Implement all brender matrix functions (#66)
* Add macro to test float array with precision * Implement all matrix4 functions + add tests * Implement all matrix23 functions + add tests * Implement all matrix34 functions + add tests * Implement all quat functions + add tests
This commit is contained in:
Anonymous Maarten
GitHub
parent
991a9226fb
commit
e8f3b6f95b
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@ -1,29 +1,52 @@
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#include "matrix23.h"
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#include "harness/trace.h"
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#include <math.h>
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#define A(x, y) A->m[x][y]
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#define B(x, y) B->m[x][y]
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#define C(x, y) C->m[x][y]
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#define M(x, y) mat->m[x][y]
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#define BR_MAC2(a, b, c, d) ((a) * (b) + (c) * (d))
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br_matrix23 mattmp1_23;
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br_matrix23 mattmp2_23;
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// IDA: void __cdecl BrMatrix23Copy(br_matrix23 *A, br_matrix23 *B)
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void BrMatrix23Copy(br_matrix23* A, br_matrix23* B) {
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LOG_TRACE("(%p, %p)", A, B);
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NOT_IMPLEMENTED();
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A(0, 0) = B(0, 0);
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A(0, 1) = B(0, 1);
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A(1, 0) = B(1, 0);
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A(1, 1) = B(1, 1);
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A(2, 0) = B(2, 0);
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A(2, 1) = B(2, 1);
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}
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// IDA: void __cdecl BrMatrix23Mul(br_matrix23 *A, br_matrix23 *B, br_matrix23 *C)
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void BrMatrix23Mul(br_matrix23* A, br_matrix23* B, br_matrix23* C) {
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LOG_TRACE("(%p, %p, %p)", A, B, C);
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NOT_IMPLEMENTED();
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A(0, 0) = BR_MAC2(B(0, 0), C(0, 0), B(0, 1), C(1, 0));
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A(0, 1) = BR_MAC2(B(0, 0), C(0, 1), B(0, 1), C(1, 1));
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A(1, 0) = BR_MAC2(B(1, 0), C(0, 0), B(1, 1), C(1, 0));
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A(1, 1) = BR_MAC2(B(1, 0), C(0, 1), B(1, 1), C(1, 1));
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A(2, 0) = BR_MAC2(B(2, 0), C(0, 0), B(2, 1), C(1, 0)) + C(2, 0);
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A(2, 1) = BR_MAC2(B(2, 0), C(0, 1), B(2, 1), C(1, 1)) + C(2, 1);
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}
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// IDA: void __cdecl BrMatrix23Identity(br_matrix23 *mat)
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void BrMatrix23Identity(br_matrix23* mat) {
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mat->m[0][0] = 1.0;
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mat->m[0][1] = 0.0;
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mat->m[1][0] = 0.0;
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mat->m[1][1] = 1.0;
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mat->m[2][0] = 0.0;
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mat->m[2][1] = 0.0;
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LOG_TRACE("(%p)", mat);
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M(0, 0) = 1.f;
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M(0, 1) = 0.f;
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M(1, 0) = 0.f;
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M(1, 1) = 1.f;
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M(2, 0) = 0.f;
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M(2, 1) = 0.f;
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}
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// IDA: void __cdecl BrMatrix23Rotate(br_matrix23 *mat, br_angle rz)
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@ -31,31 +54,64 @@ void BrMatrix23Rotate(br_matrix23* mat, br_angle rz) {
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br_scalar s;
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br_scalar c;
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LOG_TRACE("(%p, %d)", mat, rz);
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NOT_IMPLEMENTED();
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c = BR_COS(rz);
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s = BR_SIN(rz);
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M(0, 0) = c;
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M(0, 1) = s;
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M(1, 0) = -s;
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M(1, 1) = c;
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M(2, 0) = BR_SCALAR(0.f);
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M(2, 1) = BR_SCALAR(0.f);
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}
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// IDA: void __cdecl BrMatrix23Translate(br_matrix23 *mat, br_scalar dx, br_scalar dy)
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void BrMatrix23Translate(br_matrix23* mat, br_scalar dx, br_scalar dy) {
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LOG_TRACE("(%p, %f, %f)", mat, dx, dy);
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NOT_IMPLEMENTED();
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M(0, 0) = BR_SCALAR(1.f);
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M(0, 1) = BR_SCALAR(0.f);
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M(1, 0) = BR_SCALAR(0.f);
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M(1, 1) = BR_SCALAR(1.f);
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M(2, 0) = dx;
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M(2, 1) = dy;
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}
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// IDA: void __cdecl BrMatrix23Scale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
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void BrMatrix23Scale(br_matrix23* mat, br_scalar sx, br_scalar sy) {
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LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
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NOT_IMPLEMENTED();
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M(0, 0) = sx;
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M(0, 1) = BR_SCALAR(0.f);
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M(1, 0) = BR_SCALAR(0.f);
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M(1, 1) = sy;
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M(2, 0) = BR_SCALAR(0.f);
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M(2, 1) = BR_SCALAR(0.f);
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}
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// IDA: void __cdecl BrMatrix23ShearX(br_matrix23 *mat, br_scalar sy)
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void BrMatrix23ShearX(br_matrix23* mat, br_scalar sy) {
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LOG_TRACE("(%p, %f)", mat, sy);
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NOT_IMPLEMENTED();
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M(0, 0) = BR_SCALAR(1.f);
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M(0, 1) = sy;
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M(1, 0) = BR_SCALAR(0.f);
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M(1, 1) = BR_SCALAR(1.f);
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M(2, 0) = BR_SCALAR(0.f);
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M(2, 1) = BR_SCALAR(0.f);
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}
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// IDA: void __cdecl BrMatrix23ShearY(br_matrix23 *mat, br_scalar sx)
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void BrMatrix23ShearY(br_matrix23* mat, br_scalar sx) {
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LOG_TRACE("(%p, %f)", mat, sx);
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NOT_IMPLEMENTED();
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M(0, 0) = BR_SCALAR(1.f);
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M(0, 1) = BR_SCALAR(0.f);
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M(1, 0) = sx;
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M(1, 1) = BR_SCALAR(1.f);
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M(2, 0) = BR_SCALAR(0.f);
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M(2, 1) = BR_SCALAR(0.f);
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}
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// IDA: br_scalar __cdecl BrMatrix23Inverse(br_matrix23 *B, br_matrix23 *A)
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@ -65,113 +121,199 @@ br_scalar BrMatrix23Inverse(br_matrix23* B, br_matrix23* A) {
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br_scalar pos;
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br_scalar neg;
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LOG_TRACE("(%p, %p)", B, A);
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NOT_IMPLEMENTED();
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idet = A(0, 0) * A(1, 1);
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if (idet < BR_SCALAR(0.f)) {
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pos = BR_SCALAR(0.f);
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neg = idet;
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} else {
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pos = idet;
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neg = BR_SCALAR(0.f);
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}
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idet = -A(0, 1) * A(1, 0);
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if (idet < BR_SCALAR(0.f)) {
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neg = neg + idet;
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} else {
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pos = pos + idet;
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}
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det = pos + neg;
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if (fabs(det) < 2.384186e-07f) {
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return BR_SCALAR(0.f);
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}
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idet = 1 / det;
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B(0, 0) = A(1, 1) * idet;
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B(0, 1) = -A(0, 1) * idet;
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B(1, 0) = -A(1, 0) * idet;
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B(1, 1) = A(0, 0) * idet;
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B(2, 0) = BR_MAC2(A(1, 0), A(2, 1), -A(2, 0), A(1, 1)) * idet;
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B(2, 1) = BR_MAC2(-A(2, 1), A(0, 0), A(0, 1), A(2, 0)) * idet;
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return det;
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}
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// IDA: void __cdecl BrMatrix23LPInverse(br_matrix23 *B, br_matrix23 *A)
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void BrMatrix23LPInverse(br_matrix23* B, br_matrix23* A) {
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LOG_TRACE("(%p, %p)", B, A);
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NOT_IMPLEMENTED();
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B(0, 0) = A(1, 1);
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B(0, 1) = -A(0, 1);
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B(1, 0) = -A(1, 0);
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B(1, 1) = A(0, 0);
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B(2, 0) = BR_MAC2(A(1, 0), A(2, 1), -A(2, 0), A(1, 1));
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B(2, 1) = BR_MAC2(-A(2, 1), A(0, 0), A(0, 1), A(2, 0));
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}
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// IDA: void __cdecl BrMatrix23LPNormalise(br_matrix23 *A, br_matrix23 *B)
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void BrMatrix23LPNormalise(br_matrix23* A, br_matrix23* B) {
