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Diffstat (limited to 'source/blender/io/alembic/tests/abc_matrix_test.cc')
-rw-r--r-- | source/blender/io/alembic/tests/abc_matrix_test.cc | 292 |
1 files changed, 292 insertions, 0 deletions
diff --git a/source/blender/io/alembic/tests/abc_matrix_test.cc b/source/blender/io/alembic/tests/abc_matrix_test.cc new file mode 100644 index 00000000000..b58e989b1a1 --- /dev/null +++ b/source/blender/io/alembic/tests/abc_matrix_test.cc @@ -0,0 +1,292 @@ +#include "testing/testing.h" + +// Keep first since utildefines defines AT which conflicts with STL +#include "intern/abc_axis_conversion.h" + +#include "BLI_math.h" +#include "BLI_utildefines.h" + +namespace blender { +namespace io { +namespace alembic { + +TEST(abc_matrix, CreateRotationMatrixY_YfromZ) +{ + // Input variables + float rot_x_mat[3][3]; + float rot_y_mat[3][3]; + float rot_z_mat[3][3]; + float euler[3] = {0.f, M_PI_4, 0.f}; + + // Construct expected matrices + float unit[3][3]; + float rot_z_min_quart_pi[3][3]; // rotation of -pi/4 radians over z-axis + + unit_m3(unit); + unit_m3(rot_z_min_quart_pi); + rot_z_min_quart_pi[0][0] = M_SQRT1_2; + rot_z_min_quart_pi[0][1] = -M_SQRT1_2; + rot_z_min_quart_pi[1][0] = M_SQRT1_2; + rot_z_min_quart_pi[1][1] = M_SQRT1_2; + + // Run tests + create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, ABC_YUP_FROM_ZUP); + + EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f); + EXPECT_M3_NEAR(rot_y_mat, unit, 1e-5f); + EXPECT_M3_NEAR(rot_z_mat, rot_z_min_quart_pi, 1e-5f); +} + +TEST(abc_matrix, CreateRotationMatrixZ_YfromZ) +{ + // Input variables + float rot_x_mat[3][3]; + float rot_y_mat[3][3]; + float rot_z_mat[3][3]; + float euler[3] = {0.f, 0.f, M_PI_4}; + + // Construct expected matrices + float unit[3][3]; + float rot_y_quart_pi[3][3]; // rotation of pi/4 radians over y-axis + + unit_m3(unit); + unit_m3(rot_y_quart_pi); + rot_y_quart_pi[0][0] = M_SQRT1_2; + rot_y_quart_pi[0][2] = -M_SQRT1_2; + rot_y_quart_pi[2][0] = M_SQRT1_2; + rot_y_quart_pi[2][2] = M_SQRT1_2; + + // Run tests + create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, ABC_YUP_FROM_ZUP); + + EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f); + EXPECT_M3_NEAR(rot_y_mat, rot_y_quart_pi, 1e-5f); + EXPECT_M3_NEAR(rot_z_mat, unit, 1e-5f); +} + +TEST(abc_matrix, CreateRotationMatrixXYZ_YfromZ) +{ + // Input variables + float rot_x_mat[3][3]; + float rot_y_mat[3][3]; + float rot_z_mat[3][3]; + // in degrees: X=10, Y=20, Z=30 + 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 + float rot_y_p30[3][3]; // rotation of +30 degrees over y-axis + float rot_z_m20[3][3]; // rotation of -20 degrees over z-axis + + unit_m3(rot_x_p10); + rot_x_p10[1][1] = 0.9848077297210693f; + rot_x_p10[1][2] = 0.1736481785774231f; + rot_x_p10[2][1] = -0.1736481785774231f; + rot_x_p10[2][2] = 0.9848077297210693f; + + unit_m3(rot_y_p30); + rot_y_p30[0][0] = 0.8660253882408142f; + rot_y_p30[0][2] = -0.5f; + rot_y_p30[2][0] = 0.5f; + rot_y_p30[2][2] = 0.8660253882408142f; + + unit_m3(rot_z_m20); + rot_z_m20[0][0] = 0.9396926164627075f; + rot_z_m20[0][1] = -0.3420201241970062f; + rot_z_m20[1][0] = 0.3420201241970062f; + rot_z_m20[1][1] = 0.9396926164627075f; + + // Run tests + create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, ABC_YUP_FROM_ZUP); + + EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f); + EXPECT_M3_NEAR(rot_y_mat, rot_y_p30, 1e-5f); + EXPECT_M3_NEAR(rot_z_mat, rot_z_m20, 1e-5f); +} + +TEST(abc_matrix, CreateRotationMatrixXYZ_ZfromY) +{ + // Input variables + float rot_x_mat[3][3]; + 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}; + + // Construct expected matrices + float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis + float rot_y_m30[3][3]; // rotation of -30 degrees over y-axis + float rot_z_p20[3][3]; // rotation of +20 degrees over z-axis + + unit_m3(rot_x_p10); + rot_x_p10[1][1] = 0.9848077297210693f; + rot_x_p10[1][2] = 0.1736481785774231f; + rot_x_p10[2][1] = -0.1736481785774231f; + rot_x_p10[2][2] = 0.9848077297210693f; + + unit_m3(rot_y_m30); + rot_y_m30[0][0] = 0.8660253882408142f; + rot_y_m30[0][2] = 0.5f; + rot_y_m30[2][0] = -0.5f; + rot_y_m30[2][2] = 0.8660253882408142f; + + unit_m3(rot_z_p20); + rot_z_p20[0][0] = 0.9396926164627075f; + rot_z_p20[0][1] = 0.3420201241970062f; + rot_z_p20[1][0] = -0.3420201241970062f; + rot_z_p20[1][1] = 0.9396926164627075f; + + // Run tests + create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, ABC_ZUP_FROM_YUP); + + EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f); + 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); +} + +} // namespace alembic +} // namespace io +} // namespace blender |