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Fix issues with double precision floating values

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This commit is contained in:
Daniel Chappuis 2021-08-09 17:08:22 +02:00
parent 353cdd7428
commit 1eb2018bd3
6 changed files with 100 additions and 92 deletions
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22
src/collision/TriangleVertexArray.cpp
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@ -160,16 +160,20 @@ void TriangleVertexArray::computeVerticesNormals() {
Vector3 b = triangleVertices[previousVertex] - triangleVertices[v];
Vector3 crossProduct = a.cross(b);
decimal sinA = crossProduct.length() / (edgesLengths[previousVertex] * edgesLengths[v]);
sinA = std::min(std::max(sinA, decimal(0.0)), decimal(1.0));
decimal arcSinA = std::asin(sinA);
assert(arcSinA >= decimal(0.0));
Vector3 normalComponent = arcSinA * crossProduct;
decimal edgeLengths = (edgesLengths[previousVertex] * edgesLengths[v]);
if (std::abs(edgeLengths) > decimal(MACHINE_EPSILON)) {
// Add the normal component of this vertex into the normals array
verticesNormals[verticesIndices[v] * 3] += normalComponent.x;
verticesNormals[verticesIndices[v] * 3 + 1] += normalComponent.y;
verticesNormals[verticesIndices[v] * 3 + 2] += normalComponent.z;
decimal sinA = crossProduct.length() / edgeLengths;
sinA = std::min(std::max(sinA, decimal(0.0)), decimal(1.0));
decimal arcSinA = std::asin(sinA);
assert(arcSinA >= decimal(0.0));
Vector3 normalComponent = arcSinA * crossProduct;
// Add the normal component of this vertex into the normals array
verticesNormals[verticesIndices[v] * 3] += normalComponent.x;
verticesNormals[verticesIndices[v] * 3 + 1] += normalComponent.y;
verticesNormals[verticesIndices[v] * 3 + 2] += normalComponent.z;
}
}
}