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LOG_TRACE("(%p, %p)", A, B);
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NOT_IMPLEMENTED();
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br_scalar norm = sqrtf(BR_MAC2(B(1, 0), B(1, 0), B(1, 1), B(1,1)));
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if (norm < 2.384186e-07f) {
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A(1, 0) = BR_SCALAR(1.f);
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A(1, 1) = BR_SCALAR(0.f);
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} else {
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A(1, 0) = B(1, 0) / norm;
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A(1, 1) = B(1, 1) / norm;
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}
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A(0, 0) = A(1, 1);
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A(0, 1) = -A(1, 0);
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A(2, 0) = B(2, 0);
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A(2, 1) = B(2, 1);
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}
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// IDA: void __cdecl BrMatrix23ApplyP(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
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void BrMatrix23ApplyP(br_vector2* A, br_vector2* B, br_matrix23* C) {
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LOG_TRACE("(%p, %p, %p)", A, B, C);
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NOT_IMPLEMENTED();
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A->v[0] = BR_MAC2(B->v[0], C(0, 0), B->v[1], C(1, 0)) + C(2, 0);
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A->v[1] = BR_MAC2(B->v[0], C(0, 1), B->v[1], C(1, 1)) + C(2, 1);
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}
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// IDA: void __cdecl BrMatrix23ApplyV(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
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void BrMatrix23ApplyV(br_vector2* A, br_vector2* B, br_matrix23* C) {
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LOG_TRACE("(%p, %p, %p)", A, B, C);
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NOT_IMPLEMENTED();
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A->v[0] = BR_MAC2(B->v[0], C(0, 0), B->v[1], C(1, 0));
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A->v[1] = BR_MAC2(B->v[0], C(0, 1), B->v[1], C(1, 1));
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}
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// IDA: void __cdecl BrMatrix23TApplyP(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
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void BrMatrix23TApplyP(br_vector2* A, br_vector2* B, br_matrix23* C) {
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LOG_TRACE("(%p, %p, %p)", A, B, C);
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NOT_IMPLEMENTED();
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A->v[0] = BR_MAC2(B->v[0], C(0, 0), B->v[1], C(0, 1));
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A->v[1] = BR_MAC2(B->v[0], C(1, 0), B->v[1], C(1, 1));
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}
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// IDA: void __cdecl BrMatrix23TApplyV(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
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void BrMatrix23TApplyV(br_vector2* A, br_vector2* B, br_matrix23* C) {
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LOG_TRACE("(%p, %p, %p)", A, B, C);
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NOT_IMPLEMENTED();
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A->v[0] = BR_MAC2(B->v[0], C(0, 0), B->v[1], C(0, 1));
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A->v[1] = BR_MAC2(B->v[0], C(1, 0), B->v[1], C(1, 1));
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}
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// IDA: void __cdecl BrMatrix23Pre(br_matrix23 *mat, br_matrix23 *A)
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void BrMatrix23Pre(br_matrix23* mat, br_matrix23* A) {
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LOG_TRACE("(%p, %p)", mat, A);
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NOT_IMPLEMENTED();
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BrMatrix23Mul(&mattmp1_23, A, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23Post(br_matrix23 *mat, br_matrix23 *A)
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void BrMatrix23Post(br_matrix23* mat, br_matrix23* A) {
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LOG_TRACE("(%p, %p)", mat, A);
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NOT_IMPLEMENTED();
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BrMatrix23Mul(&mattmp1_23, mat, A);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PreRotate(br_matrix23 *mat, br_angle rz)
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void BrMatrix23PreRotate(br_matrix23* mat, br_angle rz) {
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LOG_TRACE("(%p, %d)", mat, rz);
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NOT_IMPLEMENTED();
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BrMatrix23Rotate(&mattmp2_23, rz);
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BrMatrix23Mul(&mattmp1_23, &mattmp2_23, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PostRotate(br_matrix23 *mat, br_angle rz)
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void BrMatrix23PostRotate(br_matrix23* mat, br_angle rz) {
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LOG_TRACE("(%p, %d)", mat, rz);
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NOT_IMPLEMENTED();
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BrMatrix23Rotate(&mattmp2_23, rz);
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BrMatrix23Mul(&mattmp1_23, mat, &mattmp2_23);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PreTranslate(br_matrix23 *mat, br_scalar x, br_scalar y)
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void BrMatrix23PreTranslate(br_matrix23* mat, br_scalar x, br_scalar y) {
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LOG_TRACE("(%p, %f, %f)", mat, x, y);
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NOT_IMPLEMENTED();
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BrMatrix23Translate(&mattmp2_23, x, y);
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BrMatrix23Mul(&mattmp1_23, &mattmp2_23, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PostTranslate(br_matrix23 *A, br_scalar x, br_scalar y)
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void BrMatrix23PostTranslate(br_matrix23* A, br_scalar x, br_scalar y) {
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LOG_TRACE("(%p, %f, %f)", A, x, y);
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NOT_IMPLEMENTED();
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A(2, 0) += x;
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A(2, 1) += y;
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}
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// IDA: void __cdecl BrMatrix23PreScale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
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void BrMatrix23PreScale(br_matrix23* mat, br_scalar sx, br_scalar sy) {
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LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
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NOT_IMPLEMENTED();
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BrMatrix23Scale(&mattmp2_23, sx, sy);
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BrMatrix23Mul(&mattmp1_23, &mattmp2_23, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PostScale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
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void BrMatrix23PostScale(br_matrix23* mat, br_scalar sx, br_scalar sy) {
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LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
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NOT_IMPLEMENTED();
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BrMatrix23Scale(&mattmp2_23, sx, sy);
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BrMatrix23Mul(&mattmp1_23, mat, &mattmp2_23);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PreShearX(br_matrix23 *mat, br_scalar sy)
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void BrMatrix23PreShearX(br_matrix23* mat, br_scalar sy) {
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LOG_TRACE("(%p, %f)", mat, sy);
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NOT_IMPLEMENTED();
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BrMatrix23ShearX(&mattmp2_23, sy);
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BrMatrix23Mul(&mattmp1_23, &mattmp2_23, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PostShearX(br_matrix23 *mat, br_scalar sy)
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void BrMatrix23PostShearX(br_matrix23* mat, br_scalar sy) {
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LOG_TRACE("(%p, %f)", mat, sy);
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NOT_IMPLEMENTED();
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BrMatrix23ShearX(&mattmp2_23, sy);
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BrMatrix23Mul(&mattmp1_23, mat, &mattmp2_23);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PreShearY(br_matrix23 *mat, br_scalar sx)
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void BrMatrix23PreShearY(br_matrix23* mat, br_scalar sx) {
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LOG_TRACE("(%p, %f)", mat, sx);
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NOT_IMPLEMENTED();
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BrMatrix23ShearY(&mattmp2_23, sx);
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BrMatrix23Mul(&mattmp1_23, &mattmp2_23, mat);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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// IDA: void __cdecl BrMatrix23PostShearY(br_matrix23 *mat, br_scalar sx)
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void BrMatrix23PostShearY(br_matrix23* mat, br_scalar sx) {
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LOG_TRACE("(%p, %f)", mat, sx);
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NOT_IMPLEMENTED();
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BrMatrix23ShearY(&mattmp2_23, sx);
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BrMatrix23Mul(&mattmp1_23, mat, &mattmp2_23);
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BrMatrix23Copy(mat, &mattmp1_23);
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}
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@ -11,6 +11,7 @@ br_matrix34 mattmp2;
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#define B(x, y) B->m[x][y]
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#define C(x, y) C->m[x][y]
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#define BR_MAC3(a, b, c, d, e, f) ((a) * (b) + (c) * (d) + (e) * (f))
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#define BR_MAC4(a, b, c, d, e, f, g, h) ((a) * (b) + (c) * (d) + (e) * (f) + (g) * (h))
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// IDA: void __cdecl BrMatrix34Copy(br_matrix34 *A, br_matrix34 *B)
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void BrMatrix34Copy(br_matrix34* A, br_matrix34* B) {
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@ -37,18 +38,18 @@ void BrMatrix34Copy(br_matrix34* A, br_matrix34* B) {
|
|||
void BrMatrix34Mul(br_matrix34* A, br_matrix34* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
|
||||
A->m[0][0] = C->m[0][0] * B->m[0][0] + C->m[2][0] * B->m[0][2] + B->m[0][1] * C->m[1][0];
|
||||
A->m[0][1] = B->m[0][0] * C->m[0][1] + B->m[0][2] * C->m[2][1] + B->m[0][1] * C->m[1][1];
|
||||
A->m[0][2] = B->m[0][0] * C->m[0][2] + C->m[1][2] * B->m[0][1] + B->m[0][2] * C->m[2][2];
|
||||
A->m[1][0] = C->m[0][0] * B->m[1][0] + B->m[1][2] * C->m[2][0] + C->m[1][0] * B->m[1][1];
|
||||
A->m[1][1] = B->m[1][2] * C->m[2][1] + C->m[0][1] * B->m[1][0] + C->m[1][1] * B->m[1][1];
|
||||
A->m[1][2] = B->m[1][2] * C->m[2][2] + C->m[1][2] * B->m[1][1] + C->m[0][2] * B->m[1][0];
|
||||
A->m[2][0] = C->m[0][0] * B->m[2][0] + C->m[2][0] * B->m[2][2] + B->m[2][1] * C->m[1][0];
|
||||
A->m[2][1] = C->m[0][1] * B->m[2][0] + C->m[2][1] * B->m[2][2] + B->m[2][1] * C->m[1][1];
|
||||
A->m[2][2] = C->m[1][2] * B->m[2][1] + B->m[2][0] * C->m[0][2] + C->m[2][2] * B->m[2][2];
|
||||
A->m[3][0] = C->m[0][0] * B->m[3][0] + C->m[2][0] * B->m[3][2] + B->m[3][1] * C->m[1][0] + C->m[3][0];
|
||||
A->m[3][1] = B->m[3][0] * C->m[0][1] + B->m[3][1] * C->m[1][1] + B->m[3][2] * C->m[2][1] + C->m[3][1];
|
||||
A->m[3][2] = C->m[1][2] * B->m[3][1] + B->m[3][2] * C->m[2][2] + B->m[3][0] * C->m[0][2] + C->m[3][2];
|
||||
A(0, 0) = BR_MAC3(B(0, 0), C(0, 0), B(0, 1), C(1, 0), B(0, 2), C(2, 0));
