Alembic: rotation mode issue in copy_m44_axis_swap, and added unit tests.

1 files changed, 139 insertions, 1 deletions

diff --git a/tests/gtests/alembic/abc_matrix_test.cc b/tests/gtests/alembic/abc_matrix_test.cc
index c9a79a73f60..08bce1ed50f 100644
--- a/tests/gtests/alembic/abc_matrix_test.cc
+++ b/tests/gtests/alembic/abc_matrix_test.cc
@@ -69,7 +69,7 @@ TEST(abc_matrix, CreateRotationMatrixXYZ_YfromZ) {
 	float rot_y_mat[3][3];
 	float rot_z_mat[3][3];
 	// in degrees: X=10, Y=20, Z=30
-	float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
+	float euler[3] = {0.17453292012214f, 0.34906581044197f, 0.52359879016876f};
 
 	// Construct expected matrices
 	float rot_x_p10[3][3];  // rotation of +10 degrees over x-axis
@@ -142,3 +142,141 @@ TEST(abc_matrix, CreateRotationMatrixXYZ_ZfromY) {
 	EXPECT_M3_NEAR(rot_y_mat, rot_y_m30, 1e-5f);
 	EXPECT_M3_NEAR(rot_z_mat, rot_z_p20, 1e-5f);
 }
+
+TEST(abc_matrix, CopyM44AxisSwap_YfromZ) {
+	float result[4][4];
+
+	/* Construct an input matrix that performs a rotation like the tests
+	 * above. This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=20, Z=30 degrees in XYZ order) and translating over (1, 2, 3) */
+	float input[4][4] = {
+	    { 0.81379765272f, 0.4698463380336f, -0.342020124197f, 0.f},
+	    {-0.44096961617f, 0.8825641274452f,  0.163175910711f, 0.f},
+	    { 0.37852230668f, 0.0180283170193f,  0.925416588783f, 0.f},
+	    {1.f, 2.f, 3.f, 1.f},
+	};
+
+	copy_m44_axis_swap(result, input, ABC_YUP_FROM_ZUP);
+
+	/* Check the resulting rotation & translation. */
+	float trans[4] = {1.f, 3.f, -2.f, 1.f};
+	EXPECT_V4_NEAR(trans, result[3], 1e-5f);
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=30, Z=-20 degrees in XZY order) and translating over (1, 3, -2) */
+	float expect[4][4] = {
+	    {0.813797652721f, -0.342020124197f, -0.469846338033f, 0.f},
+	    {0.378522306680f,  0.925416588783f, -0.018028317019f, 0.f},
+	    {0.440969616174f, -0.163175910711f,  0.882564127445f, 0.f},
+	    {1.f, 3.f, -2.f, 1.f},
+	};
+	EXPECT_M4_NEAR(expect, result, 1e-5f);
+}
+
+TEST(abc_matrix, CopyM44AxisSwapWithScale_YfromZ) {
+	float result[4][4];
+
+	/* Construct an input matrix that performs a rotation like the tests
+	 * above. This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=20, Z=30 degrees in XYZ order), translating over (1, 2, 3),
+	 * and scaling by (4, 5, 6). */
+	float input[4][4] = {
+	    { 3.25519061088f, 1.8793853521347f, -1.368080496788f, 0.f},
+	    {-2.20484805107f, 4.4128208160400f,  0.815879583358f, 0.f},
+	    { 2.27113389968f, 0.1081698983907f,  5.552499771118f, 0.f},
+	    {1.f, 2.f, 3.f, 1.f},
+	};
+
+	copy_m44_axis_swap(result, input, ABC_YUP_FROM_ZUP);
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=30, Z=-20 degrees in XZY order), translating over (1, 3, -2)
+	 * and scaling over (4, 6, 5). */
+	float expect[4][4] = {
+	    {3.255190610885f, -1.368080496788f, -1.879385352134f, 0.f},