76
test/tests/collision/TestCollisionWorld.h
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@ -310,11 +310,11 @@ class TestCollisionWorld : public Test {
PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces;
TriangleVertexArray* mConcaveMeshTriangleVertexArray;
Vector3 mConvexMesh1CubeVertices[8];
Vector3 mConvexMesh2CubeVertices[8];
float mConvexMesh1CubeVertices[8 * 3];
float mConvexMesh2CubeVertices[8 * 3];
int mConvexMeshCubeIndices[24];
Vector3 mConcaveMeshPlaneVertices[36];
float mConcaveMeshPlaneVertices[36 * 3];
int mConcaveMeshPlaneIndices[25 * 2 * 3];
TriangleMesh* mConcaveTriangleMesh;
@ -368,30 +368,30 @@ class TestCollisionWorld : public Test {
mCapsuleCollider2 = mCapsuleBody2->addCollider(mCapsuleShape2, Transform::identity());
// ---------- Convex Meshes ---------- //
mConvexMesh1CubeVertices[0] = Vector3(-3, -3, 3);
mConvexMesh1CubeVertices[1] = Vector3(3, -3, 3);
mConvexMesh1CubeVertices[2] = Vector3(3, -3, -3);
mConvexMesh1CubeVertices[3] = Vector3(-3, -3, -3);
mConvexMesh1CubeVertices[4] = Vector3(-3, 3, 3);
mConvexMesh1CubeVertices[5] = Vector3(3, 3, 3);
mConvexMesh1CubeVertices[6] = Vector3(3, 3, -3);
mConvexMesh1CubeVertices[7] = Vector3(-3, 3, -3);
mConvexMesh1CubeVertices[0] = -3; mConvexMesh1CubeVertices[1] = -3; mConvexMesh1CubeVertices[2] = 3;
mConvexMesh1CubeVertices[3] = 3; mConvexMesh1CubeVertices[4] = -3; mConvexMesh1CubeVertices[5] = 3;
mConvexMesh1CubeVertices[6] = 3; mConvexMesh1CubeVertices[7] = -3; mConvexMesh1CubeVertices[8] = -3;
mConvexMesh1CubeVertices[9] = -3; mConvexMesh1CubeVertices[10] = -3; mConvexMesh1CubeVertices[11] = -3;
mConvexMesh1CubeVertices[12] = -3; mConvexMesh1CubeVertices[13] = 3; mConvexMesh1CubeVertices[14] = 3;
mConvexMesh1CubeVertices[15] = 3; mConvexMesh1CubeVertices[16] = 3; mConvexMesh1CubeVertices[17] = 3;
mConvexMesh1CubeVertices[18] = 3; mConvexMesh1CubeVertices[19] = 3; mConvexMesh1CubeVertices[20] = -3;
mConvexMesh1CubeVertices[21] = -3; mConvexMesh1CubeVertices[22] = 3; mConvexMesh1CubeVertices[23] = -3;
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4;
mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5;
mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6;
mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3;
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4;
mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5;
mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6;
mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3;
mConvexMeshPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[6];
rp3d::PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces;
for (int f = 0; f < 6; f++) {
face->indexBase = f * 4;
face->indexBase = f * 4;
face->nbVertices = 4;
face++;
}
mConvexMesh1PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh1CubeVertices[0]), sizeof(Vector3),
mConvexMesh1PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh1CubeVertices[0]), 3 * sizeof(float),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
@ -401,16 +401,16 @@ class TestCollisionWorld : public Test {
mConvexMeshBody1 = mWorld->createCollisionBody(convexMeshTransform1);
mConvexMeshCollider1 = mConvexMeshBody1->addCollider(mConvexMeshShape1, Transform::identity());
mConvexMesh2CubeVertices[0] = Vector3(-4, -2, 8);
mConvexMesh2CubeVertices[1] = Vector3(4, -2, 8);
mConvexMesh2CubeVertices[2] = Vector3(4, -2, -8);
mConvexMesh2CubeVertices[3] = Vector3(-4, -2, -8);
mConvexMesh2CubeVertices[4] = Vector3(-4, 2, 8);
mConvexMesh2CubeVertices[5] = Vector3(4, 2, 8);
mConvexMesh2CubeVertices[6] = Vector3(4, 2, -8);
mConvexMesh2CubeVertices[7] = Vector3(-4, 2, -8);
mConvexMesh2CubeVertices[0] = -4; mConvexMesh2CubeVertices[1] = -2; mConvexMesh2CubeVertices[2] = 8;
mConvexMesh2CubeVertices[3] = 4; mConvexMesh2CubeVertices[4] = -2; mConvexMesh2CubeVertices[5] = 8;
mConvexMesh2CubeVertices[6] = 4; mConvexMesh2CubeVertices[7] = -2; mConvexMesh2CubeVertices[8] = -8;
mConvexMesh2CubeVertices[9] = -4; mConvexMesh2CubeVertices[10] = -2; mConvexMesh2CubeVertices[11] = -8;
mConvexMesh2CubeVertices[12] = -4; mConvexMesh2CubeVertices[13] = 2; mConvexMesh2CubeVertices[14] = 8;
mConvexMesh2CubeVertices[15] = 4; mConvexMesh2CubeVertices[16] = 2; mConvexMesh2CubeVertices[17] = 8;
mConvexMesh2CubeVertices[18] = 4; mConvexMesh2CubeVertices[19] = 2; mConvexMesh2CubeVertices[20] = -8;
mConvexMesh2CubeVertices[21] = -4; mConvexMesh2CubeVertices[22] = 2; mConvexMesh2CubeVertices[23] = -8;
mConvexMesh2PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh2CubeVertices[0]), sizeof(Vector3),
mConvexMesh2PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh2CubeVertices[0]), 3 * sizeof(float),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
@ -423,30 +423,32 @@ class TestCollisionWorld : public Test {
// ---------- Concave Meshes ---------- //
for (int i = 0; i < 6; i++) {
for (int j = 0; j < 6; j++) {
mConcaveMeshPlaneVertices[i * 6 + j] = Vector3(-2.5f + i, 0, -2.5f + j);
}
mConcaveMeshPlaneVertices[i * 6 * 3 + j * 3] = -2.5f + i;
mConcaveMeshPlaneVertices[i * 6 * 3+ (j * 3) + 1] = 0;
mConcaveMeshPlaneVertices[i * 6 * 3+ (j * 3) + 2] = -2.5f + j;
}
}
int triangleIndex = 0;
for (int i = 0; i < 5; i++) {
for (int j = 0; j < 5; j++) {
// Triangle 1
mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6 + j;
mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + (j+1);
mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = i * 6 + (j+1);
mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6+ j;
mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + (j+1);
mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = i * 6+ (j+1);
triangleIndex++;
// Triangle 2
mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6 + j;
mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + j;
mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6+ j;
mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + j;
mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = (i+1) * 6 + (j+1);
triangleIndex++;
}
}
mConcaveMeshTriangleVertexArray = new rp3d::TriangleVertexArray(36, &(mConcaveMeshPlaneVertices[0]), sizeof(Vector3),
mConcaveMeshTriangleVertexArray = new rp3d::TriangleVertexArray(36, &(mConcaveMeshPlaneVertices[0]), 3 * sizeof(float),
50, &(mConcaveMeshPlaneIndices[0]), 3 * sizeof(int),
rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
// Add the triangle vertex array of the subpart to the triangle mesh

