/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2015 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * * In no event will the authors be held liable for any damages arising from the * * use of this software. * * * * Permission is granted to anyone to use this software for any purpose, * * including commercial applications, and to alter it and redistribute it * * freely, subject to the following restrictions: * * * * 1. The origin of this software must not be misrepresented; you must not claim * * that you wrote the original software. If you use this software in a * * product, an acknowledgment in the product documentation would be * * appreciated but is not required. * * * * 2. Altered source versions must be plainly marked as such, and must not be * * misrepresented as being the original software. * * * * 3. This notice may not be removed or altered from any source distribution. * * * ********************************************************************************/ #ifndef TEST_MATRIX2X2_H #define TEST_MATRIX2X2_H // Libraries #include "Test.h" #include "mathematics/Matrix2x2.h" /// Reactphysics3D namespace namespace reactphysics3d { // Class TestMatrix2x2 /** * Unit test for the Matrix2x2 class */ class TestMatrix2x2 : public Test { private : // ---------- Atributes ---------- // /// Identity transform Matrix2x2 mIdentity; /// First example matrix Matrix2x2 mMatrix1; public : // ---------- Methods ---------- // /// Constructor TestMatrix2x2(const std::string& name) : Test(name), mIdentity(Matrix2x2::identity()), mMatrix1(2, 24, -4, 5) { } /// Run the tests void run() { testConstructors(); testGetSet(); testIdentity(); testZero(); testOthersMethods(); testOperators(); } /// Test the constructors void testConstructors() { Matrix2x2 test1(5.0); Matrix2x2 test2(2, 3, 4, 5); Matrix2x2 test3(mMatrix1); test(test1[0][0] == 5); test(test1[0][1] == 5); test(test1[1][0] == 5); test(test1[1][1] == 5); test(test2[0][0] == 2); test(test2[0][1] == 3); test(test2[1][0] == 4); test(test2[1][1] == 5); test(test3 == mMatrix1); } /// Test the getter and setter methods void testGetSet() { // Test method to set all the values Matrix2x2 test2; test2.setAllValues(2, 24, -4, 5); test(test2 == mMatrix1); // Test method to set to zero test2.setToZero(); test(test2 == Matrix2x2(0, 0, 0, 0)); // Test method that returns a column Vector2 column1 = mMatrix1.getColumn(0); Vector2 column2 = mMatrix1.getColumn(1); test(column1 == Vector2(2, -4)); test(column2 == Vector2(24, 5)); // Test method that returns a row Vector2 row1 = mMatrix1.getRow(0); Vector2 row2 = mMatrix1.getRow(1); test(row1 == Vector2(2, 24)); test(row2 == Vector2(-4, 5)); } /// Test the identity methods void testIdentity() { Matrix2x2 identity = Matrix2x2::identity(); Matrix2x2 test1; test1.setToIdentity(); test(identity[0][0] == 1); test(identity[0][1] == 0); test(identity[1][0] == 0); test(identity[1][1] == 1); test(test1 == Matrix2x2::identity()); } /// Test the zero method void testZero() { Matrix2x2 zero = Matrix2x2::zero(); test(zero[0][0] == 0); test(zero[0][1] == 0); test(zero[1][0] == 0); test(zero[1][1] == 0); } /// Test others methods void testOthersMethods() { // Test transpose Matrix2x2 transpose = mMatrix1.getTranspose(); test(transpose == Matrix2x2(2, -4, 24, 5)); // Test trace test(mMatrix1.getTrace() ==7); test(Matrix2x2::identity().getTrace() == 2); // Test determinant Matrix2x2 matrix(-24, 64, 253, -35); test(mMatrix1.getDeterminant() == 106); test(matrix.getDeterminant() == -15352); test(mIdentity.getDeterminant() == 1); // Test inverse Matrix2x2 matrix2(1, 2, 3, 4); Matrix2x2 inverseMatrix = matrix2.getInverse(); test(approxEqual(inverseMatrix[0][0], decimal(-2), decimal(10e-6))); test(approxEqual(inverseMatrix[0][1], decimal(1), decimal(10e-6))); test(approxEqual(inverseMatrix[1][0], decimal(1.5), decimal(10e-6))); test(approxEqual(inverseMatrix[1][1], decimal(-0.5), decimal(10e-6))); Matrix2x2 inverseMatrix1 = mMatrix1.getInverse(); test(approxEqual(inverseMatrix1[0][0], decimal(0.047169811), decimal(10e-6))); test(approxEqual(inverseMatrix1[0][1], decimal(-0.226415094), decimal(10e-6))); test(approxEqual(inverseMatrix1[1][0], decimal(0.037735849), decimal(10e-6))); test(approxEqual(inverseMatrix1[1][1], decimal(0.018867925), decimal(10e-6))); // Test absolute matrix Matrix2x2 matrix3(-2, -3, -4, -5); test(matrix.getAbsoluteMatrix() == Matrix2x2(24, 64, 253, 35)); Matrix2x2 absoluteMatrix = matrix3.getAbsoluteMatrix(); test(absoluteMatrix == Matrix2x2(2, 3, 4, 5)); } /// Test the operators void testOperators() { // Test addition Matrix2x2 matrix1(2, 3, 4, 5); Matrix2x2 matrix2(-2, 3, -5, 10); Matrix2x2 addition1 = matrix1 + matrix2; Matrix2x2 addition2(matrix1); addition2 += matrix2; test(addition1 == Matrix2x2(0, 6, -1, 15)); test(addition2 == Matrix2x2(0, 6, -1, 15)); // Test substraction Matrix2x2 substraction1 = matrix1 - matrix2; Matrix2x2 substraction2(matrix1); substraction2 -= matrix2; test(substraction1 == Matrix2x2(4, 0, 9, -5)); test(substraction2 == Matrix2x2(4, 0, 9, -5)); // Test negative operator Matrix2x2 negative = -matrix1; test(negative == Matrix2x2(-2, -3, -4, -5)); // Test multiplication with a number Matrix2x2 multiplication1 = 3 * matrix1; Matrix2x2 multiplication2 = matrix1 * 3; Matrix2x2 multiplication3(matrix1); multiplication3 *= 3; test(multiplication1 == Matrix2x2(6, 9, 12, 15)); test(multiplication2 == Matrix2x2(6, 9, 12, 15)); test(multiplication3 == Matrix2x2(6, 9, 12, 15)); // Test multiplication with a matrix Matrix2x2 multiplication4 = matrix1 * matrix2; Matrix2x2 multiplication5 = matrix2 * matrix1; test(multiplication4 == Matrix2x2(-19, 36, -33, 62)); test(multiplication5 == Matrix2x2(8, 9, 30, 35)); // Test multiplication with a vector Vector2 vector1(3, -32); Vector2 vector2(-31, -422); Vector2 test1 = matrix1 * vector1; Vector2 test2 = matrix2 * vector2; test(test1 == Vector2(-90, -148)); test(test2 == Vector2(-1204, -4065)); // Test equality operators test(Matrix2x2(34, 38, 43, 64) == Matrix2x2(34, 38, 43, 64)); test(Matrix2x2(34, 64, 43, 7) != Matrix2x2(34, 38, 43, 64)); // Test operator to read a value test(mMatrix1[0][0] == 2); test(mMatrix1[0][1] == 24); test(mMatrix1[1][0] == -4); test(mMatrix1[1][1] == 5); // Test operator to set a value Matrix2x2 test3; test3[0][0] = 2; test3[0][1] = 24; test3[1][0] = -4; test3[1][1] = 5; test(test3 == mMatrix1); } }; } #endif