304 lines
12 KiB
C++
304 lines
12 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_MATRIX3X3_H
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#define TEST_MATRIX3X3_H
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// Libraries
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#include "../../Test.h"
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#include "../../../src/mathematics/Matrix3x3.h"
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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// Class TestMatrix3x3
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/**
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* Unit test for the Matrix3x3 class
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*/
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class TestMatrix3x3 : public Test {
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private :
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// ---------- Atributes ---------- //
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/// Identity transform
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Matrix3x3 mIdentity;
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/// First example matrix
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Matrix3x3 mMatrix1;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestMatrix3x3() : mIdentity(Matrix3x3::identity()),
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mMatrix1(2, 24, 4, 5, -6, 234, -15, 11, 66) {
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}
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/// Run the tests
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void run() {
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testConstructors();
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testGetSet();
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testIdentity();
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testZero();
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testOthersMethods();
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testOperators();
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}
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/// Test the constructors
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void testConstructors() {
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Matrix3x3 test1(5.0);
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Matrix3x3 test2(2, 3, 4, 5, 6, 7, 8, 9, 10);
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Matrix3x3 test3(mMatrix1);
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test(test1[0][0] == 5);
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test(test1[0][1] == 5);
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test(test1[0][2] == 5);
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test(test1[1][0] == 5);
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test(test1[1][1] == 5);
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test(test1[1][2] == 5);
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test(test1[2][0] == 5);
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test(test1[2][1] == 5);
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test(test1[2][2] == 5);
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test(test2[0][0] == 2);
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test(test2[0][1] == 3);
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test(test2[0][2] == 4);
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test(test2[1][0] == 5);
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test(test2[1][1] == 6);
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test(test2[1][2] == 7);
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test(test2[2][0] == 8);
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test(test2[2][1] == 9);
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test(test2[2][2] == 10);
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test(test3 == mMatrix1);
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}
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/// Test the getter and setter methods
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void testGetSet() {
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// Test method to set all the values
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Matrix3x3 test2;
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test2.setAllValues(2, 24, 4, 5, -6, 234, -15, 11, 66);
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test(test2 == mMatrix1);
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// Test method to set to zero
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test2.setToZero();
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test(test2 == Matrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0));
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// Test method that returns a column
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Vector3 column1 = mMatrix1.getColumn(0);
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Vector3 column2 = mMatrix1.getColumn(1);
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Vector3 column3 = mMatrix1.getColumn(2);
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test(column1 == Vector3(2, 5, -15));
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test(column2 == Vector3(24, -6, 11));
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test(column3 == Vector3(4, 234, 66));
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// Test method that returns a row
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Vector3 row1 = mMatrix1.getRow(0);
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Vector3 row2 = mMatrix1.getRow(1);
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Vector3 row3 = mMatrix1.getRow(2);
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test(row1 == Vector3(2, 24, 4));
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test(row2 == Vector3(5, -6, 234));
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test(row3 == Vector3(-15, 11, 66));
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}
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/// Test the identity methods
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void testIdentity() {
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Matrix3x3 identity = Matrix3x3::identity();
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Matrix3x3 test1;
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test1.setToIdentity();
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test(identity[0][0] == 1);
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test(identity[0][1] == 0);
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test(identity[0][2] == 0);
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test(identity[1][0] == 0);
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test(identity[1][1] == 1);
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test(identity[1][2] == 0);
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test(identity[2][0] == 0);
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test(identity[2][1] == 0);
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test(identity[2][2] == 1);
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test(test1 == Matrix3x3::identity());
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}
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/// Test the zero method
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void testZero() {
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Matrix3x3 zero = Matrix3x3::zero();
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test(zero[0][0] == 0);
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test(zero[0][1] == 0);
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test(zero[0][2] == 0);
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test(zero[1][0] == 0);
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test(zero[1][1] == 0);
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test(zero[1][2] == 0);
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test(zero[2][0] == 0);
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test(zero[2][1] == 0);
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test(zero[2][2] == 0);
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}
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/// Test others methods
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void testOthersMethods() {
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// Test transpose
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Matrix3x3 transpose = mMatrix1.getTranspose();
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test(transpose == Matrix3x3(2, 5, -15, 24, -6, 11, 4, 234, 66));
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// Test trace
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test(mMatrix1.getTrace() == 62);
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test(Matrix3x3::identity().getTrace() == 3);
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// Test determinant
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Matrix3x3 matrix(-24, 64, 253, -35, 52, 72, 21, -35, -363);
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test(mMatrix1.getDeterminant() == -98240);
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test(matrix.getDeterminant() == -290159);
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test(mIdentity.getDeterminant() == 1);
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// Test inverse
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Matrix3x3 inverseMatrix = matrix.getInverse();