20
test/tests/collision/TestPointInside.h
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@ -65,7 +65,7 @@ class TestPointInside : public Test {
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
Vector3 mConvexMeshCubeVertices[8];
float mConvexMeshCubeVertices[8 * 3];
int mConvexMeshCubeIndices[24];
PolygonVertexArray* mConvexMeshPolygonVertexArray;
PolyhedronMesh* mConvexMeshPolyhedronMesh;
@ -133,14 +133,14 @@ class TestPointInside : public Test {
mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10);
mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform);
mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4);
mConvexMeshCubeVertices[1] = Vector3(2, -3, 4);
mConvexMeshCubeVertices[2] = Vector3(2, -3, -4);
mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4);
mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4);
mConvexMeshCubeVertices[5] = Vector3(2, 3, 4);
mConvexMeshCubeVertices[6] = Vector3(2, 3, -4);
mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4);
mConvexMeshCubeVertices[0] = -2; mConvexMeshCubeVertices[1] = -3; mConvexMeshCubeVertices[2] = 4;
mConvexMeshCubeVertices[3] = 2; mConvexMeshCubeVertices[4] = -3; mConvexMeshCubeVertices[5] = 4;
mConvexMeshCubeVertices[6] = 2; mConvexMeshCubeVertices[7] = -3; mConvexMeshCubeVertices[8] = -4;
mConvexMeshCubeVertices[9] = -2; mConvexMeshCubeVertices[10] = -3; mConvexMeshCubeVertices[11] = -4;
mConvexMeshCubeVertices[12] = -2; mConvexMeshCubeVertices[13] = 3; mConvexMeshCubeVertices[14] = 4;
mConvexMeshCubeVertices[15] = 2; mConvexMeshCubeVertices[16] = 3; mConvexMeshCubeVertices[17] = 4;
mConvexMeshCubeVertices[18] = 2; mConvexMeshCubeVertices[19] = 3; mConvexMeshCubeVertices[20] = -4;
mConvexMeshCubeVertices[21] = -2; mConvexMeshCubeVertices[22] = 3; mConvexMeshCubeVertices[23] = -4;
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
@ -156,7 +156,7 @@ class TestPointInside : public Test {
face->nbVertices = 4;
face++;
}
mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3),
mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), 3 * sizeof(float),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);

20
test/tests/collision/TestRaycast.h
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@ -159,7 +159,7 @@ class TestRaycast : public Test {
PolygonVertexArray::PolygonFace mPolygonFaces[6];
PolygonVertexArray* mPolygonVertexArray;
PolyhedronMesh* mPolyhedronMesh;
Vector3 mPolyhedronVertices[8];
float mPolyhedronVertices[8 * 3];
int mPolyhedronIndices[4 * 6];
public :
@ -207,14 +207,14 @@ class TestRaycast : public Test {
mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5);
mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform);
mPolyhedronVertices[0] = Vector3(-2, -3, 4);
mPolyhedronVertices[1] = Vector3(2, -3, 4);
mPolyhedronVertices[2] = Vector3(2, -3, -4);
mPolyhedronVertices[3] = Vector3(-2, -3, -4);
mPolyhedronVertices[4] = Vector3(-2, 3, 4);
mPolyhedronVertices[5] = Vector3(2, 3, 4);
mPolyhedronVertices[6] = Vector3(2, 3, -4);
mPolyhedronVertices[7] = Vector3(-2, 3, -4);
mPolyhedronVertices[0] = -2; mPolyhedronVertices[1] = -3; mPolyhedronVertices[2] = 4;
mPolyhedronVertices[3] = 2; mPolyhedronVertices[4] = -3; mPolyhedronVertices[5] = 4;
mPolyhedronVertices[6] = 2; mPolyhedronVertices[7] = -3; mPolyhedronVertices[8] = -4;
mPolyhedronVertices[9] = -2; mPolyhedronVertices[10] = -3; mPolyhedronVertices[11] = -4;
mPolyhedronVertices[12] = -2; mPolyhedronVertices[13] = 3; mPolyhedronVertices[14] = 4;
mPolyhedronVertices[15] = 2; mPolyhedronVertices[16] = 3; mPolyhedronVertices[17] = 4;
mPolyhedronVertices[18] = 2; mPolyhedronVertices[19] = 3; mPolyhedronVertices[20] = -4;
mPolyhedronVertices[21] = -2; mPolyhedronVertices[22] = 3; mPolyhedronVertices[23] = -4;
mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 3; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 1;
mPolyhedronIndices[4] = 4; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 7;
@ -232,7 +232,7 @@ class TestRaycast : public Test {
}
// Create the polygon vertex array
mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3),
mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, 3 * sizeof(float),
mPolyhedronIndices, sizeof(int), 6, mPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);