+	    {2.271133899688f,  5.552499771118f, -0.108169898390f, 0.f},
+	    {2.204848051071f, -0.815879583358f,  4.412820816040f, 0.f},
+	    {1.f, 3.f, -2.f, 1.f},
+	};
+	EXPECT_M4_NEAR(expect, result, 1e-5f);
+}
+
+TEST(abc_matrix, CopyM44AxisSwap_ZfromY) {
+	float result[4][4];
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=30, Z=-20 degrees in XZY order) and translating over (1, 3, -2) */
+	float input[4][4] = {
+	    {0.813797652721f, -0.342020124197f, -0.469846338033f, 0.f},
+	    {0.378522306680f,  0.925416588783f, -0.018028317019f, 0.f},
+	    {0.440969616174f, -0.163175910711f,  0.882564127445f, 0.f},
+	    {1.f, 3.f, -2.f, 1.f},
+	};
+
+	copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=20, Z=30 degrees in XYZ order) and translating over (1, 2, 3) */
+	float expect[4][4] = {
+	    {0.813797652721f, 0.469846338033f, -0.342020124197f, 0.f},
+	    {-0.44096961617f, 0.882564127445f,  0.163175910711f, 0.f},
+	    {0.378522306680f, 0.018028317019f,  0.925416588783f, 0.f},
+	    {1.f, 2.f, 3.f, 1.f},
+	};
+
+	EXPECT_M4_NEAR(expect, result, 1e-5f);
+}
+
+TEST(abc_matrix, CopyM44AxisSwapWithScale_ZfromY) {
+	float result[4][4];
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=30, Z=-20 degrees in XZY order), translating over (1, 3, -2)
+	 * and scaling over (4, 6, 5). */
+	float input[4][4] = {
+	    {3.2551906108f, -1.36808049678f, -1.879385352134f, 0.f},
+	    {2.2711338996f,  5.55249977111f, -0.108169898390f, 0.f},
+	    {2.2048480510f, -0.81587958335f,  4.412820816040f, 0.f},
+	    {1.f, 3.f, -2.f, 1.f},
+	};
+
+	copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
+
+	/* This matrix was created by rotating a cube in Blender over
+	 * (X=10, Y=20, Z=30 degrees in XYZ order), translating over (1, 2, 3),
+	 * and scaling by (4, 5, 6). */
+	float expect[4][4] = {
+	    {3.25519061088f, 1.879385352134f, -1.36808049678f, 0.f},
+	    {-2.2048480510f, 4.412820816040f,  0.81587958335f, 0.f},
+	    {2.27113389968f, 0.108169898390f,  5.55249977111f, 0.f},
+	    {1.f, 2.f, 3.f, 1.f},
+	};
+
+	EXPECT_M4_NEAR(expect, result, 1e-5f);
+}
+
+TEST(abc_matrix, CopyM44AxisSwapWithScale_gimbal_ZfromY) {
+	float result[4][4];
+
+	/* This matrix represents a rotation over (-90, -0, -0) degrees,
+	 * and a translation over (-0, -0.1, -0). It is in Y=up. */
+	float input[4][4] = {
+	    { 1.000f, 0.000f, 0.000f, 0.000f},
+	    { 0.000f, 0.000f,-1.000f, 0.000f},
+	    { 0.000f, 1.000f, 0.000f, 0.000f},
+	    {-0.000f,-0.100f,-0.000f, 1.000f},
+	};
+
+	copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
+
+	/* Since the rotation is only over the X-axis, it should not change.
+	 * The translation does change. */
+	float expect[4][4] = {
+	    { 1.000f, 0.000f, 0.000f, 0.000f},
+	    { 0.000f, 0.000f,-1.000f, 0.000f},
+	    { 0.000f, 1.000f, 0.000f, 0.000f},
+	    {-0.000f, 0.000f,-0.100f, 1.000f},
+	};
+
+	EXPECT_M4_NEAR(expect, result, 1e-5f);
+}