Added axisAngle tests
Signed-off-by: Sergey Krivohatskiy <s.krivohatskiy@gmail.com>
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@ -1,8 +1,11 @@
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#define GLM_ENABLE_EXPERIMENTAL
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/component_wise.hpp>
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#include <glm/gtx/matrix_interpolation.hpp>
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#include <iostream>
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#include <limits>
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static int test_axisAngle()
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{
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@ -34,6 +37,60 @@ static int test_axisAngle()
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return Error;
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}
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template <class T>
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int testForAxisAngle(glm::tvec3<T> const axisTrue, T const angleTrue)
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{
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T const eps = sqrt(std::numeric_limits<T>::epsilon());
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glm::tmat4x4<T> const matTrue = glm::axisAngleMatrix(axisTrue, angleTrue);
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glm::tvec3<T> axis;
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T angle;
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glm::axisAngle(matTrue, axis, angle);
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glm::tmat4x4<T> const matRebuilt = glm::axisAngleMatrix(axis, angle);
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glm::tmat4x4<T> const errMat = matTrue - matRebuilt;
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T const maxErr = glm::compMax(glm::tvec4<T>(
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glm::compMax(glm::abs(errMat[0])),
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glm::compMax(glm::abs(errMat[1])),
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glm::compMax(glm::abs(errMat[2])),
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glm::compMax(glm::abs(errMat[3]))
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));
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return maxErr < eps ? 0 : 1;
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}
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static int test_axisAngle2()
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{
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int Error = 0;
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.0f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.00001f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), 0.0001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.005f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.005f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.03f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.0003f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.01f);
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Error += testForAxisAngle(glm::dvec3(0.0f, 1.0f, 0.0f), 0.00005);
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Error += testForAxisAngle(glm::dvec3(-1.0f, 0.0f, 0.0f), 0.000001);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.7071f, 0.0f), 0.5);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.00002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.000002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0000002);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 1.3f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 6.3f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), -0.23456f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>());
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), -glm::pi<float>());
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), -glm::pi<float>());
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return Error;
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}
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static int test_rotate()
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{
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glm::mat4 m2(1.0);
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@ -49,8 +106,9 @@ static int test_rotate()
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int main()
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{
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int Error = 0;
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Error += test_axisAngle();
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Error += test_axisAngle2();
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Error += test_rotate();
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return Error;
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