|
||||
A(0, 1) = BR_MAC3(B(0, 0), C(0, 1), B(0, 1), C(1, 1), B(0, 2), C(2, 1));
|
||||
A(0, 2) = BR_MAC3(B(0, 0), C(0, 2), B(0, 1), C(1, 2), B(0, 2), C(2, 2));
|
||||
A(1, 0) = BR_MAC3(B(1, 0), C(0, 0), B(1, 1), C(1, 0), B(1, 2), C(2, 0));
|
||||
A(1, 1) = BR_MAC3(B(1, 0), C(0, 1), B(1, 1), C(1, 1), B(1, 2), C(2, 1));
|
||||
A(1, 2) = BR_MAC3(B(1, 0), C(0, 2), B(1, 1), C(1, 2), B(1, 2), C(2, 2));
|
||||
A(2, 0) = BR_MAC3(B(2, 0), C(0, 0), B(2, 1), C(1, 0), B(2, 2), C(2, 0));
|
||||
A(2, 1) = BR_MAC3(B(2, 0), C(0, 1), B(2, 1), C(1, 1), B(2, 2), C(2, 1));
|
||||
A(2, 2) = BR_MAC3(B(2, 0), C(0, 2), B(2, 1), C(1, 2), B(2, 2), C(2, 2));
|
||||
A(3, 0) = BR_MAC3(B(3, 0), C(0, 0), B(3, 1), C(1, 0), B(3, 2), C(2, 0)) + C(3, 0);
|
||||
A(3, 1) = BR_MAC3(B(3, 0), C(0, 1), B(3, 1), C(1, 1), B(3, 2), C(2, 1)) + C(3, 1);
|
||||
A(3, 2) = BR_MAC3(B(3, 0), C(0, 2), B(3, 1), C(1, 2), B(3, 2), C(2, 2)) + C(3, 2);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34Identity(br_matrix34 *mat)
|
||||
|
|
@ -57,21 +58,21 @@ void BrMatrix34Identity(br_matrix34* mat) {
|
|||
// { 0, 1, 0},
|
||||
// { 0, 0, 1}
|
||||
// ( 0, 0, 0 }
|
||||
mat->m[0][0] = 1.0;
|
||||
mat->m[0][1] = 0;
|
||||
mat->m[0][2] = 0;
|
||||
M(0, 0) = 1.f;
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
|
||||
mat->m[1][0] = 0;
|
||||
mat->m[1][1] = 1.0;
|
||||
mat->m[1][2] = 0;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = 1.f;
|
||||
M(1, 2) = 0.f;
|
||||
|
||||
mat->m[2][0] = 0;
|
||||
mat->m[2][1] = 0;
|
||||
mat->m[2][2] = 1.0;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = 1.f;
|
||||
|
||||
mat->m[3][0] = 0;
|
||||
mat->m[3][1] = 0;
|
||||
mat->m[3][2] = 0;
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34RotateX(br_matrix34 *mat, br_angle rx)
|
||||
|
|
@ -125,7 +126,22 @@ void BrMatrix34RotateZ(br_matrix34* mat, br_angle rz) {
|
|||
br_scalar s;
|
||||
br_scalar c;
|
||||
LOG_TRACE("(%p, %d)", mat, rz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
s = BR_SIN(rz);
|
||||
c = BR_COS(rz);
|
||||
|
||||
M(0, 0) = c;
|
||||
M(0, 1) = s;
|
||||
M(0, 2) = 0;
|
||||
M(1, 0) = -s;
|
||||
M(1, 1) = c;
|
||||
M(1, 2) = 0;
|
||||
M(2, 0) = 0;
|
||||
M(2, 1) = 0;
|
||||
M(2, 2) = 1;
|
||||
M(3, 0) = 0;
|
||||
M(3, 1) = 0;
|
||||
M(3, 2) = 0;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34Rotate(br_matrix34 *mat, br_angle r, br_vector3 *a)
|
||||
|
|
@ -171,15 +187,15 @@ void BrMatrix34Rotate(br_matrix34* mat, br_angle r, br_vector3* a) {
|
|||
void BrMatrix34Translate(br_matrix34* mat, br_scalar dx, br_scalar dy, br_scalar dz) {
|
||||
LOG_TRACE("(%p, %f, %f, %f)", mat, dx, dy, dz);
|
||||
|
||||
M(0, 0) = 1;
|
||||
M(0, 1) = 0;
|
||||
M(0, 2) = 0;
|
||||
M(1, 0) = 0;
|
||||
M(1, 1) = 1;
|
||||
M(1, 2) = 0;
|
||||
M(2, 0) = 0;
|
||||
M(2, 1) = 0;
|
||||
M(2, 2) = 1;
|
||||
M(0, 0) = 1.f;
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = 1.f;
|
||||
M(1, 2) = 0.f;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = 1.f;
|
||||
M(3, 0) = dx;
|
||||
M(3, 1) = dy;
|
||||
M(3, 2) = dz;
|
||||
|
|
@ -190,71 +206,71 @@ void BrMatrix34Scale(br_matrix34* mat, br_scalar sx, br_scalar sy, br_scalar sz)
|
|||
LOG_TRACE("(%p, %f, %f, %f)", mat, sx, sy, sz);
|
||||
|
||||
M(0, 0) = sx;
|
||||
M(0, 1) = 0;
|
||||
M(0, 2) = 0;
|
||||
M(1, 0) = 0;
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = sy;
|
||||
M(1, 2) = 0;
|
||||
M(2, 0) = 0;
|
||||
M(2, 1) = 0;
|
||||
M(1, 2) = 0.f;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = sz;
|
||||
M(3, 0) = 0;
|
||||
M(3, 1) = 0;
|
||||
M(3, 2) = 0;
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34ShearX(br_matrix34 *mat, br_scalar sy, br_scalar sz)
|
||||
void BrMatrix34ShearX(br_matrix34* mat, br_scalar sy, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sy, sz);
|
||||
|
||||
M(0, 0) = 1;
|
||||
M(0, 0) = 1.f;
|
||||
M(0, 1) = sy;
|
||||
M(0, 2) = sz;
|
||||
M(1, 0) = 0;
|
||||
M(1, 1) = 1;
|
||||
M(1, 2) = 0;
|
||||
M(2, 0) = 0;
|
||||
M(2, 1) = 0;
|
||||
M(2, 2) = 1;
|
||||
M(3, 0) = 0;
|
||||
M(3, 1) = 0;
|
||||
M(3, 2) = 0;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = 1.f;
|
||||
M(1, 2) = 0.f;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = 1.f;
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34ShearY(br_matrix34 *mat, br_scalar sx, br_scalar sz)
|
||||
void BrMatrix34ShearY(br_matrix34* mat, br_scalar sx, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sz);
|
||||
|
||||
M(0, 0) = 1;
|
||||
M(0, 1) = 0;
|
||||
M(0, 2) = 0;
|
||||
M(0, 0) = 1.f;
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
M(1, 0) = sx;
|
||||
M(1, 1) = 1;
|
||||
M(1, 1) = 1.f;
|
||||
M(1, 2) = sz;
|
||||
M(2, 0) = 0;
|
||||
M(2, 1) = 0;
|
||||
M(2, 2) = 1;
|
||||
M(3, 0) = 0;
|
||||
M(3, 1) = 0;
|
||||
M(3, 2) = 0;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = 1.f;
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34ShearZ(br_matrix34 *mat, br_scalar sx, br_scalar sy)
|
||||
void BrMatrix34ShearZ(br_matrix34* mat, br_scalar sx, br_scalar sy) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
|
||||
|
||||
M(0, 0) = 1;
|
||||
M(0, 1) = 0;
|
||||
M(0, 2) = 0;
|
||||
M(1, 0) = 0;
|
||||
M(1, 1) = 1;
|
||||
M(1, 2) = 0;
|
||||
M(0, 0) = 1.f;
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = 1.f;
|
||||
M(1, 2) = 0.f;
|
||||
M(2, 0) = sx;
|
||||
M(2, 1) = sy;
|
||||
M(2, 2) = 1;
|
||||
M(3, 0) = 0;
|
||||
M(3, 1) = 0;
|
||||
M(3, 2) = 0;
|
||||
M(2, 2) = 1.f;
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
}
|
||||
|
||||
// IDA: br_scalar __cdecl BrMatrix34Inverse(br_matrix34 *B, br_matrix34 *A)
|
||||
|
|
@ -273,7 +289,7 @@ br_scalar BrMatrix34Inverse(br_matrix34* B, br_matrix34* A) {
|
|||
#define BF(x, y) (BF[x][y])
|
||||
|
||||
#define ACCUMULATE \
|
||||
if (temp >= 0.0) \
|
||||
if (temp >= 0.f) \
|
||||
pos += temp; \
|
||||
else \
|
||||
neg += temp;
|
||||
|
|
@ -302,13 +318,13 @@ br_scalar BrMatrix34Inverse(br_matrix34* B, br_matrix34* A) {
|
|||
det = pos + neg;
|
||||
|
||||
if (ABS(det) <= PRECISION_LIMIT)
|
||||
return 0;
|
||||
return 0.f;
|
||||
|
||||
if ((ABS(det / (pos - neg)) < PRECISION_LIMIT)) {
|
||||
return 0;
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
idet = 1.0F / det;
|
||||
idet = 1.f / det;
|
||||
|
||||
BF(0, 0) = (AF(1, 1) * AF(2, 2) - AF(1, 2) * AF(2, 1)) * idet;
|
||||
BF(1, 0) = -(AF(1, 0) * AF(2, 2) - AF(1, 2) * AF(2, 0)) * idet;
|
||||
|
|
@ -377,7 +393,37 @@ void BrMatrix34RollingBall(br_matrix34* mat, int dx, int dy, int radius) {
|
|||
br_scalar dr;
|
||||
br_scalar h;
|
||||
LOG_TRACE("(%p, %d, %d, %d)", mat, dx, dy, radius);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
// The rolling ball, Graphics Gems III (1993), pages 51-60, Academic Press
|
||||
|
||||
dr = sqrtf(dx * dx + dy * dy);
|
||||
if (dr == BR_SCALAR(.0f)) {
|
||||
BrMatrix34Identity(mat);
|
||||
return;
|
||||
}
|
||||
h = sqrtf(dr * dr + radius * radius);
|
||||
ca = radius / h;
|
||||
sa = dr / h;
|
||||
nx = -dy / dr;
|
||||
ny = dx / dr;
|
||||
// nz = 0;
|
||||
|
||||
h = (1 - ca);
|
||||
|
||||
M(0, 0) = nx * nx * h + ca;
|
||||
M(0, 1) = nx * ny * h;
|
||||
M(0, 2) = ny * sa;
|
||||
M(1, 1) = ca + ny * ny * h;
|
||||
M(1, 2) = -nx * sa;
|
||||
M(2, 2) = ca;
|
||||
|
||||
M(1, 0) = M(0, 1);
|
||||
M(2, 0) = -M(0, 2);
|
||||
M(2, 1) = -M(1, 2);
|
||||
|
||||
M(3, 0) = BR_SCALAR(0.f);
|
||||
M(3, 1) = BR_SCALAR(0.f);
|
||||
M(3, 2) = BR_SCALAR(0.f);
|
||||
}
|
||||
|
||||
// IDA: br_matrix34* __cdecl BrBoundsToMatrix34(br_matrix34 *mat, br_bounds *bounds)
|
||||
|
|
@ -386,25 +432,67 @@ br_matrix34* BrBoundsToMatrix34(br_matrix34* mat, br_bounds* bounds) {
|
|||
br_vector3 tr;
|
||||
br_vector3 sc;
|
||||
LOG_TRACE("(%p, %p)", mat, bounds);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
for (i = 0; i < 3; ++i) {
|
||||
tr.v[i] = 0.5f * bounds->min.v[i] + 0.5f * bounds->max.v[i];
|
||||
if (bounds->min.v[i] == bounds->max.v[i]) {
|
||||
sc.v[i] = 1.f;
|
||||
} else {
|
||||
sc.v[i] = 0.5f * bounds->max.v[i] - 0.5f * bounds->min.v[i];
|
||||
}
|
||||
}
|
||||
|
||||
M(0, 0) = sc.v[0];
|
||||
M(0, 1) = 0.f;
|
||||
M(0, 2) = 0.f;
|
||||
M(1, 0) = 0.f;
|
||||
M(1, 1) = sc.v[1];
|
||||
M(1, 2) = 0.f;
|
||||
M(2, 0) = 0.f;
|
||||
M(2, 1) = 0.f;
|
||||
M(2, 2) = sc.v[2];
|
||||
M(3, 0) = tr.v[0];
|
||||
M(3, 1) = tr.v[1];
|
||||
M(3, 2) = tr.v[2];
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34Copy4(br_matrix34 *A, br_matrix4 *B)
|
||||
void BrMatrix34Copy4(br_matrix34* A, br_matrix4* B) {
|
||||
LOG_TRACE("(%p, %p)", A, B);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A(0, 0) = B(0, 0);
|
||||
A(0, 1) = B(0, 1);
|
||||
A(0, 2) = B(0, 2);
|
||||
|
||||
A(1, 0) = B(1, 0);
|
||||
A(1, 1) = B(1, 1);
|
||||
A(1, 2) = B(1, 2);
|
||||
|
||||
A(2, 0) = B(2, 0);
|
||||
A(2, 1) = B(2, 1);
|
||||
A(2, 2) = B(2, 2);
|
||||
|
||||
A(3, 0) = B(3, 0);
|
||||
A(3, 1) = B(3, 1);
|
||||
A(3, 2) = B(3, 2);
|
||||
}
|
||||
|
||||
// IDA: void __usercall BrMatrix34TApplyFV(br_vector3 *A@<EAX>, br_fvector3 *B@<EDX>, br_matrix34 *C@<EBX>)
|
||||
void BrMatrix34TApplyFV(br_vector3* A, br_fvector3* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34Apply(br_vector3 *A, br_vector4 *B, br_matrix34 *C)
|
||||
void BrMatrix34Apply(br_vector3* A, br_vector4* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC4(B->v[0], C(0, 0), B->v[1], C(1, 0), B->v[2], C(2, 0), B->v[3], C(3, 0));
|
||||
A->v[1] = BR_MAC4(B->v[0], C(0, 1), B->v[1], C(1, 1), B->v[2], C(2, 1), B->v[3], C(3, 1));
|
||||
A->v[2] = BR_MAC4(B->v[0], C(0, 2), B->v[1], C(1, 2), B->v[2], C(2, 2), B->v[3], C(3, 2));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34ApplyP(br_vector3 *A, br_vector3 *B, br_matrix34 *C)
|
||||
|
|
@ -427,20 +515,29 @@ void BrMatrix34ApplyV(br_vector3* A, br_vector3* B, br_matrix34* C) {
|
|||
|
||||
// IDA: void __cdecl BrMatrix34TApply(br_vector4 *A, br_vector4 *B, br_matrix34 *C)
|
||||
void BrMatrix34TApply(br_vector4* A, br_vector4* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C)
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2));
|
||||
A->v[3] = BR_MAC3(B->v[0], C(3, 0), B->v[1], C(3, 1), B->v[2], C(3, 2)) + B->v[3];
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34TApplyP(br_vector3 *A, br_vector3 *B, br_matrix34 *C)
|
||||
void BrMatrix34TApplyP(br_vector3* A, br_vector3* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
// translation elements are presumed zero or irrelevant
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34TApplyV(br_vector3 *A, br_vector3 *B, br_matrix34 *C)
|
||||
void BrMatrix34TApplyV(br_vector3* A, br_vector3* B, br_matrix34* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
|
||||
// translation elements are presumed zero or irrelevant
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2));
|
||||
|
|
@ -448,101 +545,117 @@ void BrMatrix34TApplyV(br_vector3* A, br_vector3* B, br_matrix34* C) {
|
|||
|
||||
// IDA: void __cdecl BrMatrix34Pre(br_matrix34 *mat, br_matrix34 *A)
|
||||
void BrMatrix34Pre(br_matrix34* mat, br_matrix34* A) {
|
||||
br_matrix34 mattmp;
|
||||
LOG_TRACE("(%p, %p)", mat, A);
|
||||
|
||||
BrMatrix34Mul(&mattmp, A, mat);
|
||||
BrMatrix34Copy(mat, &mattmp);
|
||||
BrMatrix34Mul(&mattmp1, A, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34Post(br_matrix34 *mat, br_matrix34 *A)
|
||||
void BrMatrix34Post(br_matrix34* mat, br_matrix34* A) {
|
||||
br_matrix34 mattmp;
|
||||
LOG_TRACE("(%p, %p)", mat, A);
|
||||
|
||||
BrMatrix34Mul(&mattmp, mat, A);
|
||||
BrMatrix34Copy(mat, &mattmp);
|
||||
BrMatrix34Mul(&mattmp1, mat, A);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreRotateX(br_matrix34 *mat, br_angle rx)
|
||||
void BrMatrix34PreRotateX(br_matrix34* mat, br_angle rx) {
|
||||
LOG_TRACE("(%p, %d)", mat, rx);
|
||||
|
||||
BrMatrix34RotateX(&mattmp1, rx);
|
||||
BrMatrix34Mul(&mattmp2, &mattmp1, mat);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34RotateX(&mattmp2, rx);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostRotateX(br_matrix34 *mat, br_angle rx)
|
||||
void BrMatrix34PostRotateX(br_matrix34* mat, br_angle rx) {
|
||||
LOG_TRACE("(%p, %d)", mat, rx);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34RotateX(&mattmp2, rx);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreRotateY(br_matrix34 *mat, br_angle ry)
|
||||
void BrMatrix34PreRotateY(br_matrix34* mat, br_angle ry) {
|
||||
LOG_TRACE("(%p, %d)", mat, ry);
|
||||
|
||||
BrMatrix34RotateY(&mattmp1, ry);
|
||||
BrMatrix34Mul(&mattmp2, &mattmp1, mat);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34RotateY(&mattmp2, ry);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostRotateY(br_matrix34 *mat, br_angle ry)
|
||||
void BrMatrix34PostRotateY(br_matrix34* mat, br_angle ry) {
|
||||
LOG_TRACE("(%p, %d)", mat, ry);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34RotateY(&mattmp2, ry);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreRotateZ(br_matrix34 *mat, br_angle rz)
|
||||
void BrMatrix34PreRotateZ(br_matrix34* mat, br_angle rz) {
|
||||
