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* Copyright (c) 2016-2020 JOML.
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* furnished to do so, subject to the following conditions:
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package org.joml.test;
import junit.framework.TestCase;
import org.joml.Matrix4x3d;
import org.joml.Matrix4x3dc;
import org.joml.Vector3d;
import org.joml.Math;
/**
* Tests for the {@link Matrix4x3d} class.
*
* @author Kai Burjack
*/
public class Matrix4x3dTest extends TestCase {
public static void testLookAt() {
Matrix4x3dc m1, m2;
m1 = new Matrix4x3d().lookAt(0, 2, 3, 0, 0, 0, 0, 1, 0);
m2 = new Matrix4x3d().translate(0, 0, -(float) Math.sqrt(2 * 2 + 3 * 3)).rotateX(
(float) Math.atan2(2, 3));
TestUtil.assertMatrix4x3dEquals(m1, m2, 1E-5f);
m1 = new Matrix4x3d().lookAt(3, 2, 0, 0, 0, 0, 0, 1, 0);
m2 = new Matrix4x3d().translate(0, 0, -(float) Math.sqrt(2 * 2 + 3 * 3))
.rotateX((float) Math.atan2(2, 3)).rotateY((float) Math.toRadians(-90));
TestUtil.assertMatrix4x3dEquals(m1, m2, 1E-4f);
}
public static void testPositiveXRotateY() {
Vector3d dir = new Vector3d();
Matrix4x3dc m = new Matrix4x3d()
.rotateY((float) Math.toRadians(90));
m.positiveX(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 0, 1), dir, 1E-7f);
}
public static void testPositiveYRotateX() {
Vector3d dir = new Vector3d();
Matrix4x3dc m = new Matrix4x3d()
.rotateX((float) Math.toRadians(90));
m.positiveY(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 0, -1), dir, 1E-7f);
}
public static void testPositiveZRotateX() {
Vector3d dir = new Vector3d();
Matrix4x3dc m = new Matrix4x3d()
.rotateX((float) Math.toRadians(90));
m.positiveZ(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 1, 0), dir, 1E-7f);
}
public static void testPositiveXRotateXY() {
Vector3d dir = new Vector3d();
Matrix4x3dc m = new Matrix4x3d()
.rotateY((float) Math.toRadians(90)).rotateX((float) Math.toRadians(45));
m.positiveX(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 1, 1).normalize(), dir, 1E-7f);
}
public static void testPositiveXYZLookAt() {
Vector3d dir = new Vector3d();
Matrix4x3dc m = new Matrix4x3d()
.lookAt(0, 0, 0, -1, 0, 0, 0, 1, 0);
m.positiveX(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 0, -1).normalize(), dir, 1E-7f);
m.positiveY(dir);
TestUtil.assertVector3dEquals(new Vector3d(0, 1, 0).normalize(), dir, 1E-7f);
m.positiveZ(dir);
TestUtil.assertVector3dEquals(new Vector3d(1, 0, 0).normalize(), dir, 1E-7f);
}
public static void testPositiveXYZSameAsInvert() {
Vector3d dir = new Vector3d();
Vector3d dir2 = new Vector3d();
Matrix4x3d m = new Matrix4x3d().rotateXYZ(0.12f, 1.25f, -2.56f);
Matrix4x3dc inv = new Matrix4x3d(m).invert();
m.positiveX(dir);
inv.transformDirection(dir2.set(1, 0, 0));
TestUtil.assertVector3dEquals(dir2, dir, 1E-6f);
m.positiveY(dir);
inv.transformDirection(dir2.set(0, 1, 0));
TestUtil.assertVector3dEquals(dir2, dir, 1E-6f);
m.positiveZ(dir);
inv.transformDirection(dir2.set(0, 0, 1));
TestUtil.assertVector3dEquals(dir2, dir, 1E-6f);
}
public static void testNormal() {
Matrix4x3d r = new Matrix4x3d().rotateY((float) Math.PI / 2);
Matrix4x3dc s = new Matrix4x3d(r).scale(0.2f);
Matrix4x3d n = new Matrix4x3d();
s.normal(n);
n.normalize3x3();
TestUtil.assertMatrix4x3dEquals(r, n, 1E-8f);
}
public static void testInvert() {
Matrix4x3d invm = new Matrix4x3d();
Matrix4x3d m = new Matrix4x3d();
m.rotateX(1.2f).rotateY(0.2f).rotateZ(0.1f).translate(1, 2, 3).invert(invm);
Vector3d orig = new Vector3d(4, -6, 8);
Vector3d v = new Vector3d();
Vector3d w = new Vector3d();
m.transformPosition(orig, v);
invm.transformPosition(v, w);
TestUtil.assertVector3dEquals(orig, w, 1E-6f);
invm.invert();
TestUtil.assertMatrix4x3dEquals(m, invm, 1E-6f);
}
public static void testRotateXYZ() {
Matrix4x3dc m = new Matrix4x3d().rotateX(0.12f).rotateY(0.0623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateXYZ(0.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotateZYX() {
Matrix4x3dc m = new Matrix4x3d().rotateZ(1.12f).rotateY(0.0623f).rotateX(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateZYX(1.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotateYXZ() {
Matrix4x3dc m = new Matrix4x3d().rotateY(1.12f).rotateX(0.0623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateYXZ(1.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotateAffineXYZ() {
Matrix4x3dc m = new Matrix4x3d().rotateX(0.12f).rotateY(0.0623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateXYZ(0.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotateAffineZYX() {
Matrix4x3dc m = new Matrix4x3d().rotateZ(1.12f).rotateY(0.0623f).rotateX(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateZYX(1.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotateAffineYXZ() {
Matrix4x3dc m = new Matrix4x3d().rotateY(1.12f).rotateX(0.0623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotateYXZ(1.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotationXYZ() {
Matrix4x3dc m = new Matrix4x3d().rotationX(0.32f).rotateY(0.5623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotationXYZ(0.32f, 0.5623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotationZYX() {
Matrix4x3dc m = new Matrix4x3d().rotationZ(0.12f).rotateY(0.0623f).rotateX(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotationZYX(0.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
public static void testRotationYXZ() {
Matrix4x3dc m = new Matrix4x3d().rotationY(0.12f).rotateX(0.0623f).rotateZ(0.95f);
Matrix4x3dc n = new Matrix4x3d().rotationYXZ(0.12f, 0.0623f, 0.95f);
TestUtil.assertMatrix4x3dEquals(m, n, 1E-6f);
}
}