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test(approxEqual(inverseMatrix[0][0], decimal(0.056369), decimal(10e-6)));
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test(approxEqual(inverseMatrix[0][1], decimal(-0.049549), decimal(10e-6)));
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test(approxEqual(inverseMatrix[0][2], decimal(0.029460), decimal(10e-6)));
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test(approxEqual(inverseMatrix[1][0], decimal(0.038575), decimal(10e-6)));
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test(approxEqual(inverseMatrix[1][1], decimal(-0.011714), decimal(10e-6)));
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test(approxEqual(inverseMatrix[1][2], decimal(0.024562), decimal(10e-6)));
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test(approxEqual(inverseMatrix[2][0], decimal(-0.000458), decimal(10e-6)));
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test(approxEqual(inverseMatrix[2][1], decimal(-0.001737), decimal(10e-6)));
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test(approxEqual(inverseMatrix[2][2], decimal(-0.003419), decimal(10e-6)));
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Matrix3x3 inverseMatrix1 = mMatrix1.getInverse();
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test(approxEqual(inverseMatrix1[0][0], decimal(0.030232), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[0][1], decimal(0.015676), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[0][2], decimal(-0.057410), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[1][0], decimal(0.039088), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[1][1], decimal(-0.001954), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[1][2], decimal(0.004560), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[2][0], decimal(0.000356), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[2][1], decimal(0.003888), decimal(10e-6)));
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test(approxEqual(inverseMatrix1[2][2], decimal(0.001344), decimal(10e-6)));
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// Test absolute matrix
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Matrix3x3 matrix2(-2, -3, -4, -5, -6, -7, -8, -9, -10);
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test(matrix.getAbsoluteMatrix() == Matrix3x3(24, 64, 253, 35, 52, 72, 21, 35, 363));
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Matrix3x3 absoluteMatrix = matrix2.getAbsoluteMatrix();
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test(absoluteMatrix == Matrix3x3(2, 3, 4, 5, 6, 7, 8, 9, 10));
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// Test method that computes skew-symmetric matrix for cross product
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Vector3 vector1(3, -5, 6);
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Vector3 vector2(73, 42, 26);
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Matrix3x3 skewMatrix = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(vector1);
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test(skewMatrix == Matrix3x3(0, -6, -5, 6, 0, -3, 5, 3, 0));
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Vector3 crossProduct1 = vector1.cross(vector2);
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Vector3 crossProduct2 = skewMatrix * vector2;
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test(crossProduct1 == crossProduct2);
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}
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/// Test the operators
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void testOperators() {
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// Test addition
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Matrix3x3 matrix1(2, 3, 4, 5, 6, 7, 8, 9, 10);
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Matrix3x3 matrix2(-2, 3, -5, 10, 4, 7, 2, 5, 8);
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Matrix3x3 addition1 = matrix1 + matrix2;
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Matrix3x3 addition2(matrix1);
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addition2 += matrix2;
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test(addition1 == Matrix3x3(0, 6, -1, 15, 10, 14, 10, 14, 18));
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test(addition2 == Matrix3x3(0, 6, -1, 15, 10, 14, 10, 14, 18));
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// Test substraction
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Matrix3x3 substraction1 = matrix1 - matrix2;
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Matrix3x3 substraction2(matrix1);
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substraction2 -= matrix2;
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test(substraction1 == Matrix3x3(4, 0, 9, -5, 2, 0, 6, 4, 2));
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test(substraction2 == Matrix3x3(4, 0, 9, -5, 2, 0, 6, 4, 2));
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// Test negative operator
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Matrix3x3 negative = -matrix1;
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test(negative == Matrix3x3(-2, -3, -4, -5, -6, -7, -8, -9, -10));
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// Test multiplication with a number
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Matrix3x3 multiplication1 = 3 * matrix1;
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Matrix3x3 multiplication2 = matrix1 * 3;
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Matrix3x3 multiplication3(matrix1);
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multiplication3 *= 3;
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test(multiplication1 == Matrix3x3(6, 9, 12, 15, 18, 21, 24, 27, 30));
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test(multiplication2 == Matrix3x3(6, 9, 12, 15, 18, 21, 24, 27, 30));
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test(multiplication3 == Matrix3x3(6, 9, 12, 15, 18, 21, 24, 27, 30));
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// Test multiplication with a matrix
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Matrix3x3 multiplication4 = matrix1 * matrix2;
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Matrix3x3 multiplication5 = matrix2 * matrix1;
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test(multiplication4 == Matrix3x3(34, 38, 43, 64, 74, 73, 94, 110, 103));
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test(multiplication5 == Matrix3x3(-29, -33, -37, 96, 117, 138, 93, 108, 123));
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// Test multiplication with a vector
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Vector3 vector1(3, -32, 59);
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Vector3 vector2(-31, -422, 34);
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Vector3 test1 = matrix1 * vector1;
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Vector3 test2 = matrix2 * vector2;
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test(test1 == Vector3(146, 236, 326));
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test(test2 == Vector3(-1374, -1760, -1900));
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// Test equality operators
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test(Matrix3x3(34, 38, 43, 64, 74, 73, 94, 110, 103) ==
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Matrix3x3(34, 38, 43, 64, 74, 73, 94, 110, 103));
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test(Matrix3x3(34, 64, 43, 7, -1, 73, 94, 110, 103) !=
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Matrix3x3(34, 38, 43, 64, 74, 73, 94, 110, 103));
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// Test operator to read a value
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test(mMatrix1[0][0] == 2);
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test(mMatrix1[0][1] == 24);
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test(mMatrix1[0][2] == 4);
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test(mMatrix1[1][0] == 5);
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test(mMatrix1[1][1] == -6);
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test(mMatrix1[1][2] == 234);
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test(mMatrix1[2][0] == -15);
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test(mMatrix1[2][1] == 11);
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test(mMatrix1[2][2] == 66);
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// Test operator to set a value
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Matrix3x3 test3;
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test3[0][0] = 2;
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test3[0][1] = 24;
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test3[0][2] = 4;
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test3[1][0] = 5;
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test3[1][1] = -6;
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test3[1][2] = 234;
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test3[2][0] = -15;
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test3[2][1] = 11;
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test3[2][2] = 66;
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test(test3 == mMatrix1);
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}
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};
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}
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#endif
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