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/*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2020 Blender Foundation
* All rights reserved.
*/
#include "BKE_armature.h"
#include "BLI_math.h"
#include "testing/testing.h"
namespace blender::bke::tests {
static const float FLOAT_EPSILON = 1.2e-7;
TEST(mat3_vec_to_roll, UnitMatrix)
{
float unit_matrix[3][3];
float roll;
unit_m3(unit_matrix);
/* Any vector with a unit matrix should return zero roll. */
mat3_vec_to_roll(unit_matrix, unit_matrix[0], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
mat3_vec_to_roll(unit_matrix, unit_matrix[1], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
mat3_vec_to_roll(unit_matrix, unit_matrix[2], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
{
/* Non-unit vector. */
float vector[3] = {1.0f, 1.0f, 1.0f};
mat3_vec_to_roll(unit_matrix, vector, &roll);
EXPECT_NEAR(0.0f, roll, FLOAT_EPSILON);
/* Normalized version of the above vector. */
normalize_v3(vector);
mat3_vec_to_roll(unit_matrix, vector, &roll);
EXPECT_NEAR(0.0f, roll, FLOAT_EPSILON);
}
}
TEST(mat3_vec_to_roll, Rotationmatrix)
{
float rotation_matrix[3][3];
float roll;
const float rot_around_x[3] = {1.234f, 0.0f, 0.0f};
eul_to_mat3(rotation_matrix, rot_around_x);
{
const float unit_axis_x[3] = {1.0f, 0.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_x, &roll);
EXPECT_NEAR(1.234f, roll, FLOAT_EPSILON);
}
{
const float unit_axis_y[3] = {0.0f, 1.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_y, &roll);
EXPECT_NEAR(0, roll, FLOAT_EPSILON);
}
{
const float unit_axis_z[3] = {0.0f, 0.0f, 1.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_z, &roll);
EXPECT_NEAR(0, roll, FLOAT_EPSILON);
}
{
const float between_x_and_y[3] = {1.0f, 1.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, between_x_and_y, &roll);
EXPECT_NEAR(0.57158958f, roll, FLOAT_EPSILON);
}
}
TEST(vec_roll_to_mat3_normalized, Rotationmatrix)
{
float negative_y_axis[3][3];
unit_m3(negative_y_axis);
negative_y_axis[0][0] = negative_y_axis[1][1] = -1.0f;
const float roll = 0.0f;
float roll_mat[3][3];
/* If normalized_vector is -Y, simple symmetry by Z axis. */
{
const float normalized_vector[3] = {0.0f, -1.0f, 0.0f};
vec_roll_to_mat3_normalized(normalized_vector, roll, roll_mat);
EXPECT_M3_NEAR(roll_mat, negative_y_axis, FLT_EPSILON);
}
/* If normalized_vector is far enough from -Y, apply the general case. */
{
const float expected_roll_mat[3][3] = {{1.000000f, 0.000000f, 0.000000f},
{0.000000f, -0.999989986f, -0.000000f},
{0.000000f, 0.000000f, 1.000000f}};
const float normalized_vector[3] = {0.0f, -1.0f + 1e-5f, 0.0f};
vec_roll_to_mat3_normalized(normalized_vector, roll, roll_mat);
EXPECT_M3_NEAR(roll_mat, expected_roll_mat, FLT_EPSILON);
}
#if 0
/* TODO: This test will pass after fixing T82455) */
/* If normalized_vector is close to -Y and
* it has X and Z values above a threshold,
* apply the special case. */
{
const float expected_roll_mat[3][3] = {{0.000000f, -9.99999975e-06f, 1.000000f},
{9.99999975e-06f, -0.999999881f, 9.99999975e-06f},
{1.000000f, -9.99999975e-06, 0.000000f}};
const float normalized_vector[3] = {1e-24, -0.999999881, 0};
vec_roll_to_mat3_normalized(normalized_vector, roll, roll_mat);
EXPECT_M3_NEAR(roll_mat, expected_roll_mat, FLT_EPSILON);
}
#endif
/* If normalized_vector is in a critical range close to -Y, apply the special case. */
{
const float expected_roll_mat[3][3] = {{0.000000f, -9.99999975e-06f, 1.000000f},
{9.99999975e-06f, -0.999999881f, 9.99999975e-06f},
{1.000000f, -9.99999975e-06f, 0.000000f}};
const float normalized_vector[3] = {1e-5f, -0.999999881f, 1e-5f}; /* Corner Case. */
vec_roll_to_mat3_normalized(normalized_vector, roll, roll_mat);
EXPECT_M3_NEAR(roll_mat, expected_roll_mat, FLT_EPSILON);
}
/* If normalized_vector is far enough from -Y, apply the general case. */
{
const float expected_roll_mat[3][3] = {{0.788675129f, -0.577350259f, -0.211324856f},
{0.577350259f, 0.577350259f, 0.577350259f},
{-0.211324856f, -0.577350259f, 0.788675129f}};
const float vector[3] = {1.0f, 1.0f, 1.0f}; /* Arbitrary Value. */
float normalized_vector[3];
normalize_v3_v3(normalized_vector, vector);
vec_roll_to_mat3_normalized(normalized_vector, roll, roll_mat);
EXPECT_M3_NEAR(roll_mat, expected_roll_mat, FLT_EPSILON);
}
}
} // namespace blender::bke::tests
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