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more fixes

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more unit tests revealed more discrepancies fixes applied.
This commit is contained in:
marauder2k7 2024-07-30 08:30:42 +01:00
parent a5de2d9add
commit d03851958d
2 changed files with 189 additions and 16 deletions
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22
Engine/source/math/mMatrix.h
View file

@ -700,9 +700,7 @@ public:
///< M * a -> M
Matrix<DATA_TYPE, rows, cols>& mul(const Matrix<DATA_TYPE, rows, cols>& a)
{
*this = *this * a; return *this;
}
{ return *this = *this * a; }
///< a * M -> M
Matrix<DATA_TYPE, rows, cols>& mulL(const Matrix<DATA_TYPE, rows, cols>& a)
{ return *this = a * *this; }
@ -711,7 +709,7 @@ public:
{ return *this = a * b; }
///< M * a -> M
Matrix<DATA_TYPE, rows, cols>& mul(const F32 a)
{ return *this * a; }
{ return *this = *this * a; }
///< a * b -> M
Matrix<DATA_TYPE, rows, cols>& mul(const Matrix<DATA_TYPE, rows, cols>& a, const F32 b)
{ return *this = a * b; }
@ -1634,28 +1632,20 @@ template<typename DATA_TYPE, U32 rows, U32 cols>
inline EulerF Matrix<DATA_TYPE, rows, cols>::toEuler() const
{
AssertFatal(rows >= 3 && cols >= 3, "Euler rotations require at least a 3x3 matrix.");
// Extract rotation matrix components
const DATA_TYPE m00 = (*this)(0, 0);
const DATA_TYPE m01 = (*this)(0, 1);
const DATA_TYPE m02 = (*this)(0, 2);
const DATA_TYPE m10 = (*this)(1, 0);
const DATA_TYPE m11 = (*this)(1, 1);
const DATA_TYPE m21 = (*this)(2, 1);
const DATA_TYPE m22 = (*this)(2, 2);
// like all others assume float for now.
EulerF r;
r.x = mAsin(mClampF(m21, -1.0, 1.0));
r.x = mAsin(mClampF((*this)(1,2), -1.0, 1.0));
if (mCos(r.x) != 0.0f)
{
r.y = mAtan2(-m02, m22); // yaw
r.z = mAtan2(-m10, m11); // roll
r.y = mAtan2(-(*this)(0, 2), (*this)(2, 2)); // yaw
r.z = mAtan2(-(*this)(1, 0), (*this)(1, 1)); // roll
}
else
{
r.y = 0.0f;
r.z = mAtan2(m01, m00); // this rolls when pitch is +90 degrees
r.z = mAtan2((*this)(0, 1), (*this)(0, 0)); // this rolls when pitch is +90 degrees
}
return r;

183
Engine/source/testing/mathMatrixTest.cpp
View file

@ -7,6 +7,7 @@
#include "console/simBase.h"
#include "console/engineAPI.h"
#include "math/mMath.h"
#include "math/util/frustum.h"
TEST(MatrixTest, TestIdentityInit)
{
@ -58,6 +59,16 @@ TEST(MatrixTest, TestEulerSet)
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f);
}
TEST(MatrixTest, TestToEuler)
{
MatrixF test(true);
test.set(EulerF(1.0f, 0.0f, 1.0f));
EulerF euler = test.toEuler();
EXPECT_NEAR(euler.x, 1.0f, 0.001f); EXPECT_NEAR(euler.y, 0.0f, 0.001f); EXPECT_NEAR(euler.z, 1.0f, 0.001f);
}
TEST(MatrixTest, TestEulerPointInit)
{
@ -164,6 +175,111 @@ TEST(MatrixTest, TestMulArgMatrixFunction)
EXPECT_NEAR(testResult(3, 0), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 1), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 2), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 3), 1.0f, 0.001f);
}
TEST(MatrixTest, TestMulScalarFunction)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
test.mul(2.0f);
EXPECT_NEAR(test(0, 0), 1.0806f, 0.001f); EXPECT_NEAR(test(0, 1), 1.6829f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 8.7689f, 0.001f);