LOG_TRACE("(%p, %d)", mat, rz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34RotateZ(&mattmp2, rz);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostRotateZ(br_matrix34 *mat, br_angle rz)
|
||||
void BrMatrix34PostRotateZ(br_matrix34* mat, br_angle rz) {
|
||||
LOG_TRACE("(%p, %d)", mat, rz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34RotateZ(&mattmp2, rz);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreRotate(br_matrix34 *mat, br_angle r, br_vector3 *axis)
|
||||
void BrMatrix34PreRotate(br_matrix34* mat, br_angle r, br_vector3* axis) {
|
||||
LOG_TRACE("(%p, %d, %p)", mat, r, axis);
|
||||
|
||||
BrMatrix34Rotate(&mattmp1, r, axis);
|
||||
BrMatrix34Mul(&mattmp2, &mattmp1, mat);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34Rotate(&mattmp2, r, axis);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostRotate(br_matrix34 *mat, br_angle r, br_vector3 *axis)
|
||||
void BrMatrix34PostRotate(br_matrix34* mat, br_angle r, br_vector3* axis) {
|
||||
LOG_TRACE("(%p, %d, %p)", mat, r, axis);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34Rotate(&mattmp2, r, axis);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreTranslate(br_matrix34 *mat, br_scalar x, br_scalar y, br_scalar z)
|
||||
void BrMatrix34PreTranslate(br_matrix34* mat, br_scalar x, br_scalar y, br_scalar z) {
|
||||
LOG_TRACE("(%p, %f, %f, %f)", mat, x, y, z);
|
||||
|
||||
BrMatrix34Translate(&mattmp1, x, y, z);
|
||||
BrMatrix34Mul(&mattmp2, &mattmp1, mat);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34Translate(&mattmp2, x, y, z);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostTranslate(br_matrix34 *mat, br_scalar x, br_scalar y, br_scalar z)
|
||||
void BrMatrix34PostTranslate(br_matrix34* mat, br_scalar x, br_scalar y, br_scalar z) {
|
||||
LOG_TRACE("(%p, %f, %f, %f)", mat, x, y, z);
|
||||
|
||||
BrMatrix34Translate(&mattmp1, x, y, z);
|
||||
BrMatrix34Mul(&mattmp2, mat, &mattmp1);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
M(3, 0) += x;
|
||||
M(3, 1) += y;
|
||||
M(3, 2) += z;
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreScale(br_matrix34 *mat, br_scalar sx, br_scalar sy, br_scalar sz)
|
||||
void BrMatrix34PreScale(br_matrix34* mat, br_scalar sx, br_scalar sy, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f, %f)", mat, sx, sy, sz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34Scale(&mattmp2, sx, sy, sz);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostScale(br_matrix34 *mat, br_scalar sx, br_scalar sy, br_scalar sz)
|
||||
|
|
@ -557,44 +670,53 @@ void BrMatrix34PostScale(br_matrix34* mat, br_scalar sx, br_scalar sy, br_scalar
|
|||
// IDA: void __cdecl BrMatrix34PreShearX(br_matrix34 *mat, br_scalar sy, br_scalar sz)
|
||||
void BrMatrix34PreShearX(br_matrix34* mat, br_scalar sy, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sy, sz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34ShearX(&mattmp2, sy, sz);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostShearX(br_matrix34 *mat, br_scalar sy, br_scalar sz)
|
||||
void BrMatrix34PostShearX(br_matrix34* mat, br_scalar sy, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sy, sz);
|
||||
|
||||
BrMatrix34ShearX(&mattmp1, sy, sz);
|
||||
BrMatrix34Mul(&mattmp2, mat, &mattmp1);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34ShearX(&mattmp2, sy, sz);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreShearY(br_matrix34 *mat, br_scalar sx, br_scalar sz)
|
||||
void BrMatrix34PreShearY(br_matrix34* mat, br_scalar sx, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34ShearY(&mattmp2, sx, sz);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostShearY(br_matrix34 *mat, br_scalar sx, br_scalar sz)
|
||||
void BrMatrix34PostShearY(br_matrix34* mat, br_scalar sx, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sz);
|
||||
|
||||
BrMatrix34ShearY(&mattmp1, sx, sz);
|
||||
BrMatrix34Mul(&mattmp2, mat, &mattmp1);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34ShearY(&mattmp2, sx, sz);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PreShearZ(br_matrix34 *mat, br_scalar sx, br_scalar sy)
|
||||
void BrMatrix34PreShearZ(br_matrix34* mat, br_scalar sx, br_scalar sy) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34ShearZ(&mattmp2, sx, sy);
|
||||
BrMatrix34Mul(&mattmp1, &mattmp2, mat);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix34PostShearZ(br_matrix34 *mat, br_scalar sx, br_scalar sy)
|
||||
void BrMatrix34PostShearZ(br_matrix34* mat, br_scalar sx, br_scalar sy) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
|
||||
|
||||
BrMatrix34ShearZ(&mattmp1, sx, sy);
|
||||
BrMatrix34Mul(&mattmp2, mat, &mattmp1);
|
||||
BrMatrix34Copy(mat, &mattmp2);
|
||||
BrMatrix34ShearZ(&mattmp2, sx, sy);
|
||||
BrMatrix34Mul(&mattmp1, mat, &mattmp2);
|
||||
BrMatrix34Copy(mat, &mattmp1);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#include "matrix4.h"
|
||||
#include "harness/trace.h"
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
#define A(x, y) A->m[x][y]
|
||||
#define B(x, y) B->m[x][y]
|
||||
|
|
@ -36,19 +37,67 @@ void BrMatrix4Copy(br_matrix4* A, br_matrix4* B) {
|
|||
// IDA: void __cdecl BrMatrix4Mul(br_matrix4 *A, br_matrix4 *B, br_matrix4 *C)
|
||||
void BrMatrix4Mul(br_matrix4* A, br_matrix4* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A(0, 0) = BR_MAC4(B(0, 0), C(0, 0), B(0, 1), C(1, 0), B(0, 2), C(2, 0), B(0, 3), C(3, 0));
|
||||
A(0, 1) = BR_MAC4(B(0, 0), C(0, 1), B(0, 1), C(1, 1), B(0, 2), C(2, 1), B(0, 3), C(3, 1));
|
||||
A(0, 2) = BR_MAC4(B(0, 0), C(0, 2), B(0, 1), C(1, 2), B(0, 2), C(2, 2), B(0, 3), C(3, 2));
|
||||
A(0, 3) = BR_MAC4(B(0, 0), C(0, 3), B(0, 1), C(1, 3), B(0, 2), C(2, 3), B(0, 3), C(3, 3));
|
||||
A(1, 0) = BR_MAC4(B(1, 0), C(0, 0), B(1, 1), C(1, 0), B(1, 2), C(2, 0), B(1, 3), C(3, 0));
|
||||
A(1, 1) = BR_MAC4(B(1, 0), C(0, 1), B(1, 1), C(1, 1), B(1, 2), C(2, 1), B(1, 3), C(3, 1));
|
||||
A(1, 2) = BR_MAC4(B(1, 0), C(0, 2), B(1, 1), C(1, 2), B(1, 2), C(2, 2), B(1, 3), C(3, 2));
|
||||
A(1, 3) = BR_MAC4(B(1, 0), C(0, 3), B(1, 1), C(1, 3), B(1, 2), C(2, 3), B(1, 3), C(3, 3));
|
||||
A(2, 0) = BR_MAC4(B(2, 0), C(0, 0), B(2, 1), C(1, 0), B(2, 2), C(2, 0), B(2, 3), C(3, 0));
|
||||
A(2, 1) = BR_MAC4(B(2, 0), C(0, 1), B(2, 1), C(1, 1), B(2, 2), C(2, 1), B(2, 3), C(3, 1));
|
||||
A(2, 2) = BR_MAC4(B(2, 0), C(0, 2), B(2, 1), C(1, 2), B(2, 2), C(2, 2), B(2, 3), C(3, 2));
|
||||
A(2, 3) = BR_MAC4(B(2, 0), C(0, 3), B(2, 1), C(1, 3), B(2, 2), C(2, 3), B(2, 3), C(3, 3));
|
||||
A(3, 0) = BR_MAC4(B(3, 0), C(0, 0), B(3, 1), C(1, 0), B(3, 2), C(2, 0), B(3, 3), C(3, 0));
|
||||
A(3, 1) = BR_MAC4(B(3, 0), C(0, 1), B(3, 1), C(1, 1), B(3, 2), C(2, 1), B(3, 3), C(3, 1));
|
||||
A(3, 2) = BR_MAC4(B(3, 0), C(0, 2), B(3, 1), C(1, 2), B(3, 2), C(2, 2), B(3, 3), C(3, 2));
|
||||
A(3, 3) = BR_MAC4(B(3, 0), C(0, 3), B(3, 1), C(1, 3), B(3, 2), C(2, 3), B(3, 3), C(3, 3));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Identity(br_matrix4 *mat)
|
||||
void BrMatrix4Identity(br_matrix4* mat) {
|
||||
LOG_TRACE("(%p)", mat);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
M(0, 0) = BR_SCALAR(1.f);
|
||||
M(0, 1) = BR_SCALAR(0.f);
|
||||
M(0, 2) = BR_SCALAR(0.f);
|
||||
M(0, 3) = BR_SCALAR(0.f);
|
||||
M(1, 0) = BR_SCALAR(0.f);
|
||||
M(1, 1) = BR_SCALAR(1.f);
|
||||
M(1, 2) = BR_SCALAR(0.f);
|
||||
M(1, 3) = BR_SCALAR(0.f);
|
||||
M(2, 0) = BR_SCALAR(0.f);
|
||||
M(2, 1) = BR_SCALAR(0.f);
|
||||
M(2, 2) = BR_SCALAR(1.f);
|
||||
M(2, 3) = BR_SCALAR(0.f);
|
||||
M(3, 0) = BR_SCALAR(0.f);
|
||||
M(3, 1) = BR_SCALAR(0.f);
|
||||
M(3, 2) = BR_SCALAR(0.f);
|
||||
M(3, 3) = BR_SCALAR(1.f);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Scale(br_matrix4 *mat, br_scalar sx, br_scalar sy, br_scalar sz)
|
||||
void BrMatrix4Scale(br_matrix4* mat, br_scalar sx, br_scalar sy, br_scalar sz) {
|
||||
LOG_TRACE("(%p, %f, %f, %f)", mat, sx, sy, sz);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
M(0, 0) = sx;
|
||||
M(1, 1) = sy;
|
||||
M(2, 2) = sz;
|
||||
M(0, 1) = BR_SCALAR(0.f);
|
||||
M(0, 2) = BR_SCALAR(0.f);
|
||||
M(0, 3) = BR_SCALAR(0.f);
|
||||
M(1, 0) = BR_SCALAR(0.f);
|
||||
M(1, 2) = BR_SCALAR(0.f);
|
||||
M(1, 3) = BR_SCALAR(0.f);
|
||||
M(2, 0) = BR_SCALAR(0.f);
|
||||
M(2, 1) = BR_SCALAR(0.f);
|
||||
M(2, 3) = BR_SCALAR(0.f);
|
||||
M(3, 0) = BR_SCALAR(0.f);
|
||||
M(3, 1) = BR_SCALAR(0.f);
|
||||
M(3, 2) = BR_SCALAR(0.f);
|
||||
M(3, 3) = BR_SCALAR(1.f);
|
||||
}
|
||||
|
||||
// IDA: br_scalar __cdecl BrMatrix4Inverse(br_matrix4 *A, br_matrix4 *B)
|
||||
|
|
@ -197,25 +246,56 @@ void BrMatrix4Adjoint(br_matrix4* A, br_matrix4* B) {
|
|||
void BrMatrix4Perspective(br_matrix4* mat, br_angle field_of_view, br_scalar aspect, br_scalar hither, br_scalar yon) {
|
||||
br_scalar scale;
|
||||
LOG_TRACE("(%p, %d, %f, %f, %f)", mat, field_of_view, aspect, hither, yon);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
scale = BR_COS(field_of_view / 2) / BR_SIN(field_of_view / 2);
|
||||
|
||||
M(0, 0) = scale / aspect;
|
||||
M(1, 1) = scale;
|
||||
M(2, 2) = (yon + hither) / (yon - hither);
|
||||
M(3, 2) = BR_SCALAR(-2.f) * ((yon * hither) / (yon - hither));
|
||||
|
||||
M(0, 1) = BR_SCALAR(0.f);
|
||||
M(0, 2) = BR_SCALAR(0.f);
|
||||
M(0, 3) = BR_SCALAR(0.f);
|
||||
M(1, 0) = BR_SCALAR(0.f);
|
||||
M(1, 2) = BR_SCALAR(0.f);
|
||||
M(1, 3) = BR_SCALAR(0.f);
|
||||
M(2, 0) = BR_SCALAR(0.f);
|
||||
M(2, 1) = BR_SCALAR(0.f);
|
||||
M(2, 3) = BR_SCALAR(-1.f);
|
||||
M(3, 0) = BR_SCALAR(0.f);
|
||||
M(3, 1) = BR_SCALAR(0.f);
|
||||
M(3, 3) = BR_SCALAR(0.f);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Apply(br_vector4 *A, br_vector4 *B, br_matrix4 *C)
|
||||
void BrMatrix4Apply(br_vector4* A, br_vector4* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC4(B->v[0], C(0, 0), B->v[1], C(1, 0), B->v[2], C(2, 0), B->v[3], C(3, 0));
|
||||
A->v[1] = BR_MAC4(B->v[0], C(0, 1), B->v[1], C(1, 1), B->v[2], C(2, 1), B->v[3], C(3, 1));
|
||||
A->v[2] = BR_MAC4(B->v[0], C(0, 2), B->v[1], C(1, 2), B->v[2], C(2, 2), B->v[3], C(3, 2));
|
||||
A->v[3] = BR_MAC4(B->v[0], C(0, 3), B->v[1], C(1, 3), B->v[2], C(2, 3), B->v[3], C(3, 3));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4ApplyP(br_vector4 *A, br_vector3 *B, br_matrix4 *C)
|
||||
void BrMatrix4ApplyP(br_vector4* A, br_vector3* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(1, 0), B->v[2], C(2, 0)) + C(3, 0);
|
||||
A->v[1] = BR_MAC3(B->v[0], C(0, 1), B->v[1], C(1, 1), B->v[2], C(2, 1)) + C(3, 1);
|
||||
A->v[2] = BR_MAC3(B->v[0], C(0, 2), B->v[1], C(1, 2), B->v[2], C(2, 2)) + C(3, 2);
|
||||
A->v[3] = BR_MAC3(B->v[0], C(0, 3), B->v[1], C(1, 3), B->v[2], C(2, 3)) + C(3, 3);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4ApplyV(br_vector4 *A, br_vector3 *B, br_matrix4 *C)
|
||||
void BrMatrix4ApplyV(br_vector4* A, br_vector3* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(1, 0), B->v[2], C(2, 0));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(0, 1), B->v[1], C(1, 1), B->v[2], C(2, 1));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(0, 2), B->v[1], C(1, 2), B->v[2], C(2, 2));
|
||||
A->v[3] = BR_MAC3(B->v[0], C(0, 3), B->v[1], C(1, 3), B->v[2], C(2, 3));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4TApply(br_vector4 *A, br_vector4 *B, br_matrix4 *C)
|
||||
|
|
@ -231,36 +311,94 @@ void BrMatrix4TApply(br_vector4* A, br_vector4* B, br_matrix4* C) {
|
|||
// IDA: void __cdecl BrMatrix4TApplyP(br_vector4 *A, br_vector3 *B, br_matrix4 *C)
|
||||
void BrMatrix4TApplyP(br_vector4* A, br_vector3* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2)) + C(0, 3);
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2)) + C(1, 3);
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2)) + C(2, 3);
|
||||
A->v[3] = BR_MAC3(B->v[0], C(3, 0), B->v[1], C(3, 1), B->v[2], C(3, 2)) + C(3, 3);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4TApplyV(br_vector4 *A, br_vector3 *B, br_matrix4 *C)
|
||||
void BrMatrix4TApplyV(br_vector4* A, br_vector3* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A->v[0] = BR_MAC3(B->v[0], C(0, 0), B->v[1], C(0, 1), B->v[2], C(0, 2));
|
||||
A->v[1] = BR_MAC3(B->v[0], C(1, 0), B->v[1], C(1, 1), B->v[2], C(1, 2));
|
||||
A->v[2] = BR_MAC3(B->v[0], C(2, 0), B->v[1], C(2, 1), B->v[2], C(2, 2));
|
||||
A->v[3] = BR_MAC3(B->v[0], C(3, 0), B->v[1], C(3, 1), B->v[2], C(3, 2));
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Copy34(br_matrix4 *A, br_matrix34 *B)
|
||||
void BrMatrix4Copy34(br_matrix4* A, br_matrix34* B) {
|
||||
LOG_TRACE("(%p, %p)", A, B);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A(0, 0) = B(0, 0);
|
||||
A(0, 1) = B(0, 1);
|
||||
A(0, 2) = B(0, 2);
|
||||
A(0, 3) = BR_SCALAR(0.f);
|
||||
A(1, 0) = B(1, 0);
|
||||
A(1, 1) = B(1, 1);
|
||||
A(1, 2) = B(1, 2);
|
||||
A(1, 3) = BR_SCALAR(0.f);
|
||||
A(2, 0) = B(2, 0);
|
||||
A(2, 1) = B(2, 1);
|
||||
A(2, 2) = B(2, 2);
|
||||
A(2, 3) = BR_SCALAR(0.f);
|
||||
A(3, 0) = B(3, 0);
|
||||
A(3, 1) = B(3, 1);
|
||||
A(3, 2) = B(3, 2);
|
||||
A(3, 3) = BR_SCALAR(1.f);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Mul34(br_matrix4 *A, br_matrix34 *B, br_matrix4 *C)
|
||||
