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#include "testing/testing.h"
// Keep first since utildefines defines AT which conflicts with fucking STL
#include "intern/abc_util.h"
extern "C" {
#include "BLI_utildefines.h"
#include "BLI_math.h"
}
#define EXPECT_M3_NEAR(a, b, eps) {\
EXPECT_V3_NEAR(a[0], b[0], eps); \
EXPECT_V3_NEAR(a[1], b[1], eps); \
EXPECT_V3_NEAR(a[2], b[2], eps); \
}
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] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
// 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);
}
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