EXPECT_NEAR(test(1, 0), -0.9093f, 0.001f); EXPECT_NEAR(test(1, 1), 0.5839f, 0.001f); EXPECT_NEAR(test(1, 2), 1.6829f, 0.001f); EXPECT_NEAR(test(1, 3), -1.6958f, 0.001f);
EXPECT_NEAR(test(2, 0), 1.4161f, 0.001f); EXPECT_NEAR(test(2, 1), -0.9093f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0806f, 0.001f); EXPECT_NEAR(test(2, 3), 6.3427f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 2.0f, 0.001f);
}
TEST(MatrixTest, TestMulMatScalarFunction)
{
MatrixF testTran(true);
testTran.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
testTran.mulL(test2);
MatrixF test(true);
test.mul(testTran, 2.0f);
EXPECT_NEAR(test(0, 0), 1.0806f, 0.001f); EXPECT_NEAR(test(0, 1), 1.6829f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 8.7689f, 0.001f);
EXPECT_NEAR(test(1, 0), -0.9093f, 0.001f); EXPECT_NEAR(test(1, 1), 0.5839f, 0.001f); EXPECT_NEAR(test(1, 2), 1.6829f, 0.001f); EXPECT_NEAR(test(1, 3), -1.6958f, 0.001f);
EXPECT_NEAR(test(2, 0), 1.4161f, 0.001f); EXPECT_NEAR(test(2, 1), -0.9093f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0806f, 0.001f); EXPECT_NEAR(test(2, 3), 6.3427f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 2.0f, 0.001f);
}
TEST(MatrixTest, TestMulPoint4)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
Point4F testPoint(0.5f, 1.0f, 2.0f, 1.0f);
test.mul(testPoint);
EXPECT_NEAR(testPoint.x, 5.496f, 0.001f); EXPECT_NEAR(testPoint.y, 0.899f, 0.001f); EXPECT_NEAR(testPoint.z, 4.151f, 0.001f); EXPECT_NEAR(testPoint.w, 1.0f, 0.001f);
}
TEST(MatrixTest, TestMulPoint3)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
Point3F testPoint(0.5f, 1.0f, 2.0f);
test.mulP(testPoint);
EXPECT_NEAR(testPoint.x, 5.496f, 0.001f); EXPECT_NEAR(testPoint.y, 0.899f, 0.001f); EXPECT_NEAR(testPoint.z, 4.151f, 0.001f);
}
TEST(MatrixTest, TestMulPoint3ToPoint3)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
Point3F point(0.5f, 1.0f, 2.0f);
Point3F testPoint;
test.mulP(point, &testPoint);
EXPECT_NEAR(testPoint.x, 5.496f, 0.001f); EXPECT_NEAR(testPoint.y, 0.899f, 0.001f); EXPECT_NEAR(testPoint.z, 4.151f, 0.001f);
}
TEST(MatrixTest, TestMulVector)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
VectorF testPoint(0.5f, 1.0f, 2.0f);
test.mulV(testPoint);
EXPECT_NEAR(testPoint.x, 1.111f, 0.001f); EXPECT_NEAR(testPoint.y, 1.747f, 0.001f); EXPECT_NEAR(testPoint.z, 0.979f, 0.001f);
}
TEST(MatrixTest, TestMulVectorToPoint3)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
VectorF vec(0.5f, 1.0f, 2.0f);
Point3F testPoint;
test.mulV(vec, &testPoint);
EXPECT_NEAR(testPoint.x, 1.111f, 0.001f); EXPECT_NEAR(testPoint.y, 1.747f, 0.001f); EXPECT_NEAR(testPoint.z, 0.979f, 0.001f);
}
TEST(MatrixTest, TestMulBox)
{
MatrixF test(true);
@ -178,6 +294,30 @@ TEST(MatrixTest, TestMulBox)
EXPECT_NEAR(testBox.maxExtents.x, 5.5f, 0.001f); EXPECT_NEAR(testBox.maxExtents.y, 2.5f, 0.001f); EXPECT_NEAR(testBox.maxExtents.z, 1.5f, 0.001f);
}
TEST(MatrixTest, TestReverseProjection)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
Frustum testFrustum(false, -1.0f, 1.0f, 1.0f, -1.0f, 0.1f, 100.0f, test);
testFrustum.getProjectionMatrix(&test);
// test before and after reverse.
EXPECT_NEAR(test(0, 0), 0.1f, 0.001f); EXPECT_NEAR(test(0, 1), 0.0f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f);
EXPECT_NEAR(test(1, 0), 0.0f, 0.001f); EXPECT_NEAR(test(1, 1), 0.0f, 0.001f); EXPECT_NEAR(test(1, 2), 0.1, 0.001f); EXPECT_NEAR(test(1, 3), 0.0f, 0.001f);
EXPECT_NEAR(test(2, 0), 0.0f, 0.001f); EXPECT_NEAR(test(2, 1), -0.001f, 0.001f); EXPECT_NEAR(test(2, 2), 0.0f, 0.001f); EXPECT_NEAR(test(2, 3), 0.1001f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 1.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 0.0f, 0.001f);
test.reverseProjection();
EXPECT_NEAR(test(0, 0), 0.1f, 0.001f); EXPECT_NEAR(test(0, 1), 0.0f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 0.0f, 0.001f);
EXPECT_NEAR(test(1, 0), 0.0f, 0.001f); EXPECT_NEAR(test(1, 1), 0.0f, 0.001f); EXPECT_NEAR(test(1, 2), 0.1, 0.001f); EXPECT_NEAR(test(1, 3), 0.0, 0.001f);
EXPECT_NEAR(test(2, 0), 0.0f, 0.001f); EXPECT_NEAR(test(2, 1), 1.001f, 0.001f); EXPECT_NEAR(test(2, 2), 0.0f, 0.001f); EXPECT_NEAR(test(2, 3), -0.1001f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 1.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 0.0f, 0.001f);
}
TEST(MatrixTest, TestInverse)
{
MatrixF test(true);
@ -212,6 +352,49 @@ TEST(MatrixTest, TestInvertTo)
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f);
}
TEST(MatrixTest, TestIsAffine)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
EXPECT_TRUE(test.isAffine());
}
TEST(MatrixTest, TestScale)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
test.scale(2.0f);
EXPECT_NEAR(test(0, 0), 1.0806f, 0.001f); EXPECT_NEAR(test(0, 1), 1.6829f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 4.3845f, 0.001f);
EXPECT_NEAR(test(1, 0), -0.9093f, 0.001f); EXPECT_NEAR(test(1, 1), 0.5839f, 0.001f); EXPECT_NEAR(test(1, 2), 1.6829f, 0.001f); EXPECT_NEAR(test(1, 3), -0.8479f, 0.001f);
EXPECT_NEAR(test(2, 0), 1.4161f, 0.001f); EXPECT_NEAR(test(2, 1), -0.9093f, 0.001f); EXPECT_NEAR(test(2, 2), 1.0806f, 0.001f); EXPECT_NEAR(test(2, 3), 3.1714f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f);
}
TEST(MatrixTest, TestGetScale)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
test.scale(2.0f);
Point3F scale;
scale = test.getScale();
EXPECT_NEAR(scale.x, 2.0f, 0.001f); EXPECT_NEAR(scale.y, 2.0f, 0.001f); EXPECT_NEAR(scale.z, 2.0f, 0.001f);
}
TEST(MatrixTest, TestAffineInverse)
{
MatrixF test(true);