp(a, b, ozz::math::simd_float4::one());
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EXPECT_SOAQUATERNION_EQ(nlerp_1, 0.f, .70710677f, 0.f, -.382683432f, 0.f, 0.f,
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.70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f, .70710677f,
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.70710677f, .9238795f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(nlerp_1)));
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const SoaQuaternion nlerp_0_2 =
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NLerp(a, b, ozz::math::simd_float4::Load1(.2f));
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(nlerp_0_2)));
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EXPECT_SOAQUATERNION_EQ(nlerp_0_2, .59421712f, .14855431f, 0.f, .24119100f,
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0.f, 0.f, .70710683f, 0.f, 0.f, 0.f, 0.f, 0.f,
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.80430466f, .98890430f, .70710683f, .97047764f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(nlerp_0_2)));
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const SoaQuaternion nlerp_m =
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NLerp(a, b, ozz::math::simd_float4::Load(0.f, 1.f, 1.f, .2f));
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EXPECT_SOAQUATERNION_EQ(nlerp_m, .70710677f, .70710677f, 0.f, .24119100f, 0.f,
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0.f, .70710677f, 0.f, 0.f, 0.f, 0.f, 0.f, .70710677f,
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.70710677f, .70710677f, .97047764f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalized(nlerp_m)));
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const SoaQuaternion nlerp_est_m =
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NLerpEst(a, b, ozz::math::simd_float4::Load(0.f, 1.f, 1.f, .2f));
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EXPECT_SOAQUATERNION_EQ_EST(nlerp_est_m, .70710677f, .70710677f, 0.f,
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.24119100f, 0.f, 0.f, .70710677f, 0.f, 0.f, 0.f,
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0.f, 0.f, .70710677f, .70710677f, .70710677f,
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.97047764f);
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EXPECT_TRUE(ozz::math::AreAllTrue(IsNormalizedEst(nlerp_est_m)));
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}
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