diff --git a/Engine/source/math/mMatrix.h b/Engine/source/math/mMatrix.h index abb451591..8b92778bd 100644 --- a/Engine/source/math/mMatrix.h +++ b/Engine/source/math/mMatrix.h @@ -700,9 +700,7 @@ public: ///< M * a -> M Matrix& mul(const Matrix& a) - { - *this = *this * a; return *this; - } + { return *this = *this * a; } ///< a * M -> M Matrix& mulL(const Matrix& a) { return *this = a * *this; } @@ -711,7 +709,7 @@ public: { return *this = a * b; } ///< M * a -> M Matrix& mul(const F32 a) - { return *this * a; } + { return *this = *this * a; } ///< a * b -> M Matrix& mul(const Matrix& a, const F32 b) { return *this = a * b; } @@ -1634,28 +1632,20 @@ template inline EulerF Matrix::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; diff --git a/Engine/source/testing/mathMatrixTest.cpp b/Engine/source/testing/mathMatrixTest.cpp index 8e3a67232..8b22e795f 100644 --- a/Engine/source/testing/mathMatrixTest.cpp +++ b/Engine/source/testing/mathMatrixTest.cpp @@ -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);