void BrMatrix4Mul34(br_matrix4* A, br_matrix34* B, br_matrix4* C) {
|
||||
LOG_TRACE("(%p, %p, %p)", A, B, C);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
A(0, 0) = BR_MAC3(B(0, 0), C(0, 0), B(0, 1), C(1, 0), B(0, 2), C(2, 0));
|
||||
A(0, 1) = BR_MAC3(B(0, 0), C(0, 1), B(0, 1), C(1, 1), B(0, 2), C(2, 1));
|
||||
A(0, 2) = BR_MAC3(B(0, 0), C(0, 2), B(0, 1), C(1, 2), B(0, 2), C(2, 2));
|
||||
A(0, 3) = BR_MAC3(B(0, 0), C(0, 3), B(0, 1), C(1, 3), B(0, 2), C(2, 3));
|
||||
A(1, 0) = BR_MAC3(B(1, 0), C(0, 0), B(1, 1), C(1, 0), B(1, 2), C(2, 0));
|
||||
A(1, 1) = BR_MAC3(B(1, 0), C(0, 1), B(1, 1), C(1, 1), B(1, 2), C(2, 1));
|
||||
A(1, 2) = BR_MAC3(B(1, 0), C(0, 2), B(1, 1), C(1, 2), B(1, 2), C(2, 2));
|
||||
A(1, 3) = BR_MAC3(B(1, 0), C(0, 3), B(1, 1), C(1, 3), B(1, 2), C(2, 3));
|
||||
A(2, 0) = BR_MAC3(B(2, 0), C(0, 0), B(2, 1), C(1, 0), B(2, 2), C(2, 0));
|
||||
A(2, 1) = BR_MAC3(B(2, 0), C(0, 1), B(2, 1), C(1, 1), B(2, 2), C(2, 1));
|
||||
A(2, 2) = BR_MAC3(B(2, 0), C(0, 2), B(2, 1), C(1, 2), B(2, 2), C(2, 2));
|
||||
A(2, 3) = BR_MAC3(B(2, 0), C(0, 3), B(2, 1), C(1, 3), B(2, 2), C(2, 3));
|
||||
A(3, 0) = BR_MAC3(B(3, 0), C(0, 0), B(3, 1), C(1, 0), B(3, 2), C(2, 0)) + C(3, 0);
|
||||
A(3, 1) = BR_MAC3(B(3, 0), C(0, 1), B(3, 1), C(1, 1), B(3, 2), C(2, 1)) + C(3, 1);
|
||||
A(3, 2) = BR_MAC3(B(3, 0), C(0, 2), B(3, 1), C(1, 2), B(3, 2), C(2, 2)) + C(3, 2);
|
||||
A(3, 3) = BR_MAC3(B(3, 0), C(0, 3), B(3, 1), C(1, 3), B(3, 2), C(2, 3)) + C(3, 3);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4Pre34(br_matrix4 *A, br_matrix34 *B)
|
||||
void BrMatrix4Pre34(br_matrix4* A, br_matrix34* B) {
|
||||
br_matrix4 C;
|
||||
LOG_TRACE("(%p, %p)", A, B);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
memcpy(&C, A, sizeof(*A));
|
||||
BrMatrix4Mul34(A, B, &C);
|
||||
}
|
||||
|
||||
// IDA: void __cdecl BrMatrix4ShearZ(br_matrix4 *mat, br_scalar sx, br_scalar sy)
|
||||
void BrMatrix4ShearZ(br_matrix4* mat, br_scalar sx, br_scalar sy) {
|
||||
LOG_TRACE("(%p, %f, %f)", mat, sx, sy);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
M(0, 0) = BR_SCALAR(1.f);
|
||||
M(0, 1) = BR_SCALAR(0.f);
|
||||
M(0, 2) = BR_SCALAR(0.f);
|
||||
M(0, 3) = BR_SCALAR(0.f);
|
||||
M(1, 0) = BR_SCALAR(0.f);
|
||||
M(1, 1) = BR_SCALAR(1.f);
|
||||
M(1, 2) = BR_SCALAR(0.f);
|
||||
M(1, 3) = BR_SCALAR(0.f);
|
||||
M(2, 0) = sx;
|
||||
M(2, 1) = sy;
|
||||
M(2, 2) = BR_SCALAR(1.f);
|
||||
M(2, 3) = BR_SCALAR(0.f);
|
||||
M(3, 0) = BR_SCALAR(0.f);
|
||||
M(3, 1) = BR_SCALAR(0.f);
|
||||
M(3, 2) = BR_SCALAR(0.f);
|
||||
M(3, 3) = BR_SCALAR(1.f);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,5 +1,12 @@
|
|||
#include "quat.h"
|
||||
#include "matrix34.h"
|
||||
#include "matrix4.h"
|
||||
#include "harness/trace.h"
|
||||
#include <math.h>
|
||||
|
||||
#define M(x, y) mat->m[x][y]
|
||||
#define M_DIAG(x) (((br_scalar*)mat->m)[4*(x)])
|
||||
#define Q_EL(e) (((br_scalar*)&(q->x))[(e)])
|
||||
|
||||
// IDA: br_quat* __cdecl BrQuatMul(br_quat *q, br_quat *l, br_quat *r)
|
||||
br_quat* BrQuatMul(br_quat* q, br_quat* l, br_quat* r) {
|
||||
|
|
@ -14,20 +21,41 @@ br_quat* BrQuatMul(br_quat* q, br_quat* l, br_quat* r) {
|
|||
br_scalar s;
|
||||
br_scalar t;
|
||||
LOG_TRACE("(%p, %p, %p)", q, l, r);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
x1 = (l->x + l->z) * (r->y + r->x);
|
||||
x2 = (l->w + l->y) * (r->w - r->z);
|
||||
x3 = (l->w - l->y) * (r->w + r->z);
|
||||
s = x1 + x2 + x3;
|
||||
x4 = ((l->z - l->x) * (r->x - r->y) + s) * 0.5f;
|
||||
q->x = x4 + (l->w + l->x) * (r->w + r->x) - s;
|
||||
q->y = x4 + (l->w - l->x) * (r->z + r->y) - x3;
|
||||
q->z = x4 + (l->y + l->z) * (r->w - r->x) - x2;
|
||||
q->w = x4 + (l->z - l->y) * (r->y - r->z) - x1;
|
||||
return q;
|
||||
}
|
||||
|
||||
// IDA: br_quat* __cdecl BrQuatNormalise(br_quat *q, br_quat *qq)
|
||||
br_quat* BrQuatNormalise(br_quat* q, br_quat* qq) {
|
||||
br_scalar s;
|
||||
LOG_TRACE("(%p, %p)", q, qq);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
s = 1.f / sqrtf(qq->x * qq->x + qq->y * qq->y + qq->z * qq->z + qq->w * qq->w);
|
||||
q->x = qq->x * s;
|
||||
q->y = qq->y * s;
|
||||
q->z = qq->z * s;
|
||||
q->w = qq->w * s;
|
||||
return q;
|
||||
}
|
||||
|
||||
// IDA: br_quat* __cdecl BrQuatInvert(br_quat *q, br_quat *qq)
|
||||
br_quat* BrQuatInvert(br_quat* q, br_quat* qq) {
|
||||
LOG_TRACE("(%p, %p)", q, qq);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
q->x = -qq->x;
|
||||
q->y = -qq->y;
|
||||
q->z = -qq->z;
|
||||
q->w = qq->w;
|
||||
return q;
|
||||
}
|
||||
|
||||
// IDA: br_quat* __cdecl BrQuatSlerp(br_quat *q, br_quat *l, br_quat *r, br_scalar a, br_int_16 spins)
|
||||
|
|
@ -40,7 +68,37 @@ br_quat* BrQuatSlerp(br_quat* q, br_quat* l, br_quat* r, br_scalar a, br_int_16
|
|||
br_scalar scale_r;
|
||||
br_quat t;
|
||||
LOG_TRACE("(%p, %p, %p, %f, %d)", q, l, r, a, spins);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
// Animating rotation with quaternion curves, Ken Shoemake,SIGGRAPH Computer Graphics, 19(3):245–254, 1985. doi:10.1145/325165.325242.
|
||||
c_omega = l->x * r->x + l->y * r->y + l->z * r->z + l->w * r->w;
|
||||
if (c_omega >= 0.f) {
|
||||
t.x = r->x;
|
||||
t.y = r->y;
|
||||
t.z = r->z;
|
||||
t.w = r->w;
|
||||
} else {
|
||||
t.x = -r->x;
|
||||
t.y = -r->y;
|
||||
t.z = -r->z;
|
||||
t.w = -r->w;
|
||||
c_omega = -c_omega;
|
||||
}
|
||||
|
||||
if ((1.f - c_omega) <= BR_SCALAR_EPSILON) {
|
||||
scale_l = 1.f - a;
|
||||
scale_r = a;
|
||||
} else {
|
||||
omega = BrRadianToAngle(acosf(c_omega));
|
||||
s_omega = sinf(BrAngleToRadian(omega));
|
||||
omega_spin = omega + spins * BR_ANGLE_RAD(PI);
|
||||
scale_l = sinf(BrAngleToRadian(omega - a * omega_spin)) / s_omega;
|
||||
scale_r = sinf(BrAngleToRadian(a * omega_spin)) / s_omega;
|
||||
}
|
||||
q->x = scale_l * l->x + scale_r * t.x;
|
||||
q->y = scale_l * l->y + scale_r * t.y;
|
||||
q->z = scale_l * l->z + scale_r * t.z;
|
||||
q->w = scale_l * l->w + scale_r * t.w;
|
||||
return q;
|
||||
}
|
||||
|
||||
// IDA: br_matrix34* __cdecl BrQuatToMatrix34(br_matrix34 *mat, br_quat *q)
|
||||
|
|
@ -58,7 +116,34 @@ br_matrix34* BrQuatToMatrix34(br_matrix34* mat, br_quat* q) {
|
|||
br_scalar yz;
|
||||
br_scalar zz;
|
||||
LOG_TRACE("(%p, %p)", mat, q);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
zz = q->z + q->z;
|
||||
yy = q->y + q->y;
|
||||
zs = q->z * zz;
|
||||
xx = q->x + q->x;
|
||||
wx = q->w * xx;
|
||||
wy = q->w * yy;
|
||||
wz = q->w * zz;
|
||||
xy = q->x * yy;
|
||||
xz = q->x * zz;
|
||||
ys = q->y * yy;
|
||||
xs = q->x * xx;
|
||||
yz = q->y * zz;
|
||||
|
||||
M(0, 0) = 1.f - (ys + zs);
|
||||
M(1, 0) = xy - wz;
|
||||
M(2, 0) = xz + wy;
|
||||
M(0, 1) = xy + wz;
|
||||
M(1, 1) = 1.f - (zs + xs);
|
||||
M(2, 1) = yz - wx;
|
||||
M(0, 2) = xz - wy;
|
||||
M(1, 2) = yz + wx;
|
||||
M(2, 2) = 1.f - (xs + ys);
|
||||
M(3, 0) = 0.f;
|
||||
M(3, 1) = 0.f;
|
||||
M(3, 2) = 0.f;
|
||||
|
||||
return mat;
|
||||
}
|
||||
|
||||
// IDA: br_quat* __cdecl BrMatrix34ToQuat(br_quat *q, br_matrix34 *mat)
|
||||
|
|
@ -69,19 +154,45 @@ br_quat* BrMatrix34ToQuat(br_quat* q, br_matrix34* mat) {
|
|||
int j;
|
||||
int k;
|
||||
LOG_TRACE("(%p, %p)", q, mat);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
tr = M(0, 0) + M(1, 1) + M(2, 2);
|
||||
if (tr >= 0.f) {
|
||||
tr = sqrtf(tr + 1.f);
|
||||
s = 0.5f / tr;
|
||||
q->w = tr * 0.5f;
|
||||
q->x = (M(1, 2) - M(2, 1)) * s;
|
||||
q->y = (M(2, 0) - M(0, 2)) * s;
|
||||
q->z = (M(0, 1) - M(1, 0)) * s;
|
||||
return q;
|
||||
}
|
||||
i = M_DIAG(1) >= M_DIAG(0) ? 1 : 0;
|
||||
i = M_DIAG(2) >= M_DIAG(i) ? 2 : i;
|
||||
j = (i + 1) % 3;
|
||||
k = (j + 1) % 3;
|
||||
tr = sqrtf(M_DIAG(i) - (M_DIAG(j) + M_DIAG(k)) + 1.f);
|
||||
s = 0.5f / tr;
|
||||
Q_EL(i) = 0.5f * tr;
|
||||
Q_EL(j) = (M(i, j) + M(j, i)) * s;
|
||||
Q_EL(k) = (M(i, k) + M(k, i)) * s;
|
||||
q->w = (M(k, j) - M(j, k)) * s;
|
||||
return q;
|
||||
}
|
||||
|
||||
// IDA: br_matrix4* __cdecl BrQuatToMatrix4(br_matrix4 *mat, br_quat *q)
|
||||
br_matrix4* BrQuatToMatrix4(br_matrix4* mat, br_quat* q) {
|
||||
br_matrix34 tmp;
|
||||
LOG_TRACE("(%p, %p)", mat, q);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrQuatToMatrix34(&tmp, q);
|
||||
BrMatrix4Copy34(mat, &tmp);
|
||||
return mat;
|
||||
}
|
||||
|
||||
// IDA: br_quat* __cdecl BrMatrix4ToQuat(br_quat *q, br_matrix4 *mat)
|
||||
br_quat* BrMatrix4ToQuat(br_quat* q, br_matrix4* mat) {
|
||||
br_matrix34 tmp;
|
||||
LOG_TRACE("(%p, %p)", q, mat);
|
||||
NOT_IMPLEMENTED();
|
||||
|
||||
BrMatrix34Copy4(&tmp, mat);
|
||||
return BrMatrix34ToQuat(q, &tmp);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,430 @@
|
|||
#include "tests.h"
|
||||
|
||||
#include "CORE/MATH/matrix23.h"
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
void test_matrix23_BrMatrix23Copy() {
|
||||
br_matrix23 matin = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 3.f, 4.f, },
|
||||
{ 5.f, 6.f, },
|
||||
}};
|
||||
br_matrix23 matout;
|
||||
BrMatrix23Copy(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(matin.m, matout.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Identity() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix23Identity(&mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(mat.m, expected.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Rotate() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ .5f, .8660254037f, },
|
||||
{ -.8660254037f, .5f, },
|
||||
{ .0f, .0f, },
|
||||
}};
|
||||
BrMatrix23Rotate(&mat, BR_ANGLE_DEG(60));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Translate() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23Translate(&mat, 3.f, 5.f);;
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Scale() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ 3.f, 0.f, },
|
||||
{ 0.f, 5.f, },
|
||||
{ 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix23Scale(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23ShearX() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 5.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix23ShearX(&mat, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23ShearY() {
|
||||
br_matrix23 mat;
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 5.f, 1.f, },
|
||||
{ 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix23ShearY(&mat, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Inverse() {
|
||||
{
|
||||
br_matrix23 b;
|
||||
br_matrix23 a = {{
|
||||
{ 1.f, 2.f},
|
||||
{ 3.f, 4.f},
|
||||
{ 5.f, 6.f},
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ -2.f, 1.f, },
|
||||
{ 1.5f, -0.5f, },
|
||||
{ 1.f, -2.f, },
|
||||
}};
|
||||
br_scalar det = BrMatrix23Inverse(&b, &a);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1.e-5, -2.f, det);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, b.m, 6);
|
||||
}
|
||||
{
|
||||
br_matrix23 b;
|
||||
br_matrix23 a = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 2.f, 4.f, },
|
||||
{ 2.f, 1.f, },
|
||||
}};
|
||||
br_scalar det = BrMatrix23Inverse(&b, &a);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1.e-5, 0.f, det);
|
||||
}
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23LPInverse() {
|
||||
br_matrix23 b;
|
||||
br_matrix23 a = {{
|
||||
{ 0.7071067f, -0.7071067f, },
|
||||
{ 0.7071067f, 0.7071067f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.7071067f, 0.7071067f, },
|
||||
{ -0.7071067f, 0.7071067f, },
|
||||
{ 1.4142135f, -5.6568542f, },
|
||||
}};
|
||||
BrMatrix23LPInverse(&b, &a);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-5, expected.m, b.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23LPNormalise() {
|
||||
br_matrix23 b;
|
||||
br_matrix23 a = {{
|
||||
{ 1.f, 1e-9f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23LPNormalise(&b, &a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, b.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23ApplyP() {
|
||||
br_vector2 vout;
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_vector2 vin = {
|
||||
{ 1.f, 2.f, },
|
||||
};
|
||||
br_vector2 expected = {
|
||||
{ 20.f, 24.f, },
|
||||
};
|
||||
BrMatrix23ApplyP(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 2);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23ApplyV() {
|
||||
br_vector2 vout;
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_vector2 vin = {
|
||||
{ 1.f, 2.f, },
|
||||
};
|
||||
br_vector2 expected = {
|
||||
{ 11.f, 14.f, },
|
||||
};
|
||||
BrMatrix23ApplyV(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 2);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23TApplyP() {
|
||||
br_vector2 vout;
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_vector2 vin = {
|
||||
{ 1.f, 2.f, },
|
||||
};
|
||||
br_vector2 expected = {
|
||||
{ 5.f, 17.f, },
|
||||
};
|
||||
BrMatrix23TApplyP(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 2);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23TApplyV() {
|
||||
br_vector2 vout;
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_vector2 vin = {
|
||||
{ 1.f, 2.f, },
|
||||
};
|
||||
br_vector2 expected = {
|
||||
{ 5.f, 17.f, },