20
test/tests/engine/TestRigidBody.h
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@ -59,7 +59,7 @@ class TestRigidBody : public Test {
PolyhedronMesh* mConvexMeshPolyhedronMesh;
PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces;
TriangleVertexArray* mConcaveMeshTriangleVertexArray;
Vector3 mConvexMeshCubeVertices[8];
float mConvexMeshCubeVertices[8 * 3];
int mConvexMeshCubeIndices[24];
public :
@ -89,14 +89,14 @@ class TestRigidBody : public Test {
// Convex Meshes (in the shape of a box)
mConvexMeshCubeVertices[0] = Vector3(-3, -3, 3);
mConvexMeshCubeVertices[1] = Vector3(3, -3, 3);
mConvexMeshCubeVertices[2] = Vector3(3, -3, -3);
mConvexMeshCubeVertices[3] = Vector3(-3, -3, -3);
mConvexMeshCubeVertices[4] = Vector3(-3, 3, 3);
mConvexMeshCubeVertices[5] = Vector3(3, 3, 3);
mConvexMeshCubeVertices[6] = Vector3(3, 3, -3);
mConvexMeshCubeVertices[7] = Vector3(-3, 3, -3);
mConvexMeshCubeVertices[0] = -3; mConvexMeshCubeVertices[1] = -3; mConvexMeshCubeVertices[2] = 3;
mConvexMeshCubeVertices[3] = 3; mConvexMeshCubeVertices[4] = -3; mConvexMeshCubeVertices[5] = 3;
mConvexMeshCubeVertices[6] = 3; mConvexMeshCubeVertices[7] = -3; mConvexMeshCubeVertices[8] = -3;
mConvexMeshCubeVertices[9] = -3; mConvexMeshCubeVertices[10] = -3; mConvexMeshCubeVertices[11] = -3;
mConvexMeshCubeVertices[12] = -3; mConvexMeshCubeVertices[13] = 3; mConvexMeshCubeVertices[14] = 3;
mConvexMeshCubeVertices[15] = 3; mConvexMeshCubeVertices[16] = 3; mConvexMeshCubeVertices[17] = 3;
mConvexMeshCubeVertices[18] = 3; mConvexMeshCubeVertices[19] = 3; mConvexMeshCubeVertices[20] = -3;
mConvexMeshCubeVertices[21] = -3; mConvexMeshCubeVertices[22] = 3; mConvexMeshCubeVertices[23] = -3;
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
@ -112,7 +112,7 @@ class TestRigidBody : public Test {
face->nbVertices = 4;
face++;
}
mConvexMeshPolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3),
mConvexMeshPolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), 3 * sizeof(float),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);

34
test/tests/mathematics/TestTransform.h
View File

@ -53,6 +53,8 @@ class TestTransform : public Test {
/// Second example transform
Transform mTransform2;
const float mEpsilon = 0.0001;
public :
// ---------- Methods ---------- //
@ -137,22 +139,22 @@ class TestTransform : public Test {
transform.setFromOpenGL(openglMatrix);
decimal openglMatrix2[16];
transform.getOpenGLMatrix(openglMatrix2);
rp3d_test(approxEqual(openglMatrix2[0], orientation[0][0]));
rp3d_test(approxEqual(openglMatrix2[1], orientation[1][0]));
rp3d_test(approxEqual(openglMatrix2[2], orientation[2][0]));
rp3d_test(approxEqual(openglMatrix2[3], 0));
rp3d_test(approxEqual(openglMatrix2[4], orientation[0][1]));
rp3d_test(approxEqual(openglMatrix2[5], orientation[1][1]));
rp3d_test(approxEqual(openglMatrix2[6], orientation[2][1]));
rp3d_test(approxEqual(openglMatrix2[7], 0));
rp3d_test(approxEqual(openglMatrix2[8], orientation[0][2]));
rp3d_test(approxEqual(openglMatrix2[9], orientation[1][2]));
rp3d_test(approxEqual(openglMatrix2[10], orientation[2][2]));
rp3d_test(approxEqual(openglMatrix2[11], 0));
rp3d_test(approxEqual(openglMatrix2[12], position.x));
rp3d_test(approxEqual(openglMatrix2[13], position.y));
rp3d_test(approxEqual(openglMatrix2[14], position.z));
rp3d_test(approxEqual(openglMatrix2[15], 1));
rp3d_test(approxEqual(openglMatrix2[0], orientation[0][0], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[1], orientation[1][0], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[2], orientation[2][0], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[3], 0, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[4], orientation[0][1], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[5], orientation[1][1], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[6], orientation[2][1], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[7], 0, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[8], orientation[0][2], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[9], orientation[1][2], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[10], orientation[2][2], mEpsilon));
rp3d_test(approxEqual(openglMatrix2[11], 0, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[12], position.x, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[13], position.y, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[14], position.z, mEpsilon));
rp3d_test(approxEqual(openglMatrix2[15], 1, mEpsilon));
}
/// Test the method to interpolate transforms