|
||||
};
|
||||
BrMatrix23TApplyV(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 2);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Pre() {
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_matrix23 a = {{
|
||||
{ 17.f, 18.f, },
|
||||
{ 21.f, 22.f, },
|
||||
{ 25.f, 26.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 107.f, 142.f, },
|
||||
{ 131.f, 174.f, },
|
||||
{ 164.f, 216.f, },
|
||||
}};
|
||||
BrMatrix23Pre(&mat, &a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23Post() {
|
||||
br_matrix23 mat = {{
|
||||
{ 1.f, 2.f, },
|
||||
{ 5.f, 6.f, },
|
||||
{ 9.f, 10.f, },
|
||||
}};
|
||||
br_matrix23 a = {{
|
||||
{ 17.f, 18.f, },
|
||||
{ 21.f, 22.f, },
|
||||
{ 25.f, 26.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 59.f, 62.f, },
|
||||
{ 211.f, 222.f, },
|
||||
{ 388.f, 408.f, },
|
||||
}};
|
||||
BrMatrix23Post(&mat, &a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PreRotate() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.70710678f, -0.70710678f, },
|
||||
{ 0.70710678f, 0.70710678f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23PreRotate(&mat, BR_ANGLE_DEG(45));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PostRotate() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.70710678f, -0.70710678f, },
|
||||
{ 0.70710678f, 0.70710678f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 1.f, 0.f, },
|
||||
{ 0.f, 1.f, },
|
||||
{ -1.41421356f, 5.65685425f, },
|
||||
}};
|
||||
BrMatrix23PostRotate(&mat, BR_ANGLE_DEG(45));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PreTranslate() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 8.f, 2.f, },
|
||||
}};
|
||||
BrMatrix23PreTranslate(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PostTranslate() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 6.f, 10.f, },
|
||||
}};
|
||||
BrMatrix23PostTranslate(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PreScale() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -3.f, },
|
||||
{ 5.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23PreScale(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PostScale() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -5.f, },
|
||||
{ 3.f, 0.f, },
|
||||
{ 9.f, 25.f, },
|
||||
}};
|
||||
BrMatrix23PostScale(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PreShearX() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 5.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23PreShearX(&mat, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PostShearX() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 5.f, },
|
||||
{ 3.f, 20.f, },
|
||||
}};
|
||||
BrMatrix23PostShearX(&mat, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PreShearY() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, -5.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23PreShearY(&mat, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_BrMatrix23PostShearY() {
|
||||
br_matrix23 mat = {{
|
||||
{ 0.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 3.f, 5.f, },
|
||||
}};
|
||||
br_matrix23 expected = {{
|
||||
{ -5.f, -1.f, },
|
||||
{ 1.f, 0.f, },
|
||||
{ 28.f, 5.f, },
|
||||
}};
|
||||
BrMatrix23PostShearY(&mat, 5.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 6);
|
||||
}
|
||||
|
||||
void test_matrix23_suite() {
|
||||
RUN_TEST(test_matrix23_BrMatrix23Copy);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Identity);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Rotate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Translate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Scale);
|
||||
RUN_TEST(test_matrix23_BrMatrix23ShearX);
|
||||
RUN_TEST(test_matrix23_BrMatrix23ShearY);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Inverse);
|
||||
RUN_TEST(test_matrix23_BrMatrix23LPInverse);
|
||||
RUN_TEST(test_matrix23_BrMatrix23LPNormalise);
|
||||
RUN_TEST(test_matrix23_BrMatrix23ApplyP);
|
||||
RUN_TEST(test_matrix23_BrMatrix23ApplyV);
|
||||
RUN_TEST(test_matrix23_BrMatrix23TApplyP);
|
||||
RUN_TEST(test_matrix23_BrMatrix23TApplyV);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Pre);
|
||||
RUN_TEST(test_matrix23_BrMatrix23Post);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PreRotate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PostRotate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PreTranslate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PostTranslate);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PreScale);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PostScale);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PreShearX);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PostShearX);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PreShearY);
|
||||
RUN_TEST(test_matrix23_BrMatrix23PostShearY);
|
||||
}
|
||||
|
|
@ -0,0 +1,583 @@
|
|||
#include "tests.h"
|
||||
|
||||
#include "CORE/MATH/matrix34.h"
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
static void test_matrix34_BrMatrix34Copy() {
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_matrix34 matout;
|
||||
BrMatrix34Copy(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(matin.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Mul() {
|
||||
br_matrix34 a;
|
||||
br_matrix34 b = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_matrix34 c = {{
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
{ 16.f, 17.f, 18.f, },
|
||||
{ 19.f, 20.f, 21.f, },
|
||||
{ 22.f, 23.f, 24.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 102.f, 108.f, 114.f, },
|
||||
{ 246.f, 261.f, 276.f, },
|
||||
{ 390.f, 414.f, 438.f, },
|
||||
{ 556.f, 590.f, 624.f, },
|
||||
}};
|
||||
BrMatrix34Mul(&a, &b, &c);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Identity() {
|
||||
br_matrix34 a;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34Identity(&a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34RotateX() {
|
||||
br_matrix34 a;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, .0f, .0f, },
|
||||
{ 0.f, .7071067f, .7071067f, },
|
||||
{ 0.f, -0.7071067f, .7071067f, },
|
||||
{ 0.f, .0f, .0f, },
|
||||
}};
|
||||
BrMatrix34RotateX(&a, BR_ANGLE_DEG(45));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, a.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34RotateY() {
|
||||
br_matrix34 a;
|
||||
br_matrix34 expected = {{
|
||||
{ .7071067f, 0.f, -.7071067f, },
|
||||
{ .0f, 1.f, .0f, },
|
||||
{ .7071067f, 0.f, .7071067f, },
|
||||
{ .0f, 0.f, .0f, },
|
||||
}};
|
||||
BrMatrix34RotateY(&a, BR_ANGLE_DEG(45));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, a.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34RotateZ() {
|
||||
br_matrix34 a;
|
||||
br_matrix34 expected = {{
|
||||
{ .7071067f, .7071067f, 0.f, },
|
||||
{ -.7071067f, .7071067f, 0.f, },
|
||||
{ .0f, .0f, 1.f, },
|
||||
{ .0f, .0f, 0.f, },
|
||||
}};
|
||||
BrMatrix34RotateZ(&a, BR_ANGLE_DEG(45));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, a.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Rotate() {
|
||||
br_matrix34 mat;
|
||||
// scipy.spatial.transform.Rotation.from_rotvec(numpy.matrix([1,1,1]) * -numpy.pi/4/math.sqrt(3)).as_matrix()
|
||||
br_matrix34 expected = {{
|
||||
{ .80473785f, .50587936f, -.31061722f, },
|
||||
{ -.31061722f, .80473785f, .50587936f, },
|
||||
{ .50587936f, -.31061722f, .80473785f, },
|
||||
{ .0f, .0f, .0f, },
|
||||
}};
|
||||
br_vector3 a = {{ 0.577350269f, 0.577350269f, 0.577350269f, }};
|
||||
BrMatrix34Rotate(&mat, BR_ANGLE_DEG(45), &a);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Translate() {
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 5.f, 7.f, },
|
||||
}};
|
||||
BrMatrix34Translate(&mat, 3.f, 5.f, 7.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Scale() {
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected = {{
|
||||
{ 3.f, 0.f, 0.f, },
|
||||
{ 0.f, 5.f, 0.f, },
|
||||
{ 0.f, 0.f, 7.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34Scale(&mat, 3.f, 5.f, 7.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34ShearX() {
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 3.f, 5.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34ShearX(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34ShearY() {
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 3.f, 1.f, 5.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34ShearY(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34ShearZ() {
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 3.f, 5.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34ShearZ(&mat, 3.f, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Inverse() {
|
||||
br_matrix34 matout;
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 4.f, 2.f, },
|
||||
{ 3.f, 5.f, 1.f, },
|
||||
{ 2.f, 5.f, 3.f, },
|
||||
{ 4.f, 8.f, 2.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ -1.25f, 0.25f, 0.75f, },
|
||||
{ 0.875f, 0.125f, -0.625f, },
|
||||
{ -0.625f, -0.375f, 0.875f, },
|
||||
{ -0.75f, -1.25f, 0.25f, },
|
||||
}};
|
||||
BrMatrix34Inverse(&matout, &matin);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-5, expected.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34LPInverse() {
|
||||
br_matrix34 matout;
|
||||
br_matrix34 matin = {{
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ -1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 0.f, -1.f, 0.f, },
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34Inverse(&matout, &matin);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-5, expected.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34LPNormalise() {
|
||||
br_matrix34 matout;
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 1.e-3f, 1.f, 2.e-3f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, 0.f, },
|
||||
}};
|
||||
BrMatrix34LPNormalise(&matout, &matin);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34RollingBall() {
|
||||
{
|
||||
br_matrix34 mat;
|
||||
|
||||
br_matrix34 expected = {{
|
||||
{ .9987616f, -.0024768f, .0496904f, },
|
||||
{ -.0024768f, .99504639f, .0993808f, },
|
||||
{ -.0496904f, -.0993808f, .99380799f, },
|
||||
{ .0f, .0f, .0f, },
|
||||
}};
|
||||
BrMatrix34RollingBall(&mat, 5, 10, 100);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 12);
|
||||
}
|
||||
{
|
||||
br_matrix34 mat;
|
||||
br_matrix34 expected;
|
||||
BrMatrix34Identity(&expected);
|
||||
BrMatrix34RollingBall(&mat, 0, 0, 100);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
}
|
||||
|
||||
static void test_matrix34_BrBoundsToMatrix34() {
|
||||
br_matrix34 matout;
|
||||
br_bounds bounds = {
|
||||
{ -2.f, -3.f, -4.f, },
|
||||
{ 6.f, 9.f, 12.f, },
|
||||
};
|
||||
br_matrix34 expected = {{
|
||||
{ 4.f, 0.f, 0.f, },
|
||||
{ 0.f, 6.f, 0.f, },
|
||||
{ 0.f, 0.f, 8.f, },
|
||||
{ 2.f, 3.f, 4.f, },
|
||||
}};
|
||||
BrBoundsToMatrix34(&matout, &bounds);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Copy4() {
|
||||
br_matrix34 matout;
|
||||
br_matrix4 matin = {{
|
||||
{ 1.f, 2.f, 3.f, 0.f, },
|
||||
{ 4.f, 5.f, 6.f, 0.f, },
|
||||
{ 7.f, 8.f, 9.f, 0.f, },
|
||||
{ 10.f, 11.f, 12.f, 1.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
BrMatrix34Copy4(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, matout.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34TApplyFV() {
|
||||
br_vector3 vecout;
|
||||
br_fvector3 vecin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 14.f, 32.f, 50.f, },
|
||||
};
|
||||
BrMatrix34TApplyFV(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Apply() {
|
||||
br_vector3 vecout;
|
||||
br_vector4 vecin = {
|
||||
{ 1.f, 2.f, 3.f, 1.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 40.f, 47.f, 54.f, },
|
||||
};
|
||||
BrMatrix34Apply(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34ApplyP() {
|
||||
br_vector3 vecout;
|
||||
br_vector3 vecin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 40.f, 47.f, 54.f, },
|
||||
};
|
||||
BrMatrix34ApplyP(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34ApplyV() {
|
||||
br_vector3 vecout;
|
||||
br_vector3 vecin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 30.f, 36.f, 42.f, },
|
||||
};
|
||||
BrMatrix34ApplyV(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34TApply() {
|
||||
br_vector4 vecout;
|
||||
br_vector4 vecin = {
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector4 expected = {
|
||||
{ 14.f, 32.f, 50.f, 72.f, },
|
||||
};
|
||||
BrMatrix34TApply(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 4);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34TApplyP() {
|
||||
br_vector3 vecout;
|
||||
br_vector3 vecin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 14.f, 32.f, 50.f, },
|
||||
};
|
||||
BrMatrix34TApplyP(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34TApplyV() {
|
||||
br_vector3 vecout;
|
||||
br_vector3 vecin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_vector3 expected = {
|
||||
{ 14.f, 32.f, 50.f, },
|
||||
};
|
||||
BrMatrix34TApplyV(&vecout, &vecin, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vecout.v, 3);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Pre() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_matrix34 a = {{
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
{ 16.f, 17.f, 18.f, },
|
||||
{ 19.f, 20.f, 21.f, },
|
||||
{ 22.f, 23.f, 24.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 174.f, 216.f, 258.f, },
|
||||
{ 210.f, 261.f, 312.f, },
|
||||
{ 246.f, 306.f, 366.f, },
|
||||
{ 292.f, 362.f, 432.f, },
|
||||
}};
|
||||
BrMatrix34Pre(&mat, &a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34Post() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 4.f, 5.f, 6.f, },
|
||||
{ 7.f, 8.f, 9.f, },
|
||||
{ 10.f, 11.f, 12.f, },
|
||||
}};
|
||||
br_matrix34 a = {{
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
{ 16.f, 17.f, 18.f, },
|
||||
{ 19.f, 20.f, 21.f, },
|
||||
{ 22.f, 23.f, 24.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 102.f, 108.f, 114.f, },
|
||||
{ 246.f, 261.f, 276.f, },
|
||||
{ 390.f, 414.f, 438.f, },
|
||||
{ 556.f, 590.f, 624.f, },
|
||||
}};
|
||||
BrMatrix34Post(&mat, &a);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PreRotateX() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 2.f, 3.f, 4.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, -1.f, 0.f, },
|
||||
{ 2.f, 3.f, 4.f, },
|
||||
}};
|
||||
BrMatrix34PreRotateX(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PostRotateX() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 2.f, 3.f, 4.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 0.f, -1.f, 0.f, },
|
||||
{ 2.f, -4.f, 3.f, },
|
||||
}};
|
||||
BrMatrix34PostRotateX(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PreRotateY() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 2.f, 4.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 0.f, 0.f, -1.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 3.f, 2.f, 4.f, },
|
||||
}};
|
||||
BrMatrix34PreRotateY(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PostRotateY() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 2.f, 4.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 0.f, 0.f, -1.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 4.f, 2.f, -3.f, },
|
||||
}};
|
||||
BrMatrix34PostRotateY(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PreRotateZ() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 4.f, 2.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ -1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 4.f, 2.f, },
|
||||
}};
|
||||
BrMatrix34PreRotateZ(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_matrix34_BrMatrix34PostRotateZ() {
|
||||
br_matrix34 mat = {{
|
||||
{ 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ 3.f, 4.f, 2.f, },
|
||||
}};
|
||||
br_matrix34 expected = {{
|
||||
{ 0.f, 1.f, 0.f, },
|
||||
{ -1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, },
|
||||
{ -4.f, 3.f, 2.f, },
|
||||
}};
|
||||
BrMatrix34PostRotateZ(&mat, BR_ANGLE_DEG(90));
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-2, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
void test_matrix34_suite() {
|
||||
RUN_TEST(test_matrix34_BrMatrix34Copy);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Mul);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Identity);
|
||||
RUN_TEST(test_matrix34_BrMatrix34RotateX);
|
||||
RUN_TEST(test_matrix34_BrMatrix34RotateY);
|
||||
RUN_TEST(test_matrix34_BrMatrix34RotateZ);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Rotate);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Translate);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Scale);
|
||||
RUN_TEST(test_matrix34_BrMatrix34ShearX);
|
||||
RUN_TEST(test_matrix34_BrMatrix34ShearY);
|
||||
RUN_TEST(test_matrix34_BrMatrix34ShearZ);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Inverse);
|
||||
RUN_TEST(test_matrix34_BrMatrix34LPInverse);
|
||||
RUN_TEST(test_matrix34_BrMatrix34LPNormalise);
|
||||
RUN_TEST(test_matrix34_BrMatrix34RollingBall);
|
||||
RUN_TEST(test_matrix34_BrBoundsToMatrix34);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Copy4);
|
||||
RUN_TEST(test_matrix34_BrMatrix34TApplyFV);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Apply);
|
||||
RUN_TEST(test_matrix34_BrMatrix34ApplyP);
|
||||
RUN_TEST(test_matrix34_BrMatrix34ApplyV);
|
||||
RUN_TEST(test_matrix34_BrMatrix34TApply);
|
||||
RUN_TEST(test_matrix34_BrMatrix34TApplyP);
|
||||
RUN_TEST(test_matrix34_BrMatrix34TApplyV);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Pre);
|
||||
RUN_TEST(test_matrix34_BrMatrix34Post);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PreRotateX);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PostRotateX);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PreRotateY);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PostRotateY);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PreRotateZ);
|
||||
RUN_TEST(test_matrix34_BrMatrix34PostRotateZ);
|
||||
}
|
||||
|
|
@ -0,0 +1,342 @@
|
|||
#include "tests.h"
|
||||
|
||||
#include "CORE/MATH/matrix4.h"
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
void test_matrix4_BrMatrix4Copy() {
|
||||
br_matrix4 matin = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_matrix4 matout;
|
||||
BrMatrix4Copy(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(matin.m, matout.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Mul() {
|
||||
br_matrix4 a;
|
||||
br_matrix4 identity;
|
||||
// import numpy
|
||||
// b = numpy.matrix([[1,2,3,4],[5,6,7,8],[9,10,11,12],[13,14,15,16]])
|
||||
// c = numpy.matrix([[17,18,19,20],[21,22,23,24],[25,26,27,28],[29,30,31,32]])
|
||||
// b * c
|
||||
br_matrix4 b = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_matrix4 c = {{
|
||||
{ 17.f, 18.f, 19.f, 20.f, },
|
||||
{ 21.f, 22.f, 23.f, 24.f, },
|
||||
{ 25.f, 26.f, 27.f, 28.f, },
|
||||
{ 29.f, 30.f, 31.f, 32.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{ 250.f, 260.f, 270.f, 280.f, },
|
||||
{ 618.f, 644.f, 670.f, 696.f, },
|
||||
{ 986.f, 1028.f, 1070.f, 1112.f, },
|
||||
{ 1354.f, 1412.f, 1470.f, 1528.f, },
|
||||
}};
|
||||
BrMatrix4Identity(&identity);
|
||||
|
||||
BrMatrix4Mul(&a, &b, &c);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 16);
|
||||
|
||||
BrMatrix4Mul(&a, &identity, &b);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(b.m, a.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Identity() {
|
||||
br_matrix4 mat;
|
||||
br_matrix4 expected = {{
|
||||
{ 1.f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 0.f, 1.f, },
|
||||
}};
|
||||
BrMatrix4Identity(&mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(mat.m, expected.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Scale() {
|
||||
br_matrix4 mat;
|
||||
BrMatrix4Scale(&mat, 2.f, 3.f, 5.f);
|
||||
br_matrix4 expected = {{
|
||||
{ 2.f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 3.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 5.f, 0.f, },
|
||||
{ 0.f, 0.f, 0.f, 1.f, },
|
||||
}};
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(mat.m, expected.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Inverse() {
|
||||
br_matrix4 matout;
|
||||
br_matrix4 matin = {{
|
||||
{ 0.f, -1.f, 0.f, 0.f, },
|
||||
{ 1.f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 0.f, -1.f, },
|
||||
{ 0.f, 0.f, 1.f, 0.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{ 0.f, 1.f, 0.f, 0.f, },
|
||||
{ -1.f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 0.f, 1.f, },
|
||||
{ 0.f, 0.f, -1.f, 0.f, },
|
||||
}};
|
||||
BrMatrix4Inverse(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, matout.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Determinant() {
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 2.f, 3.f, 4.f, 1.f, },
|
||||
{ 3.f, 4.f, 1.f, 2.f, },
|
||||
{ 4.f, 1.f, 2.f, 3.f, },
|
||||
}};
|
||||
float expected = 160.f;
|
||||
float determinant = BrMatrix4Determinant(&mat);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5f, expected, determinant);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Adjoint() {
|
||||
br_matrix4 matout;
|
||||
br_matrix4 matin = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 2.f, 3.f, 4.f, 1.f, },
|
||||
{ 3.f, 4.f, 1.f, 2.f, },
|
||||
{ 4.f, 1.f, 2.f, 3.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{-36.f, 4.f, 4.f, 44.f, },
|
||||
{ 4.f, 4.f, 44.f, -36.f, },
|
||||
{ 4.f, 44.f, -36.f, 4.f, },
|
||||
{ 44.f, -36.f, 4.f, 4.f, },
|
||||
}};
|
||||
BrMatrix4Adjoint(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, matout.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Perspective() {
|
||||
br_matrix4 mat;
|
||||
float aspect = 4.f / 3.f;
|
||||
br_matrix4 expected = {{
|
||||
{0.75f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, 0.f, },
|
||||
{ 0.f, 0.f, 3.f, -1.f, },
|
||||
{ 0.f, 0.f, 4.f, 0.f, },
|
||||
}};
|
||||
BrMatrix4Perspective(&mat, BR_ANGLE_DEG(90), aspect, -1.f, -2.f);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-3, expected.m, mat.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Apply() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector4 vin = {
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
};
|
||||
BrMatrix4Apply(&vout, &vin, &mat);
|
||||
br_vector4 expected = {
|
||||
{ 90.f, 100.f, 110.f, 120.f, },
|
||||
};
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4ApplyP() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector3 vin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_vector4 expected = {
|
||||
{ 51.f, 58.f, 65.f, 72.f, },
|
||||
};
|
||||
BrMatrix4ApplyP(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4ApplyV() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector3 vin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_vector4 expected = {
|
||||
{ 38.f, 44.f, 50.f, 56.f, },
|
||||
};
|
||||
BrMatrix4ApplyV(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4TApply() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector4 vin = {
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
};
|
||||
br_vector4 expected = {
|
||||
{ 30.f, 70.f, 110.f, 150.f, },
|
||||
};
|
||||
BrMatrix4TApply(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4TApplyP() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector3 vin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_vector4 expected = {
|
||||
{ 18.f, 46.f, 74.f, 102.f, },
|
||||
};
|
||||
BrMatrix4TApplyP(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4TApplyV() {
|
||||
br_vector4 vout;
|
||||
br_matrix4 mat = {{
|
||||
{ 1.f, 2.f, 3.f, 4.f, },
|
||||
{ 5.f, 6.f, 7.f, 8.f, },
|
||||
{ 9.f, 10.f, 11.f, 12.f, },
|
||||
{ 13.f, 14.f, 15.f, 16.f, },
|
||||
}};
|
||||
br_vector3 vin = {
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
};
|
||||
br_vector4 expected = {
|
||||
{ 14.f, 38.f, 62.f, 86.f, },
|
||||
};
|
||||
BrMatrix4TApplyV(&vout, &vin, &mat);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.v, vout.v, 4);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Copy34() {
|
||||
br_matrix4 matout;
|
||||
br_matrix34 matin = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 5.f, 6.f, 7.f, },
|
||||
{ 9.f, 10.f, 11.f, },
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{ 1.f, 2.f, 3.f, 0.f, },
|
||||
{ 5.f, 6.f, 7.f, 0.f, },
|
||||
{ 9.f, 10.f, 11.f, 0.f, },
|
||||
{ 13.f, 14.f, 15.f, 1.f, },
|
||||
}};
|
||||
BrMatrix4Copy34(&matout, &matin);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, matout.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Mul34() {
|
||||
br_matrix4 a;
|
||||
br_matrix34 b = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 5.f, 6.f, 7.f, },
|
||||
{ 9.f, 10.f, 11.f, },
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
}};
|
||||
br_matrix4 c = {{
|
||||
{ 17.f, 18.f, 19.f, 20.f, },
|
||||
{ 21.f, 22.f, 23.f, 24.f, },
|
||||
{ 25.f, 26.f, 27.f, 28.f, },
|
||||
{ 29.f, 30.f, 31.f, 32.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{ 134.f, 140.f, 146.f, 152.f, },
|
||||
{ 386.f, 404.f, 422.f, 440.f, },
|
||||
{ 638.f, 668.f, 698.f, 728.f, },
|
||||
{ 919.f, 962.f, 1005.f, 1048.f, },
|
||||
}};
|
||||
BrMatrix4Mul34(&a, &b, &c);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4Pre34() {
|
||||
br_matrix34 b = {{
|
||||
{ 1.f, 2.f, 3.f, },
|
||||
{ 5.f, 6.f, 7.f, },
|
||||
{ 9.f, 10.f, 11.f, },
|
||||
{ 13.f, 14.f, 15.f, },
|
||||
}};
|
||||
br_matrix4 a = {{
|
||||
{ 17.f, 18.f, 19.f, 20.f, },
|
||||
{ 21.f, 22.f, 23.f, 24.f, },
|
||||
{ 25.f, 26.f, 27.f, 28.f, },
|
||||
{ 29.f, 30.f, 31.f, 32.f, },
|
||||
}};
|
||||
br_matrix4 expected = {{
|
||||
{ 134.f, 140.f, 146.f, 152.f, },
|
||||
{ 386.f, 404.f, 422.f, 440.f, },
|
||||
{ 638.f, 668.f, 698.f, 728.f, },
|
||||
{ 919.f, 962.f, 1005.f, 1048.f, },
|
||||
}};
|
||||
BrMatrix4Pre34(&a, &b);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_BrMatrix4ShearZ() {
|
||||
br_matrix4 a;
|
||||
br_matrix4 expected = {{
|
||||
{ 1.f, 0.f, 0.f, 0.f, },
|
||||
{ 0.f, 1.f, 0.f, 0.f, },
|
||||
{ 3.f, 5.f, 1.f, 0.f, },
|
||||
{ 0.f, 0.f, 0.f, 1.f, },
|
||||
}};
|
||||
BrMatrix4ShearZ(&a, 3.f, 5.f);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, a.m, 16);
|
||||
}
|
||||
|
||||
void test_matrix4_suite() {
|
||||
RUN_TEST(test_matrix4_BrMatrix4Copy);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Mul);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Identity);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Scale);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Inverse);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Determinant);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Adjoint);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Perspective);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Apply);
|
||||
RUN_TEST(test_matrix4_BrMatrix4ApplyP);
|
||||
RUN_TEST(test_matrix4_BrMatrix4ApplyV);
|
||||
RUN_TEST(test_matrix4_BrMatrix4TApply);
|
||||
RUN_TEST(test_matrix4_BrMatrix4TApplyP);
|
||||
RUN_TEST(test_matrix4_BrMatrix4TApplyV);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Copy34);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Mul34);
|
||||
RUN_TEST(test_matrix4_BrMatrix4Pre34);
|
||||
RUN_TEST(test_matrix4_BrMatrix4ShearZ);
|
||||
}
|
||||
|
|
@ -0,0 +1,368 @@
|
|||
#include "CORE/MATH/quat.h"
|
||||
#include "CORE/MATH/matrix34.h"
|
||||
#include "tests.h"
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
static void test_quat_BrQuatMul() {
|
||||
br_quat q;
|
||||
br_quat l;
|
||||
br_quat r;
|
||||
br_quat *res;
|
||||
|
||||
l.x = sqrtf(0.5f);
|
||||
l.y = 0.f;
|
||||
l.z = 0.f;
|
||||
l.w = sqrt(0.5f);
|
||||
|
||||
r.x = 0.f;
|
||||
r.y = sqrt(0.5f);
|
||||
r.z = 0.f;
|
||||
r.w = sqrt(0.5f);
|
||||
|
||||
res = BrQuatMul(&q, &l, &r);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.w);
|
||||
|
||||
l.x = 0.f;
|
||||
l.y = 0.f;
|
||||
l.z = 0.f;
|
||||
l.w = 1.f;
|
||||
|
||||
res = BrQuatMul(&q, &l, &r);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.x, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.y, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.z, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.w, q.w);
|
||||
|
||||
res = BrQuatMul(&q, &r, &l);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.x, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.y, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.z, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(r.w, q.w);
|
||||
}
|
||||
|
||||
static void test_quat_BrQuatNormalise() {
|
||||
br_quat q;
|
||||
br_quat qq;
|
||||
br_quat *res;
|
||||
|
||||
qq.x = 1.f;
|
||||
qq.y = 1.f;
|
||||
qq.z = 1.f;
|
||||
qq.w = 1.f;
|
||||
|
||||
res = BrQuatNormalise(&q, &qq);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.5f, q.w);
|
||||
|
||||
qq.x = 4.f;
|
||||
qq.y = 3.f;
|
||||
qq.z = 0.f;
|
||||
qq.w = 0.f;
|
||||
|
||||
res = BrQuatNormalise(&q, &qq);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.8f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.6f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.0f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.0f, q.w);
|
||||
}
|
||||
|
||||
static void test_quat_BrQuatInvert() {
|
||||
br_quat q;
|
||||
br_quat qq;
|
||||
br_quat *res;
|
||||
|
||||
qq.x = 1.f;
|
||||
qq.y = 1.f;
|
||||
qq.z = 1.f;
|
||||
qq.w = 1.f;
|
||||
|
||||
res = BrQuatInvert(&q, &qq);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-1.f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-1.f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-1.f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(1.f, q.w);
|
||||
|
||||
qq.x = 4.f;
|
||||
qq.y = 3.f;
|
||||
qq.z = 0.f;
|
||||
qq.w = 0.f;
|
||||
|
||||
res = BrQuatInvert(&q, &qq);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-4.f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-3.f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-0.0f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.0f, q.w);
|
||||
|
||||
qq.x = 0.f;
|
||||
qq.y = 3.f;
|
||||
qq.z = 0.f;
|
||||
qq.w = 4.f;
|
||||
|
||||
res = BrQuatInvert(&q, &qq);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-0.f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-3.f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(-0.0f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(4.0f, q.w);
|
||||
}
|
||||
|
||||
static void test_quat_BrQuatSlerp() {
|
||||
br_quat q;
|
||||
br_quat l;
|
||||
br_quat r;
|
||||
br_scalar a;
|
||||
br_int_16 spins;
|
||||
br_quat *res;
|
||||
|
||||
l.x = sqrtf(0.5f);
|
||||
l.y = 0.f;
|
||||
l.z = 0.f;
|
||||
l.w = sqrtf(0.5f);
|
||||
|
||||
r.x = 0.f;
|
||||
r.y = sqrtf(0.5f);
|
||||
r.z = 0.f;
|
||||
r.w = sqrtf(0.5f);
|
||||
|
||||
a = 0.f;
|
||||
spins = 0;
|
||||
|
||||
res = BrQuatSlerp(&q, &l, &r, a, spins);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(sqrt(0.5f), q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.f, q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(sqrt(0.5f), q.w);
|
||||
|
||||
a = 1.f;
|
||||
spins = 0;
|
||||
|
||||
res = BrQuatSlerp(&q, &l, &r, a, spins);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.f, q.x);
|
||||
TEST_ASSERT_EQUAL_FLOAT(sqrt(0.5f), q.y);
|
||||
TEST_ASSERT_EQUAL_FLOAT(0.f, q.z);
|
||||
TEST_ASSERT_EQUAL_FLOAT(sqrt(0.5f), q.w);
|
||||
|
||||
a = 0.5f;
|
||||
spins = 0;
|
||||
|
||||
res = BrQuatSlerp(&q, &l, &r, a, spins);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.40824829f, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.40824829f, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.f, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.81649658f, q.w);
|
||||
|
||||
a = 0.5f;
|
||||
spins = -1;
|
||||
|
||||
res = BrQuatSlerp(&q, &l, &r, a, spins);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.707185f, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, -0.707185f, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.f, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-4, 0.f, q.w);
|
||||
}
|
||||
|
||||
static void test_quat_BrQuatToMatrix34() {
|
||||
br_matrix34 mat;
|
||||
br_quat q;
|
||||
br_matrix34 *res;
|
||||
br_matrix34 expected;
|
||||
|
||||
q.x = 0.f;
|
||||
q.y = 0.f;
|
||||
q.z = 0.f;
|
||||
q.w = 1.f;
|
||||
memset(&expected, 0, sizeof(expected));
|
||||
expected.m[0][0] = 1.f;
|
||||
expected.m[1][1] = 1.f;
|
||||
expected.m[2][2] = 1.f;
|
||||
res = BrQuatToMatrix34(&mat, &q);
|
||||
TEST_ASSERT_EQUAL_PTR(&mat, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 12);
|
||||
|
||||
q.x = sqrtf(0.5f);
|
||||
q.y = 0.f;
|
||||
q.z = 0.f;
|
||||
q.w = sqrtf(0.5f);
|
||||
expected.m[0][0] = 1.f;
|
||||
expected.m[0][1] = 0.f;
|
||||
expected.m[0][2] = 0.f;
|
||||
expected.m[1][0] = 0.f;
|
||||
expected.m[1][1] = 0.f;
|
||||
expected.m[1][2] = 1.f;
|
||||
expected.m[2][0] = 0.f;
|
||||
expected.m[2][1] = -1.f;
|
||||
expected.m[2][2] = 0.f;
|
||||
expected.m[3][0] = 0.f;
|
||||
expected.m[3][1] = 0.f;
|
||||
expected.m[3][2] = 0.f;
|
||||
res = BrQuatToMatrix34(&mat, &q);
|
||||
TEST_ASSERT_EQUAL_PTR(&mat, res);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-5, expected.m, mat.m, 12);
|
||||
}
|
||||
|
||||
static void test_quat_BrMatrix34ToQuat() {
|
||||
br_quat q;
|
||||
br_matrix34 mat;
|
||||
br_quat *res;
|
||||
br_quat expected;
|
||||
|
||||
memset(&mat, 0, sizeof(mat));
|
||||
mat.m[0][0] = 1.f;
|
||||
mat.m[1][1] = 1.f;
|
||||
mat.m[2][2] = 1.f;
|
||||
expected.x = 0.f;
|
||||
expected.y = 0.f;
|
||||
expected.z = 0.f;
|
||||
expected.w = 1.f;
|
||||
res = BrMatrix34ToQuat(&q, &mat);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.x, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.y, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.z, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.w, q.w);
|
||||
|
||||
mat.m[0][0] = 1.f;
|
||||
mat.m[0][1] = 0.f;
|
||||
mat.m[0][2] = 0.f;
|
||||
mat.m[1][0] = 0.f;
|
||||
mat.m[1][1] = 0.f;
|
||||
mat.m[1][2] = 1.f;
|
||||
mat.m[2][0] = 0.f;
|
||||
mat.m[2][1] = -1.f;
|
||||
mat.m[2][2] = 0.f;
|
||||
mat.m[3][0] = 0.f;
|
||||
mat.m[3][1] = 0.f;
|
||||
mat.m[3][2] = 0.f;
|
||||
expected.x = sqrtf(0.5f);
|
||||
expected.y = 0.f;
|
||||
expected.z = 0.f;
|
||||
expected.w = sqrtf(0.5f);
|
||||
res = BrMatrix34ToQuat(&q, &mat);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.x, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.y, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.z, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.w, q.w);
|
||||
}
|
||||
|
||||
static void test_quat_BrQuatToMatrix4() {
|
||||
br_matrix4 mat;
|
||||
br_quat q;
|
||||
br_matrix4 *res;
|
||||
br_matrix4 expected;
|
||||
|
||||
q.x = 0.f;
|
||||
q.y = 0.f;
|
||||
q.z = 0.f;
|
||||
q.w = 1.f;
|
||||
memset(&expected, 0, sizeof(expected));
|
||||
expected.m[0][0] = 1.f;
|
||||
expected.m[1][1] = 1.f;
|
||||
expected.m[2][2] = 1.f;
|
||||
expected.m[3][3] = 1.f;
|
||||
res = BrQuatToMatrix4(&mat, &q);
|
||||
TEST_ASSERT_EQUAL_PTR(&mat, res);
|
||||
TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected.m, mat.m, 16);
|
||||
|
||||
q.x = sqrtf(0.5f);
|
||||
q.y = 0.f;
|
||||
q.z = 0.f;
|
||||
q.w = sqrtf(0.5f);
|
||||
expected.m[0][0] = 1.f;
|
||||
expected.m[0][1] = 0.f;
|
||||
expected.m[0][2] = 0.f;
|
||||
expected.m[0][3] = 0.f;
|
||||
expected.m[1][0] = 0.f;
|
||||
expected.m[1][1] = 0.f;
|
||||
expected.m[1][2] = 1.f;
|
||||
expected.m[1][3] = 0.f;
|
||||
expected.m[2][0] = 0.f;
|
||||
expected.m[2][1] = -1.f;
|
||||
expected.m[2][2] = 0.f;
|
||||
expected.m[2][3] = 0.f;
|
||||
expected.m[3][0] = 0.f;
|
||||
expected.m[3][1] = 0.f;
|
||||
expected.m[3][2] = 0.f;
|
||||
expected.m[3][3] = 1.f;
|
||||
res = BrQuatToMatrix4(&mat, &q);
|
||||
TEST_ASSERT_EQUAL_PTR(&mat, res);
|
||||
TEST_ASSERT_FLOAT_ARRAY_WITHIN(1e-5, expected.m, mat.m, 16);
|
||||
}
|
||||
|
||||
static void test_quat_BrMatrix4ToQuat() {
|
||||
br_quat q;
|
||||
br_matrix4 mat;
|
||||
br_quat *res;
|
||||
br_quat expected;
|
||||
|
||||
memset(&mat, 0, sizeof(mat));
|
||||
mat.m[0][0] = 1.f;
|
||||
mat.m[1][1] = 1.f;
|
||||
mat.m[2][2] = 1.f;
|
||||
mat.m[3][3] = 1.f;
|
||||
expected.x = 0.f;
|
||||
expected.y = 0.f;
|
||||
expected.z = 0.f;
|
||||
expected.w = 1.f;
|
||||
res = BrMatrix4ToQuat(&q, &mat);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.x, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.y, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.z, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.w, q.w);
|
||||
|
||||
mat.m[0][0] = 1.f;
|
||||
mat.m[0][1] = 0.f;
|
||||
mat.m[0][2] = 0.f;
|
||||
mat.m[0][3] = 0.f;
|
||||
mat.m[1][0] = 0.f;
|
||||
mat.m[1][1] = 0.f;
|
||||
mat.m[1][2] = 1.f;
|
||||
mat.m[1][3] = 0.f;
|
||||
mat.m[2][0] = 0.f;
|
||||
mat.m[2][1] = -1.f;
|
||||
mat.m[2][2] = 0.f;
|
||||
mat.m[2][3] = 0.f;
|
||||
mat.m[3][0] = 0.f;
|
||||
mat.m[3][1] = 0.f;
|
||||
mat.m[3][2] = 0.f;
|
||||
mat.m[3][3] = 1.f;
|
||||
expected.x = sqrtf(0.5f);
|
||||
expected.y = 0.f;
|
||||
expected.z = 0.f;
|
||||
expected.w = sqrtf(0.5f);
|
||||
res = BrMatrix4ToQuat(&q, &mat);
|
||||
TEST_ASSERT_EQUAL_PTR(&q, res);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.x, q.x);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.y, q.y);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.z, q.z);
|
||||
TEST_ASSERT_FLOAT_WITHIN(1e-5, expected.w, q.w);
|
||||
}
|
||||
|
||||
void test_quat_suite() {
|
||||
RUN_TEST(test_quat_BrQuatMul);
|
||||
RUN_TEST(test_quat_BrQuatNormalise);
|
||||
RUN_TEST(test_quat_BrQuatInvert);
|
||||
RUN_TEST(test_quat_BrQuatSlerp);
|
||||
RUN_TEST(test_quat_BrQuatToMatrix34);
|
||||
RUN_TEST(test_quat_BrMatrix34ToQuat);
|
||||
RUN_TEST(test_quat_BrQuatToMatrix4);
|
||||
RUN_TEST(test_quat_BrMatrix4ToQuat);
|
||||
}
|
||||
|
|
@ -32,6 +32,7 @@ target_sources(dethrace_test PRIVATE
|
|||
BRSRC13/test_genclip.c
|
||||
BRSRC13/test_pattern.c
|
||||
BRSRC13/test_pmfile.c
|
||||
BRSRC13/test_quat.c
|
||||
BRSRC13/test_register.c
|
||||
BRSRC13/test_regsupt.c
|
||||
BRSRC13/test_resource.c
|
||||
|
|
@ -53,4 +54,4 @@ target_sources(dethrace_test PRIVATE
|
|||
framework
|
||||
main.c
|
||||
tests.h
|
||||
)
|
||||
)
|
||||
|
|
|
|||
|
|
@ -45,6 +45,7 @@ extern void test_v1dbfile_suite();
|
|||
extern void test_register_suite();
|
||||
extern void test_pattern_suite();
|
||||
extern void test_pmfile_suite();
|
||||
extern void test_quat_suite();
|
||||
extern void test_graphics_suite();
|
||||
extern void test_regsupt_suite();
|
||||
extern void test_powerup_suite();
|
||||
|
|
@ -125,6 +126,7 @@ int main(int argc, char** argv) {
|
|||
|
||||
test_pattern_suite();
|
||||
test_pmfile_suite();
|
||||
test_quat_suite();
|
||||
test_v1dbfile_suite();
|
||||
test_regsupt_suite();
|
||||
|
||||
|
|
|
|||
10
test/tests.h
10
test/tests.h
|
|
@ -10,4 +10,12 @@ extern int has_data_directory();
|
|||
if (!has_data_directory()) \
|
||||
TEST_IGNORE();
|
||||
|
||||
#endif
|
||||
#define TEST_ASSERT_FLOAT_ARRAY_WITHIN(delta, expected, actual, num_elements) { \
|
||||
float *priv_expected = (float*)(expected); \
|
||||
float *priv_actual = (float*)(actual); \
|
||||
for(int it = (num_elements); it != 0; --it, ++priv_expected, ++priv_actual) { \
|
||||
TEST_ASSERT_FLOAT_WITHIN((delta), *priv_expected, *priv_actual); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue