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-rw-r--r--include/BH/Math.h505
-rw-r--r--src/Math.c553
-rw-r--r--test/reference/matrix3f.wxmxbin5986 -> 6738 bytes
-rw-r--r--test/reference/matrix4f.wxmxbin7100 -> 8271 bytes
-rw-r--r--test/reference/plane.wxmxbin0 -> 72771 bytes
-rw-r--r--test/reference/point2f.wxmxbin8202 -> 9961 bytes
-rw-r--r--test/reference/point3f.wxmxbin8290 -> 10396 bytes
-rw-r--r--test/reference/point4f.wxmxbin8910 -> 10865 bytes
-rw-r--r--test/src/TestLine.c84
-rw-r--r--test/src/TestMat3f.c316
-rw-r--r--test/src/TestMat4f.c404
-rw-r--r--test/src/TestMath.c889
-rw-r--r--test/src/TestPlane.c96
-rw-r--r--test/src/TestQuat.c131
-rw-r--r--test/src/TestRay2f.c196
-rw-r--r--test/src/TestRay3f.c99
-rw-r--r--test/src/TestVec2f.c284
-rw-r--r--test/src/TestVec2i.c147
-rw-r--r--test/src/TestVec3f.c309
-rw-r--r--test/src/TestVec3i.c157
-rw-r--r--test/src/TestVec4f.c313
-rw-r--r--test/src/TestVec4i.c167
-rw-r--r--unit/include/BH/Unit.h10
-rw-r--r--unit/src/Unit.c10
24 files changed, 3755 insertions, 915 deletions
diff --git a/include/BH/Math.h b/include/BH/Math.h
index 5ce9540..bda5b6d 100644
--- a/include/BH/Math.h
+++ b/include/BH/Math.h
@@ -107,6 +107,19 @@ void BH_Vec4fNormal(const float *in,
/**
+ * Computes normal vector from the \a in stores result into \a out and returns
+ * source length of the vector.
+ *
+ * \param in Input 4D vector
+ * \param out Output 4D vector
+ *
+ * \return Returns length prior to normalization
+ */
+float BH_Vec4fNormalEx(const float *in,
+ float *out);
+
+
+/**
* Computes minimum vector from the \a a and \a b vectors and stores result
* into \a out.
*
@@ -148,6 +161,39 @@ void BH_Vec4fLerp(const float *a,
/**
+ * Projects \a a vector onto \a b vector and stores result into \a out.
+ *
+ * \param a A 4D vector
+ * \param b B 4D vector
+ * \param out Output 4D vector
+ */
+void BH_Vec4fProject(const float *a,
+ const float *b,
+ float *out);
+
+
+/**
+ * Computes point from barycentric coordiantes \a v, \a w and points \a a,
+ * \a b and \a c vectors.
+ *
+ * Output vector is calculated as A + v*(B-A) + w*(C-A).
+ *
+ * \param a A 4D vector
+ * \param b B 4D vector
+ * \param c C 4D vector
+ * \param v V barycentric coordinate
+ * \param w W barycentric coordinate
+ * \param out Output 4D vector
+ */
+void BH_Vec4fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out);
+
+
+/**
* Adds \a a and \a b floating point vectors and stores result into \a out.
*
* \param a A 3D vector
@@ -263,6 +309,19 @@ void BH_Vec3fNormal(const float *in,
/**
+ * Computes normal vector from the \a in stores result into \a out and returns
+ * source length of the vector.
+ *
+ * \param in Input 3D vector
+ * \param out Output 3D vector
+ *
+ * \return Returns length prior to normalization
+ */
+float BH_Vec3fNormalEx(const float *in,
+ float *out);
+
+
+/**
* Computes minimum vector from the \a a and \a b vectors and stores result into
* \a out.
*
@@ -304,6 +363,39 @@ void BH_Vec3fLerp(const float *a,
/**
+ * Projects \a a vector onto \a b vector and stores result into \a out.
+ *
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param out Output 3D vector
+ */
+void BH_Vec3fProject(const float *a,
+ const float *b,
+ float *out);
+
+
+/**
+ * Computes point from barycentric coordiantes \a v, \a w and points \a a,
+ * \a b and \a c vectors.
+ *
+ * Output vector is calculated as A + v*(B-A) + w*(C-A).
+ *
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param c C 3D vector
+ * \param v V barycentric coordinate
+ * \param w W barycentric coordinate
+ * \param out Output 3D vector
+ */
+void BH_Vec3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out);
+
+
+/**
* Adds \a a and \a b floating point vectors and stores result into \a out.
*
* \param a A 2D vector
@@ -417,6 +509,19 @@ void BH_Vec2fNormal(const float *in,
/**
+ * Computes normal vector from the \a in stores result into \a out and returns
+ * source length of the vector.
+ *
+ * \param in Input 2D vector
+ * \param out Output 2D vector
+ *
+ * \return Returns length prior to normalization
+ */
+float BH_Vec2fNormalEx(const float *in,
+ float *out);
+
+
+/**
* Computes minimum vector from the \a a and \a b vectors and stores result into
* \a out.
*
@@ -458,6 +563,51 @@ void BH_Vec2fLerp(const float *a,
/**
+ * Projects \a a vector onto \a b vector and stores result into \a out.
+ *
+ * \param a A 2D vector
+ * \param b B 2D vector
+ * \param out Output 2D vector
+ */
+void BH_Vec2fProject(const float *a,
+ const float *b,
+ float *out);
+
+
+/**
+ * Computes point from barycentric coordiantes \a v, \a w and points \a a,
+ * \a b and \a c vectors.
+ *
+ * Output vector is calculated as A + v*(B-A) + w*(C-A).
+ *
+ * \param a A 2D vector
+ * \param b B 2D vector
+ * \param c C 2D vector
+ * \param v V barycentric coordinate
+ * \param w W barycentric coordinate
+ * \param out Output 2D vector
+ */
+void BH_Vec2fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float u,
+ float v,
+ float *out);
+
+
+/**
+ * Interpolates between \a a and \a b values by \a t amount and returns the
+ * result.
+ *
+ * \param a A 2D vector
+ * \param b B 2D vector
+ * \param t Amount
+ * \param out Output 2D vector
+ */
+float BH_Lerpf(float a, float b, float t);
+
+
+/**
* Adds \a a and \a b integer vectors and stores result into \a out.
*
* \param a A 4D vector
@@ -1205,12 +1355,12 @@ void BH_Mat4fFromFrustum(float fov,
/**
* Computes camera view matrix and stores result into \a out.
*
- * \param pos Position vector
- * \param at Target vector
- * \param up Up vector
- * \param out Output 4x4 matrix
+ * \param position Position vector
+ * \param at Target vector
+ * \param up Up vector
+ * \param out Output 4x4 matrix
*/
-void BH_Mat4fFromLookAt(const float *pos,
+void BH_Mat4fFromLookAt(const float *position,
const float *at,
const float *up,
float *out);
@@ -1397,4 +1547,349 @@ void BH_Mat3fApplyVec2f(float *a,
float *out);
+/**
+ * Computes plane from points \a a, \a b, \a c and stores result into \a out.
+ *
+ * X, Y, Z components of the \a out vector are plane normal, W component is a
+ * distance from the origin (0,0,0) to the plane.
+ *
+ * It is assumed, that points provided in clockwise order.
+ *
+ * If points form degenerate triangle, this function will return error.
+ *
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param c C 3D vector
+ * \param out Output 4D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error-code.
+ */
+int BH_PlaneFromPoints(const float *a,
+ const float *b,
+ const float *c,
+ float *out);
+
+
+/**
+ * Computes distance from \a plane to the \a point and returns result.
+ *
+ * \param plane Plane 4D vector
+ * \param point Point 3D vector
+ *
+ * \return Returns distance from plane to point.
+ */
+float BH_PlaneDistance(const float *plane,
+ const float *point);
+
+
+/**
+ * Computes closest point on the \a plane to the \a point and stores result
+ * into \a out.
+ *
+ * \param plane Plane 4D vector
+ * \param point Point 3D vector
+ * \param out Output 3D vector
+ */
+void BH_PlaneClosestPoint(const float *plane,
+ const float *point,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between ray (given \a start and
+ * \a direction) and \a plane and stores intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the ray.
+ *
+ * \param start Start 3D vector
+ * \param direction Direction 3D vector
+ * \param plane Plane 4D vector
+ * \param t Time of intersection
+ * \param out Output 3D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray3fIntersectPlane(const float *start,
+ const float *direction,
+ const float *plane,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between ray (given \a start and
+ * \a direction) and triangle formed by \a a, \a b, \a c points and intersection
+ * point into \a out.
+ *
+ * The returned intersection time \a t is for the ray.
+ *
+ * \param start Start 3D vector
+ * \param direction Direction 3D vector
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param c C 3D vector
+ * \param t Time of intersection
+ * \param out Output 3D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray3fIntersectTriangle(const float *start,
+ const float *direction,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intesection \a t between line segment (given \a a and \a b
+ * points) and \a plane and stores intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the segment.
+ *
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param plane Plane 4D vector
+ * \param t Time of intersection
+ * \param out Output 3D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Segment3fIntersectPlane(const float *start,
+ const float *end,
+ const float *plane,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between segment (given \a start and
+ * \a end) and triangle formed by \a a, \a b, \a c points and intersection
+ * point into \a out.
+ *
+ * The returned intersection time \a t is for the segment.
+ *
+ * \param start Start 3D vector
+ * \param direction Direction 3D vector
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param c C 3D vector
+ * \param t Time of intersection
+ * \param out Output 3D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Segment3fIntersectTriangle(const float *start,
+ const float *end,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes barycentric coordinates from \a point and triangle made of \a a,
+ * \a b, \a c points and stores result into \a out.
+ *
+ * \param a A 3D vector
+ * \param b B 3D vector
+ * \param c C 3D vector
+ * \param point Point 3D vector
+ * \param out Output 3D vector
+ */
+void BH_Triangle3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ const float *point,
+ float *out);
+
+
+/**
+ * Computes line from \a a and \a b points and stores result into \a out.
+ *
+ * \param a A 2D vector
+ * \param b B 2D vector
+ * \param out Output 3D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_LineFromPoints(const float *a,
+ const float *b,
+ float *out);
+
+
+/**
+ * Computes distance from \a line to the \a point and returns result.
+ *
+ * \param line Line 3D vector
+ * \param point Point 2D vector
+ *
+ * \return Returns distance from plane to point.
+ */
+float BH_LineDistance(const float *line,
+ const float *point);
+
+
+/**
+ * Computes closest point on the \a line to the \a point and stores result into
+ * \a out.
+ *
+ * \param line Line 3D vector
+ * \param point Point 2D vector
+ * \param out Output 2D vector
+ */
+void BH_LineClosestPoint(const float *line,
+ const float *point,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between ray (given \a start and
+ * \a direction) and \a line and stores intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the ray.
+ *
+ * \param start Start 2D vector
+ * \param direction Direction 2D vector
+ * \param line Line 3D vector
+ * \param t Time of intersection
+ * \param out Output 2D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray2fIntersectLine(const float *start,
+ const float *direction,
+ const float *line,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a time1 and \a time2 between one line (given
+ * \a startA and \a directionA) and other line (given \a startB and
+ * \a directionB).
+ *
+ * \param startA A Start 2D vector
+ * \param directionA A Direction 2D vector
+ * \param startB B Start 2D vector
+ * \param directionB B Direction 2D vector
+ * \param time1 Time of intersection of first line
+ * \param time2 Time of intersection of second line
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray2fIntersectTime(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *directionB,
+ float *time1,
+ float *time2);
+
+
+/**
+ * Computes time of intersection \a t between one ray (given \a startA and
+ * \a directionA) and other ray (given \a startB and \a directionB) and stores
+ * intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the first ray.
+ *
+ * \param startA A Start 2D vector
+ * \param directionA A Direction 2D vector
+ * \param startB B Start 2D vector
+ * \param directionB B Direction 2D vector
+ * \param t Time of intersection
+ * \param out Output 2D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray2fIntersectRay(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *directionB,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between one ray (given \a startA and
+ * \a directionA) and segment (given \a startB and \a endB) and stores result
+ * into \a out.
+ *
+ * The returned intersection time \a t is for the ray.
+ *
+ * \param startA A Start 2D vector
+ * \param directionA A Direction 2D vector
+ * \param startB B Start 2D vector
+ * \param endB B End 2D vector
+ * \param t Time of intersection
+ * \param out Output 2D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Ray2fIntersectSegment(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *endB,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between segment (given \a start and
+ * \a end) and \a line and stores intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the segment.
+ *
+ * \param start Start 2D vector
+ * \param end End 2D vector
+ * \param line Line 3D vector
+ * \param t Time of intersection
+ * \param out Output 2D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Segment2fIntersectLine(const float *start,
+ const float *end,
+ const float *line,
+ float *t,
+ float *out);
+
+
+/**
+ * Computes time of intersection \a t between one segment (given \a startA and
+ * \a endA) and other sergment (given \a startB and \a endB) and stores
+ * intersection point into \a out.
+ *
+ * The returned intersection time \a t is for the first segment.
+ *
+ * \param startA A Start 2D vector
+ * \param endA A End 2D vector
+ * \param startB B Start 2D vector
+ * \param endB B End 2D vector
+ * \param t Time of intersection
+ * \param out Output 2D vector
+ *
+ * \return On success, returns zero.
+ * \return On failure, returns error code.
+ */
+int BH_Segment2fIntersectSegment(const float *startA,
+ const float *endA,
+ const float *startB,
+ const float *endB,
+ float *t,
+ float *out);
+
#endif /* BH_MATH_H */
diff --git a/src/Math.c b/src/Math.c
index 58ebcd3..3d37354 100644
--- a/src/Math.c
+++ b/src/Math.c
@@ -1,4 +1,5 @@
#include <BH/Math.h>
+
#include <math.h>
#include <string.h>
@@ -89,6 +90,17 @@ void BH_Vec4fNormal(const float *in,
}
+float BH_Vec4fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec4fLength(in);
+ BH_Vec4fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
void BH_Vec4fMin(const float *a,
const float *b,
float *out)
@@ -124,6 +136,34 @@ void BH_Vec4fLerp(const float *a,
}
+void BH_Vec4fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec4fDot(a, b) / BH_Vec4fDot(b, b);
+ BH_Vec4fScale(b, amount, out);
+}
+
+
+void BH_Vec4fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[4], tmp2[4];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = u; BH_Vec4fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = v; BH_Vec4fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = w; BH_Vec4fMulAdd(c, tmp1, tmp2, out);
+}
+
+
void BH_Vec3fAdd(const float *a,
const float *b,
float *out)
@@ -217,6 +257,17 @@ void BH_Vec3fNormal(const float *in,
}
+float BH_Vec3fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec3fLength(in);
+ BH_Vec3fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
void BH_Vec3fMin(const float *a,
const float *b,
float *out)
@@ -250,6 +301,34 @@ void BH_Vec3fLerp(const float *a,
}
+void BH_Vec3fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec3fDot(a, b) / BH_Vec3fDot(b, b);
+ BH_Vec3fScale(b, amount, out);
+}
+
+
+void BH_Vec3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[3], tmp2[3];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = tmp1[2] = u; BH_Vec3fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = v; BH_Vec3fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = w; BH_Vec3fMulAdd(c, tmp1, tmp2, out);
+}
+
+
void BH_Vec2fAdd(const float *a,
const float *b,
float *out)
@@ -331,6 +410,17 @@ void BH_Vec2fNormal(const float *in,
}
+float BH_Vec2fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec2fLength(in);
+ BH_Vec2fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
void BH_Vec2fMin(const float *a,
const float *b,
float *out)
@@ -362,6 +452,40 @@ void BH_Vec2fLerp(const float *a,
}
+void BH_Vec2fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec2fDot(a, b) / BH_Vec2fDot(b, b);
+ BH_Vec2fScale(b, amount, out);
+}
+
+
+void BH_Vec2fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[2], tmp2[2];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = u; BH_Vec2fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = v; BH_Vec2fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = w; BH_Vec2fMulAdd(c, tmp1, tmp2, out);
+}
+
+
+float BH_Lerpf(float a, float b, float t)
+{
+ return a + (b - a) * t;
+}
+
+
void BH_Vec4iAdd(const int *a,
const int *b,
int *out)
@@ -1176,37 +1300,37 @@ void BH_Mat4fFromFrustum(float fov,
}
-void BH_Mat4fFromLookAt(const float *pos,
+void BH_Mat4fFromLookAt(const float *position,
const float *at,
const float *up,
float *out)
{
- float cdir[3], cright[3], cup[3];
+ float cameraDir[3], cameraRight[3], cameraUp[3];
- BH_Vec3fSub(pos, at, cdir);
- BH_Vec3fNormal(cdir, cdir);
- BH_Vec3fCross(up, cdir, cright);
- BH_Vec3fNormal(cright, cright);
- BH_Vec3fCross(cdir, cright, cup);
+ BH_Vec3fSub(position, at, cameraDir);
+ BH_Vec3fNormal(cameraDir, cameraDir);
+ BH_Vec3fCross(up, cameraDir, cameraRight);
+ BH_Vec3fNormal(cameraRight, cameraRight);
+ BH_Vec3fCross(cameraDir, cameraRight, cameraUp);
- out[0] = cright[0];
- out[1] = cup[0];
- out[2] = cdir[0];
+ out[0] = cameraRight[0];
+ out[1] = cameraUp[0];
+ out[2] = cameraDir[0];
out[3] = 0.0f;
- out[4] = cright[1];
- out[5] = cup[1];
- out[6] = cdir[1];
+ out[4] = cameraRight[1];
+ out[5] = cameraUp[1];
+ out[6] = cameraDir[1];
out[7] = 0.0f;
- out[8] = cright[2];
- out[9] = cup[2];
- out[10] = cdir[2];
+ out[8] = cameraRight[2];
+ out[9] = cameraUp[2];
+ out[10] = cameraDir[2];
out[11] = 0.0f;
- out[12] = -BH_Vec3fDot(cright, pos);
- out[13] = -BH_Vec3fDot(cup, pos);
- out[14] = -BH_Vec3fDot(cdir, pos);
+ out[12] = -BH_Vec3fDot(cameraRight, position);
+ out[13] = -BH_Vec3fDot(cameraUp, position);
+ out[14] = -BH_Vec3fDot(cameraDir, position);
out[15] = 1.0f;
}
@@ -1447,3 +1571,394 @@ void BH_Mat3fApplyVec2f(float *a,
memcpy(out, tmp, sizeof(float) * 2);
}
+
+
+int BH_PlaneFromPoints(const float *a,
+ const float *b,
+ const float *c,
+ float *out)
+{
+ float tmp1[3], tmp2[3];
+
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(c, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fNormalEx(tmp1, tmp1) == 0.0f)
+ return BH_ERROR;
+
+ out[3] = BH_Vec3fDot(a, tmp1);
+ memcpy(out, tmp1, sizeof(tmp1));
+ return BH_OK;
+}
+
+
+float BH_PlaneDistance(const float *plane,
+ const float *point)
+{
+ return BH_Vec3fDot(plane, point) - plane[3];
+}
+
+
+void BH_PlaneClosestPoint(const float *plane,
+ const float *point,
+ float *out)
+{
+ float tmp[3];
+
+ BH_Vec3fScale(plane, BH_PlaneDistance(plane, point), tmp);
+ BH_Vec3fSub(point, tmp, out);
+}
+
+
+int BH_Ray3fIntersectPlane(const float *start,
+ const float *direction,
+ const float *plane,
+ float *t,
+ float *out)
+{
+ float tmp1[3];
+ float denom, time;
+
+ /* Calculate intersection time */
+ denom = BH_Vec3fDot(direction, plane);
+ time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (denom == 0.0f || time < 0.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec3fScale(direction, time, tmp1);
+ BH_Vec3fAdd(start, tmp1, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Ray3fIntersectTriangle(const float *start,
+ const float *direction,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out)
+{
+ float plane[4];
+ float tmp1[3], tmp2[3], tmp3[3];
+ float time;
+
+ /* Compute plane */
+ if (BH_PlaneFromPoints(a, b, c, plane))
+ return BH_ERROR;
+
+ /* Compute intersection point in ray against plane */
+ if (BH_Ray3fIntersectPlane(start, direction, plane, &time, tmp3))
+ return BH_ERROR;
+
+ /* Check if point inside rectangle */
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(tmp3, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(c, b, tmp1);
+ BH_Vec3fSub(tmp3, b, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(a, c, tmp1);
+ BH_Vec3fSub(tmp3, c, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ /* Copy intersection point */
+ memcpy(out, tmp3, sizeof(tmp3));
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment3fIntersectPlane(const float *start,
+ const float *end,
+ const float *plane,
+ float *t,
+ float *out)
+{
+ float tmp[3];
+ float denom, time;
+
+ /* Calculate intersection time */
+ BH_Vec3fSub(end, start, tmp);
+ denom = BH_Vec3fDot(tmp, plane);
+ time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (denom == 0.0f || time < 0.0f || time > 1.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec3fScale(tmp, time, tmp);
+ BH_Vec3fAdd(start, tmp, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment3fIntersectTriangle(const float *start,
+ const float *end,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out)
+{
+ float plane[4];
+ float tmp1[3], tmp2[3], tmp3[3];
+ float time;
+
+ /* Compute plane */
+ if (BH_PlaneFromPoints(a, b, c, plane))
+ return BH_ERROR;
+
+ /* Compute intersection point in ray against plane */
+ if (BH_Segment3fIntersectPlane(start, end, plane, &time, tmp3))
+ return BH_ERROR;
+
+ /* Check if point inside rectangle */
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(tmp3, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(c, b, tmp1);
+ BH_Vec3fSub(tmp3, b, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(a, c, tmp1);
+ BH_Vec3fSub(tmp3, c, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ /* Copy intersection point */
+ memcpy(out, tmp3, sizeof(tmp3));
+ *t = time;
+ return BH_OK;
+}
+
+
+void BH_Triangle3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ const float *point,
+ float *out)
+{
+ float tmp1[3], tmp2[3], tmp3[3];
+ float t11, t12, t22, t31, t32, denom;
+
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(c, a, tmp2);
+ BH_Vec3fSub(point, a, tmp3);
+
+ t11 = BH_Vec3fDot(tmp1, tmp1);
+ t12 = BH_Vec3fDot(tmp1, tmp2);
+ t22 = BH_Vec3fDot(tmp2, tmp2);
+ t31 = BH_Vec3fDot(tmp3, tmp1);
+ t32 = BH_Vec3fDot(tmp3, tmp2);
+ denom = 1.0f / (t11 * t22 - t12 * t12);
+
+ out[1] = (t22 * t31 - t12 * t32) * denom;
+ out[2] = (t11 * t32 - t12 * t31) * denom;
+ out[0] = 1.0f - out[1] - out[2];
+}
+
+
+int BH_LineFromPoints(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[2];
+
+ tmp[0] = a[1] - b[1];
+ tmp[1] = b[0] - a[0];
+ if (BH_Vec2fNormalEx(tmp, tmp) == 0.0f)
+ return BH_ERROR;
+
+ out[2] = BH_Vec2fDot(tmp, a);
+ memcpy(out, tmp, sizeof(tmp));
+ return BH_OK;
+}
+
+
+float BH_LineDistance(const float *line,
+ const float *point)
+{
+ return BH_Vec2fDot(line, point) - line[2];
+}
+
+
+void BH_LineClosestPoint(const float *line,
+ const float *point,
+ float *out)
+{
+ float tmp[2];
+
+ BH_Vec2fScale(line, BH_LineDistance(line, point), tmp);
+ BH_Vec2fSub(point, tmp, out);
+}
+
+
+int BH_Ray2fIntersectLine(const float *start,
+ const float *direction,
+ const float *line,
+ float *t,
+ float *out)
+{
+ float tmp1[2];
+ float denom, time;
+
+ /* Calculate intersection time */
+ denom = BH_Vec2fDot(direction, line);
+ time = (line[2] - BH_Vec2fDot(line, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (denom == 0.0f || time < 0.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec2fScale(direction, time, tmp1);
+ BH_Vec2fAdd(start, tmp1, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectTime(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *directionB,
+ float *time1,
+ float *time2)
+{
+ float tmp1[2], tmp2[2], tmp3[2];
+ float denom;
+
+ /* Rotate directions by 90 degrees and caluclate denom */
+ tmp1[0] = -directionA[1]; tmp1[1] = directionA[0];
+ tmp2[0] = -directionB[1]; tmp2[1] = directionB[0];
+ denom = BH_Vec2fDot(tmp1, directionB);
+
+ if (denom == 0.0f)
+ return BH_ERROR;
+
+ /* Calculate segments offset and intersection times */
+ BH_Vec2fSub(startA, startB, tmp3);
+ *time1 = BH_Vec2fDot(tmp3, tmp2) / denom;
+ *time2 = BH_Vec2fDot(tmp3, tmp1) / denom;
+
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectRay(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *directionB,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float time1, time2;
+
+ if (BH_Ray2fIntersectTime(startA, directionA, startB, directionB, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time2 < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec2fScale(directionA, time1, tmp);
+ BH_Vec2fAdd(startA, tmp, out);
+ *t = time1;
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectSegment(const float *startA,
+ const float *directionA,
+ const float *startB,
+ const float *endB,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float time1, time2;
+
+ BH_Vec2fSub(endB, startB, tmp);
+ if (BH_Ray2fIntersectTime(startA, directionA, startB, tmp, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time2 < 0.0f || time2 > 1.0f)
+ return BH_ERROR;
+
+ BH_Vec2fScale(directionA, time1, tmp);
+ BH_Vec2fAdd(startA, tmp, out);
+ *t = time1;
+ return BH_OK;
+}
+
+
+int BH_Segment2fIntersectLine(const float *start,
+ const float *end,
+ const float *line,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float denom, time;
+
+ /* Calculate intersection time */
+ BH_Vec2fSub(end, start, tmp);
+ denom = BH_Vec2fDot(tmp, line);
+ time = (line[2] - BH_Vec2fDot(line, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (denom == 0.0f || time < 0.0f || time > 1.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec2fScale(tmp, time, tmp);
+ BH_Vec2fAdd(start, tmp, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment2fIntersectSegment(const float *startA,
+ const float *endA,
+ const float *startB,
+ const float *endB,
+ float *t,
+ float *out)
+{
+ float tmp1[2], tmp2[2];
+ float time1, time2;
+
+ BH_Vec2fSub(endA, startA, tmp1);
+ BH_Vec2fSub(endB, startB, tmp2);
+ if (BH_Ray2fIntersectTime(startA, tmp1, startB, tmp2, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time1 > 1.0f || time2 < 0.0f || time2 > 1.0f)
+ return BH_ERROR;
+
+ BH_Vec2fLerp(startA, endA, time1, out);
+ *t = time1;
+
+ return BH_OK;
+}
diff --git a/test/reference/matrix3f.wxmx b/test/reference/matrix3f.wxmx
index 592ce61..cbc4cc5 100644
--- a/test/reference/matrix3f.wxmx
+++ b/test/reference/matrix3f.wxmx
Binary files differ
diff --git a/test/reference/matrix4f.wxmx b/test/reference/matrix4f.wxmx
index 0195e40..3344823 100644
--- a/test/reference/matrix4f.wxmx
+++ b/test/reference/matrix4f.wxmx
Binary files differ
diff --git a/test/reference/plane.wxmx b/test/reference/plane.wxmx
new file mode 100644
index 0000000..8f63ee1
--- /dev/null
+++ b/test/reference/plane.wxmx
Binary files differ
diff --git a/test/reference/point2f.wxmx b/test/reference/point2f.wxmx
index 76cb024..1188b9d 100644
--- a/test/reference/point2f.wxmx
+++ b/test/reference/point2f.wxmx
Binary files differ
diff --git a/test/reference/point3f.wxmx b/test/reference/point3f.wxmx
index a8c30c8..d02b2d7 100644
--- a/test/reference/point3f.wxmx
+++ b/test/reference/point3f.wxmx
Binary files differ
diff --git a/test/reference/point4f.wxmx b/test/reference/point4f.wxmx
index 10af820..d062ad6 100644
--- a/test/reference/point4f.wxmx
+++ b/test/reference/point4f.wxmx
Binary files differ
diff --git a/test/src/TestLine.c b/test/src/TestLine.c
new file mode 100644
index 0000000..ce9ced7
--- /dev/null
+++ b/test/src/TestLine.c
@@ -0,0 +1,84 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(FromPoints)
+{
+ float a[2], b[2], r[3];
+
+ a[0] = -8.0f; a[1] = 1.0f;
+ b[0] = -2.0f; b[1] = 3.0f;
+
+ BH_VERIFY(BH_LineFromPoints(a, b, r) == BH_OK);
+ BH_VERIFY_DELTA(r[0],-0.3162f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.9487f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.4785f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Degenerate)
+{
+ float a[2], b[2], r[3];
+
+ a[0] = -8.0f; a[1] = 1.0f;
+ b[0] = -8.0f; b[1] = 1.0f;
+
+ BH_VERIFY(BH_LineFromPoints(a, b, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Distance)
+{
+ float a[2], b[2], r[3];
+
+ a[0] = -8.0f; a[1] = 1.0f;
+ b[0] = -2.0f; b[1] = 3.0f;
+
+ BH_VERIFY(BH_LineFromPoints(a, b, r) == BH_OK);
+ BH_VERIFY_DELTA(BH_LineDistance(r, a), 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_LineDistance(r, b), 0.0000f, ACCEPTABLE_DELTA);
+
+ a[0] = -7.0f; a[1] = 4.0f;
+ BH_VERIFY_DELTA(BH_LineDistance(r, a), 2.5298f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(ClosestPoint)
+{
+ float a[2], b[2], r[3];
+
+ a[0] = -8.0f; a[1] = 1.0f;
+ b[0] = -2.0f; b[1] = 3.0f;
+
+ BH_VERIFY(BH_LineFromPoints(a, b, r) == BH_OK);
+
+ a[0] = -7.0f; a[1] = 4.0f;
+ BH_LineClosestPoint(r, a, b);
+ BH_VERIFY_DELTA(b[0],-6.2000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[1], 1.6000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(FromPoints);
+ BH_UNIT_ADD(Degenerate);
+ BH_UNIT_ADD(Distance);
+ BH_UNIT_ADD(ClosestPoint);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestMat3f.c b/test/src/TestMat3f.c
new file mode 100644
index 0000000..7d71502
--- /dev/null
+++ b/test/src/TestMat3f.c
@@ -0,0 +1,316 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Identity)
+{
+ float r[9];
+
+ BH_Mat3fIdentity(r);
+ BH_VERIFY(r[0] == 1.0f);
+ BH_VERIFY(r[1] == 0.0f);
+ BH_VERIFY(r[2] == 0.0f);
+
+ BH_VERIFY(r[3] == 0.0f);
+ BH_VERIFY(r[4] == 1.0f);
+ BH_VERIFY(r[5] == 0.0f);
+
+ BH_VERIFY(r[6] == 0.0f);
+ BH_VERIFY(r[7] == 0.0f);
+ BH_VERIFY(r[8] == 1.0f);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Add)
+{
+ float a[9], b[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
+ b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
+ b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
+
+ BH_Mat3fAdd(a, b, r);
+ BH_VERIFY_DELTA(r[0], 7.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 5.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 8.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ float a[9], b[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
+ b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
+ b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
+
+ BH_Mat3fSub(a, b, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ float a[9], b[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
+ b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
+ b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
+
+ BH_Mat3fMul(a, b, r);
+ BH_VERIFY_DELTA(r[0], 21.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 27.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 12.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 18.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 18.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ float a[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ BH_Mat3fScale(a, 10, r);
+ BH_VERIFY_DELTA(r[0], 50.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 30.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 30.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 20.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 40.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Transpose)
+{
+ float a[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ BH_Mat3fTranspose(a, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Trace)
+{
+ float a[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ BH_VERIFY_DELTA(BH_Mat3fTrace(a), 9.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Det)
+{
+ float a[9], b[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
+ b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
+ b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
+
+ BH_VERIFY_DELTA(BH_Mat3fDet(a), 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_Mat3fDet(b), 0.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Inverse)
+{
+ float a[9], b[9], r[9];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
+ b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
+ b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
+
+ BH_VERIFY(BH_Mat3fInverse(a, r) == BH_OK);
+ BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 1.5000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 0.3333f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], -2.3333f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], -0.5000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY(BH_Mat3fInverse(b, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Translation)
+{
+ float r[9];
+
+ BH_Mat3fFromTranslation(1.0f, 2.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scaling)
+{
+ float r[9];
+
+ BH_Mat3fFromScale(1.0f, 2.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[4], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Apply)
+{
+ float a[9];
+ float b[3];
+
+ a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
+ a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
+ a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
+
+ b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f;
+
+ BH_Mat3fApplyVec3f(a, b, b);
+ BH_VERIFY_DELTA(b[0], 17.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[2], 15.0000f, ACCEPTABLE_DELTA);
+
+ b[0] = 2.0f; b[1] = -1.0f;
+ BH_Mat3fApplyVec2f(a, b, b);
+ BH_VERIFY_DELTA(b[0], 11.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[1], 6.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Identity);
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(Transpose);
+ BH_UNIT_ADD(Trace);
+ BH_UNIT_ADD(Det);
+ BH_UNIT_ADD(Inverse);
+ BH_UNIT_ADD(Translation);
+ BH_UNIT_ADD(Scaling);
+ BH_UNIT_ADD(Apply);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestMat4f.c b/test/src/TestMat4f.c
new file mode 100644
index 0000000..d4ada01
--- /dev/null
+++ b/test/src/TestMat4f.c
@@ -0,0 +1,404 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Identity)
+{
+ float r[16];
+
+ BH_Mat4fIdentity(r);
+ BH_VERIFY(r[0] == 1.0f);
+ BH_VERIFY(r[1] == 0.0f);
+ BH_VERIFY(r[2] == 0.0f);
+ BH_VERIFY(r[3] == 0.0f);
+
+ BH_VERIFY(r[4] == 0.0f);
+ BH_VERIFY(r[5] == 1.0f);
+ BH_VERIFY(r[6] == 0.0f);
+ BH_VERIFY(r[7] == 0.0f);
+
+ BH_VERIFY(r[8] == 0.0f);
+ BH_VERIFY(r[9] == 0.0f);
+ BH_VERIFY(r[10] == 1.0f);
+ BH_VERIFY(r[11] == 0.0f);
+
+ BH_VERIFY(r[12] == 0.0f);
+ BH_VERIFY(r[13] == 0.0f);
+ BH_VERIFY(r[14] == 0.0f);
+ BH_VERIFY(r[15] == 1.0f);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Add)
+{
+ float a[16], b[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
+ b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
+ b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
+ b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
+
+ BH_Mat4fAdd(a, b, r);
+ BH_VERIFY_DELTA(r[0], 10.0f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 8.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 14.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ float a[16], b[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
+ b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
+ b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
+ b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
+
+ BH_Mat4fSub(a, b, r);
+ BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], -2.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], -1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ float a[16], b[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
+ b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
+ b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
+ b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
+
+ BH_Mat4fMul(a, b, r);
+ BH_VERIFY_DELTA(r[0], 78.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 27.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 60.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 28.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 24.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 7.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 22.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 8.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 18.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 18.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 4.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 75.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 29.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 53.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 26.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ float a[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ BH_Mat4fScale(a, 10, r);
+ BH_VERIFY_DELTA(r[0], 50.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 30.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 20.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 30.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 20.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 40.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 70.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 20.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 50.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 30.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Transpose)
+{
+ float a[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ BH_Mat4fTranspose(a, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 5.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 3.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Trace)
+{
+ float a[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ BH_VERIFY_DELTA(BH_Mat4fTrace(a), 12.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Det)
+{
+ float a[16], b[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
+ b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
+ b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
+ b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
+
+ BH_VERIFY_DELTA(BH_Mat4fDet(a), 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_Mat4fDet(b), 0.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Inverse)
+{
+ float a[16], b[16], r[16];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
+ b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
+ b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
+ b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
+
+ BH_VERIFY(BH_Mat4fInverse(a, r) == BH_OK);
+ BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 1.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 0.6000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 1.8000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], -0.4000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], -0.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], -0.4000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 1.8000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], -2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 0.6000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY(BH_Mat4fInverse(b, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Translation)
+{
+ float r[16];
+
+ BH_Mat4fFromTranslation(1.0f, 2.0f, 3.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scaling)
+{
+ float r[16];
+
+ BH_Mat4fFromScale(1.0f, 2.0f, 3.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[5], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[10], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(r[12], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[15], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Apply)
+{
+ float a[16];
+ float b[4];
+
+ a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
+ a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
+ a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
+ a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
+
+ b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f; b[3] = 0.0f;
+
+ BH_Mat4fApplyVec4f(a, b, b);
+ BH_VERIFY_DELTA(b[0], 17.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[2], 15.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[3], 4.0000f, ACCEPTABLE_DELTA);
+
+ b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f;
+ BH_Mat4fApplyVec3f(a, b, b);
+ BH_VERIFY_DELTA(b[0], 24.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[1], 8.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(b[2], 20.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Identity);
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(Transpose);
+ BH_UNIT_ADD(Trace);
+ BH_UNIT_ADD(Det);
+ BH_UNIT_ADD(Inverse);
+ BH_UNIT_ADD(Translation);
+ BH_UNIT_ADD(Scaling);
+ BH_UNIT_ADD(Apply);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestMath.c b/test/src/TestMath.c
index 90549fb..9896e6a 100644
--- a/test/src/TestMath.c
+++ b/test/src/TestMath.c
@@ -5,830 +5,10 @@
#define ACCEPTABLE_DELTA 0.0001f
-static int checkVec4f(void)
-{
- float a[4], b[4], c[4], r[4];
- float value;
-
- a[0] = 1.0f; a[1] = 2.0f; a[2] = 3.0f; a[3] = 4.0f;
- b[0] = 5.0f; b[1] = 6.0f; b[2] = 7.0f; b[3] = 8.0f;
- c[0] = 1.5f; c[1] = 2.5f; c[2] = 3.5f; c[3] = 4.5f;
-
- BH_Vec4fAdd(a, b, r);
- BH_VERIFY_DELTA(r[0], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 8.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 12.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fSub(a, b, r);
- BH_VERIFY_DELTA(r[0], -4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fMul(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 12.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 21.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 32.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fScale(a, 10.0f, r);
- BH_VERIFY_DELTA(r[0], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 20.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 30.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 40.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fMulAdd(a, b, c, r);
- BH_VERIFY_DELTA(r[0], 6.5000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 14.5000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 24.5000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 36.5000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fNegate(a, r);
- BH_VERIFY_DELTA(r[0], -1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Vec4fDot(a, b);
- BH_VERIFY_DELTA(value, 70.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Vec4fLength(a);
- BH_VERIFY_DELTA(value, sqrt(30.0f), ACCEPTABLE_DELTA);
-
- BH_Vec4fNormal(a, r);
- BH_VERIFY_DELTA(r[0], 1.0f / sqrt(30.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f / sqrt(30.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0f / sqrt(30.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 4.0f / sqrt(30.0f), ACCEPTABLE_DELTA);
-
- BH_Vec4fMin(a, b, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fMax(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fLerp(a, b, 0.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fLerp(a, b, 0.5f, r);
- BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 6.0000f, ACCEPTABLE_DELTA);
-
- BH_Vec4fLerp(a, b, 1.0f, r);
- BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-static int checkVec3f(void)
-{
- float a[3], b[3], c[3], r[3];
- float value;
-
- a[0] = 1.0f; a[1] = 2.0f; a[2] = 3.0f;
- b[0] = 5.0f; b[1] = 6.0f; b[2] = 7.0f;
- c[0] = 1.5f; c[1] = 2.5f; c[2] = 3.5f;
-
- BH_Vec3fAdd(a, b, r);
- BH_VERIFY_DELTA(r[0], 6.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 8.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 10.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fSub(a, b, r);
- BH_VERIFY_DELTA(r[0], -4.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -4.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -4.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fMul(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 12.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 21.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fScale(a, 10.0f, r);
- BH_VERIFY_DELTA(r[0], 10.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 20.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 30.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fMulAdd(a, b, c, r);
- BH_VERIFY_DELTA(r[0], 6.5f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 14.5f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 24.5f, ACCEPTABLE_DELTA);
-
- BH_Vec3fNegate(a, r);
- BH_VERIFY_DELTA(r[0], -1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -2.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -3.0f, ACCEPTABLE_DELTA);
-
- value = BH_Vec3fDot(a, b);
- BH_VERIFY_DELTA(value, 38.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fCross(a, b, r);
- BH_VERIFY_DELTA(r[0], -4.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 8.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -4.0f, ACCEPTABLE_DELTA);
-
- value = BH_Vec3fLength(a);
- BH_VERIFY_DELTA(value, sqrt(14.0f), ACCEPTABLE_DELTA);
-
- BH_Vec3fNormal(a, r);
- BH_VERIFY_DELTA(r[0], 1.0f / sqrt(14.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f / sqrt(14.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0f / sqrt(14.0f), ACCEPTABLE_DELTA);
-
- BH_Vec3fMin(a, b, r);
- BH_VERIFY_DELTA(r[0], 1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fMax(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 7.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fLerp(a, b, 0.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 3.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fLerp(a, b, 0.5f, r);
- BH_VERIFY_DELTA(r[0], 3.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 4.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 5.0f, ACCEPTABLE_DELTA);
-
- BH_Vec3fLerp(a, b, 1.0f, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 7.0f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-static int checkVec2f(void)
-{
- float a[2], b[2], c[2], r[2];
- float value;
-
- a[0] = 1.0f; a[1] = 2.0f;
- b[0] = 5.0f; b[1] = 6.0f;
- c[0] = 1.5f; c[1] = 2.5f;
-
- BH_Vec2fAdd(a, b, r);
- BH_VERIFY_DELTA(r[0], 6.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 8.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fSub(a, b, r);
- BH_VERIFY_DELTA(r[0], -4.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -4.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fMul(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 12.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fScale(a, 10.0f, r);
- BH_VERIFY_DELTA(r[0], 10.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 20.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fMulAdd(a, b, c, r);
- BH_VERIFY_DELTA(r[0], 6.5f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 14.5f, ACCEPTABLE_DELTA);
-
- BH_Vec2fNegate(a, r);
- BH_VERIFY_DELTA(r[0], -1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -2.0f, ACCEPTABLE_DELTA);
-
- value = BH_Vec2fDot(a, b);
- BH_VERIFY_DELTA(value, 17.0f, ACCEPTABLE_DELTA);
-
- value = BH_Vec2fCross(a, b);
- BH_VERIFY_DELTA(value, -4.0f, ACCEPTABLE_DELTA);
-
- value = BH_Vec2fLength(a);
- BH_VERIFY_DELTA(value, sqrt(5.0f), ACCEPTABLE_DELTA);
-
- BH_Vec2fNormal(a, r);
- BH_VERIFY_DELTA(r[0], 1.0f / sqrt(5.0f), ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f / sqrt(5.0f), ACCEPTABLE_DELTA);
-
- BH_Vec2fMin(a, b, r);
- BH_VERIFY_DELTA(r[0], 1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fMax(a, b, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fLerp(a, b, 0.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 2.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fLerp(a, b, 0.5f, r);
- BH_VERIFY_DELTA(r[0], 3.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 4.0f, ACCEPTABLE_DELTA);
-
- BH_Vec2fLerp(a, b, 1.0f, r);
- BH_VERIFY_DELTA(r[0], 5.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-static int checkVec4i(void)
-{
- int a[4], b[4], c[4], r[4];
-
- a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
- b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
- c[0] = 4; c[1] = 3; c[2] = 2; c[3] = 1;
-
- BH_Vec4iAdd(a, b, r);
- BH_VERIFY(r[0] == 6);
- BH_VERIFY(r[1] == 8);
- BH_VERIFY(r[2] == 10);
- BH_VERIFY(r[3] == 12);
-
- BH_Vec4iSub(a, b, r);
- BH_VERIFY(r[0] == -4);
- BH_VERIFY(r[1] == -4);
- BH_VERIFY(r[2] == -4);
- BH_VERIFY(r[3] == -4);
-
- BH_Vec4iMul(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 12);
- BH_VERIFY(r[2] == 21);
- BH_VERIFY(r[3] == 32);
-
- BH_Vec4iScale(a, 10, r);
- BH_VERIFY(r[0] == 10);
- BH_VERIFY(r[1] == 20);
- BH_VERIFY(r[2] == 30);
- BH_VERIFY(r[3] == 40);
-
- BH_Vec4iMulAdd(a, b, c, r);
- BH_VERIFY(r[0] == 9);
- BH_VERIFY(r[1] == 15);
- BH_VERIFY(r[2] == 23);
- BH_VERIFY(r[3] == 33);
-
- BH_Vec4iNegate(a, r);
- BH_VERIFY(r[0] == -1);
- BH_VERIFY(r[1] == -2);
- BH_VERIFY(r[2] == -3);
- BH_VERIFY(r[3] == -4);
-
- BH_Vec4iMin(a, b, r);
- BH_VERIFY(r[0] == 1);
- BH_VERIFY(r[1] == 2);
- BH_VERIFY(r[2] == 3);
- BH_VERIFY(r[3] == 4);
-
- BH_Vec4iMax(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 6);
- BH_VERIFY(r[2] == 7);
- BH_VERIFY(r[3] == 8);
-
- return 0;
-}
-
-
-static int checkVec3i(void)
-{
- int a[3], b[3], c[3], r[3];
-
- a[0] = 1; a[1] = 2; a[2] = 3;
- b[0] = 5; b[1] = 6; b[2] = 7;
- c[0] = 4; c[1] = 3; c[2] = 2;
-
- BH_Vec3iAdd(a, b, r);
- BH_VERIFY(r[0] == 6);
- BH_VERIFY(r[1] == 8);
- BH_VERIFY(r[2] == 10);
-
- BH_Vec3iSub(a, b, r);
- BH_VERIFY(r[0] == -4);
- BH_VERIFY(r[1] == -4);
- BH_VERIFY(r[2] == -4);
-
- BH_Vec3iMul(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 12);
- BH_VERIFY(r[2] == 21);
-
- BH_Vec3iScale(a, 10, r);
- BH_VERIFY(r[0] == 10);
- BH_VERIFY(r[1] == 20);
- BH_VERIFY(r[2] == 30);
-
- BH_Vec3iMulAdd(a, b, c, r);
- BH_VERIFY(r[0] == 9);
- BH_VERIFY(r[1] == 15);
- BH_VERIFY(r[2] == 23);
-
- BH_Vec3iNegate(a, r);
- BH_VERIFY(r[0] == -1);
- BH_VERIFY(r[1] == -2);
- BH_VERIFY(r[2] == -3);
-
- BH_Vec3iMin(a, b, r);
- BH_VERIFY(r[0] == 1);
- BH_VERIFY(r[1] == 2);
- BH_VERIFY(r[2] == 3);
-
- BH_Vec3iMax(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 6);
- BH_VERIFY(r[2] == 7);
-
- return 0;
-}
-
-
-static int checkVec2i(void)
-{
- int a[2], b[2], c[2], r[2];
-
- a[0] = 1; a[1] = 2;
- b[0] = 5; b[1] = 6;
- c[0] = 4; c[1] = 3;
-
- BH_Vec2iAdd(a, b, r);
- BH_VERIFY(r[0] == 6);
- BH_VERIFY(r[1] == 8);
-
- BH_Vec2iSub(a, b, r);
- BH_VERIFY(r[0] == -4);
- BH_VERIFY(r[1] == -4);
-
- BH_Vec2iMul(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 12);
-
- BH_Vec2iScale(a, 10, r);
- BH_VERIFY(r[0] == 10);
- BH_VERIFY(r[1] == 20);
-
- BH_Vec2iMulAdd(a, b, c, r);
- BH_VERIFY(r[0] == 9);
- BH_VERIFY(r[1] == 15);
-
- BH_Vec2iNegate(a, r);
- BH_VERIFY(r[0] == -1);
- BH_VERIFY(r[1] == -2);
-
- BH_Vec2iMin(a, b, r);
- BH_VERIFY(r[0] == 1);
- BH_VERIFY(r[1] == 2);
-
- BH_Vec2iMax(a, b, r);
- BH_VERIFY(r[0] == 5);
- BH_VERIFY(r[1] == 6);
-
- return 0;
-}
-
-
-static int checkQuat(void)
-{
- float a[4], b[3], r[4];
- float roll, pitch, yaw, angle;
-
- a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
- b[0] = -0.9104f; b[1] = -0.0010f; b[2] = -0.4138f;
-
- BH_Quat4fIdentity(r);
- BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
-
- BH_Quat4fConjugate(a, r);
- BH_VERIFY_DELTA(r[0], 0.9018f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0010f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.4099f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
-
- BH_Quat4fToEuler(a, &roll, &pitch, &yaw);
- BH_VERIFY_DELTA(roll, -2.7671f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(pitch, -0.8324f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(yaw, -0.1649f, ACCEPTABLE_DELTA);
-
- BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, r);
- BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
-
- BH_Quat4fFromAxis(b, 2.8668f, r);
- BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
-
- BH_Quat4fToAxis(a, r, &angle);
- BH_VERIFY_DELTA(r[0], -0.9104f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -0.4138f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(angle, 2.8668f, ACCEPTABLE_DELTA);
-
-
- BH_Quat4fInverse(a, r);
- BH_Quat4fMul(a, r, r);
- BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-static int checkMat4f(void)
-{
- float a[16], b[16], r[16];
- float value;
-
- a[0] = 5.0f; a[4] = 1.0f; a[8] = 2.0f; a[12] = 7.0f;
- a[1] = 3.0f; a[5] = 0.0f; a[9] = 0.0f; a[13] = 2.0f;
- a[2] = 1.0f; a[6] = 3.0f; a[10] = 4.0f; a[14] = 5.0f;
- a[3] = 2.0f; a[7] = 0.0f; a[11] = 0.0f; a[15] = 3.0f;
-
- b[0] = 5.0f; b[4] = 1.0f; b[8] = 2.0f; b[12] = 7.0f;
- b[1] = 3.0f; b[5] = 1.0f; b[9] = 0.0f; b[13] = 2.0f;
- b[2] = 4.0f; b[6] = 2.0f; b[10] = 4.0f; b[14] = 5.0f;
- b[3] = 6.0f; b[7] = 2.0f; b[11] = 0.0f; b[15] = 4.0f;
-
- BH_Mat4fIdentity(r);
- BH_VERIFY(r[0] == 1.0f);
- BH_VERIFY(r[1] == 0.0f);
- BH_VERIFY(r[2] == 0.0f);
- BH_VERIFY(r[3] == 0.0f);
-
- BH_VERIFY(r[4] == 0.0f);
- BH_VERIFY(r[5] == 1.0f);
- BH_VERIFY(r[6] == 0.0f);
- BH_VERIFY(r[7] == 0.0f);
-
- BH_VERIFY(r[8] == 0.0f);
- BH_VERIFY(r[9] == 0.0f);
- BH_VERIFY(r[10] == 1.0f);
- BH_VERIFY(r[11] == 0.0f);
-
- BH_VERIFY(r[12] == 0.0f);
- BH_VERIFY(r[13] == 0.0f);
- BH_VERIFY(r[14] == 0.0f);
- BH_VERIFY(r[15] == 1.0f);
-
- BH_Mat4fAdd(a, b, r);
- BH_VERIFY_DELTA(r[0], 10.0f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 8.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 14.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 7.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat4fSub(a, b, r);
- BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], -1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], -2.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], -1.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat4fMul(a, b, r);
- BH_VERIFY_DELTA(r[0], 78.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 27.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 60.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 28.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 24.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 7.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 22.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 8.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 18.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 18.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 4.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 75.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 29.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 53.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 26.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat4fScale(a, 10, r);
- BH_VERIFY_DELTA(r[0], 50.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 30.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 20.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 30.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 20.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 40.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 70.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 20.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 50.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 30.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat4fTranspose(a, r);
- BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 7.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 5.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 3.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat4fTrace(a);
- BH_VERIFY_DELTA(value, 12.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat4fDet(a);
- BH_VERIFY_DELTA(value, 10.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat4fDet(b);
- BH_VERIFY_DELTA(value, 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY(BH_Mat4fInverse(a, r) == BH_OK);
- BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 1.5000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 0.6000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 1.8000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], -1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], -0.4000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], -0.5000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], -0.4000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 1.8000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], -2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 0.6000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY(BH_Mat4fInverse(b, r) != BH_OK);
-
- BH_Mat4fFromTranslation(1.0f, 2.0f, 3.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 1.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat4fFromScale(1.0f, 2.0f, 3.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[9], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[10], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[11], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[12], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[13], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[14], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[15], 1.0000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-static int checkMat3f(void)
-{
- float a[9], b[9], r[9];
- float value;
-
- a[0] = 5.0f; a[3] = 1.0f; a[6] = 2.0f;
- a[1] = 3.0f; a[4] = 0.0f; a[7] = 0.0f;
- a[2] = 1.0f; a[5] = 3.0f; a[8] = 4.0f;
-
- b[0] = 2.0f; b[3] = 1.0f; b[6] = 2.0f;
- b[1] = 3.0f; b[4] = 1.0f; b[7] = 0.0f;
- b[2] = 4.0f; b[5] = 2.0f; b[8] = 4.0f;
-
- BH_Mat3fIdentity(r);
- BH_VERIFY(r[0] == 1.0f);
- BH_VERIFY(r[1] == 0.0f);
- BH_VERIFY(r[2] == 0.0f);
-
- BH_VERIFY(r[3] == 0.0f);
- BH_VERIFY(r[4] == 1.0f);
- BH_VERIFY(r[5] == 0.0f);
-
- BH_VERIFY(r[6] == 0.0f);
- BH_VERIFY(r[7] == 0.0f);
- BH_VERIFY(r[8] == 1.0f);
-
- BH_Mat3fAdd(a, b, r);
- BH_VERIFY_DELTA(r[0], 7.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 5.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 4.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 8.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat3fSub(a, b, r);
- BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], -1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 1.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat3fMul(a, b, r);
- BH_VERIFY_DELTA(r[0], 21.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 27.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 12.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 18.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 18.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat3fScale(a, 10, r);
- BH_VERIFY_DELTA(r[0], 50.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 30.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 10.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 30.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 20.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 40.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat3fTranspose(a, r);
- BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 2.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 4.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat3fTrace(a);
- BH_VERIFY_DELTA(value, 9.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat3fDet(a);
- BH_VERIFY_DELTA(value, 6.0000f, ACCEPTABLE_DELTA);
-
- value = BH_Mat3fDet(b);
- BH_VERIFY_DELTA(value, 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY(BH_Mat3fInverse(a, r) == BH_OK);
- BH_VERIFY_DELTA(r[0], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 1.5000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 0.3333f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 3.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], -2.3333f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], -0.5000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY(BH_Mat3fInverse(b, r) != BH_OK);
-
- BH_Mat3fFromTranslation(1.0f, 2.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
-
- BH_Mat3fFromScale(1.0f, 2.0f, r);
- BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[1], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[2], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[3], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[4], 2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[5], 0.0000f, ACCEPTABLE_DELTA);
-
- BH_VERIFY_DELTA(r[6], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[7], 0.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(r[8], 1.0000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-int checkQuatMat4f(void)
+BH_UNIT_TEST(QuatMat4fParity)
{
float a[16], b[16], c[4];
-
+
BH_Mat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, a);
BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, c);
@@ -859,75 +39,12 @@ int checkQuatMat4f(void)
}
-int checkVecMat4f(void)
-{
- float a[16] =
- {
- 5.0f, 3.0f, 1.0f, 2.0f,
- 1.0f, 0.0f, 3.0f, 0.0f,
- 2.0f, 0.0f, 4.0f, 0.0f,
- 7.0f, 2.0f, 5.0f, 3.0f
- };
- float b[4];
-
- b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f; b[3] = 0.0f;
- BH_Mat4fApplyVec4f(a, b, b);
- BH_VERIFY_DELTA(b[0], 17.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[1], 6.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[2], 15.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[3], 4.0000f, ACCEPTABLE_DELTA);
-
- b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f;
- BH_Mat4fApplyVec3f(a, b, b);
- BH_VERIFY_DELTA(b[0], 24.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[1], 8.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[2], 20.0000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
-
-int checkVecMat3f(void)
-{
- float a[9] =
- {
- 0.0f, 1.0f, -3.0f,
- -3.0f, -4.0f, 4.0f,
- -2.0f, -2.0f, 1.0f,
- };
- float b[3];
-
- b[0] = 2.0f; b[1] = -1.0f; b[2] = 4.0f;
- BH_Mat3fApplyVec3f(a, b, b);
- BH_VERIFY_DELTA(b[0], -5.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[1], -2.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[2], -6.0000f, ACCEPTABLE_DELTA);
-
- b[0] = 2.0f; b[1] = -1.0f;
- BH_Mat3fApplyVec2f(a, b, b);
- BH_VERIFY_DELTA(b[0], 1.0000f, ACCEPTABLE_DELTA);
- BH_VERIFY_DELTA(b[1], 4.0000f, ACCEPTABLE_DELTA);
-
- return 0;
-}
-
int main(int argc, char **argv)
{
(void)argc;
(void)argv;
- BH_UnitAdd("Vec4f", checkVec4f);
- BH_UnitAdd("Vec3f", checkVec3f);
- BH_UnitAdd("Vec2f", checkVec2f);
- BH_UnitAdd("Vec4i", checkVec4i);
- BH_UnitAdd("Vec3i", checkVec3i);
- BH_UnitAdd("Vec2i", checkVec2i);
- BH_UnitAdd("Quat", checkQuat);
- BH_UnitAdd("Mat4f", checkMat4f);
- BH_UnitAdd("Mat3f", checkMat3f);
- BH_UnitAdd("QuatMat4f", checkQuatMat4f);
- BH_UnitAdd("VecMat4f", checkVecMat4f);
- BH_UnitAdd("VecMat3f", checkVecMat3f);
+ BH_UNIT_ADD(QuatMat4fParity);
return BH_UnitRun();
}
diff --git a/test/src/TestPlane.c b/test/src/TestPlane.c
new file mode 100644
index 0000000..f405a69
--- /dev/null
+++ b/test/src/TestPlane.c
@@ -0,0 +1,96 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(FromPoints)
+{
+ float a[3], b[3], c[3], r[4];
+
+ a[0] = 1; a[1] = -2; a[2] = 1;
+ b[0] = 4; b[1] = -2; b[2] = -2;
+ c[0] = 4; c[1] = 1; c[2] = 4;
+
+ BH_VERIFY(BH_PlaneFromPoints(a, b, c, r) == BH_OK);
+
+ BH_VERIFY_DELTA(r[0],-0.4082f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.8165f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2],-0.4082f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3],-2.4495f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Degenerate)
+{
+ float a[3], b[3], c[3], r[4];
+
+ a[0] = 1; a[1] = -2; a[2] = 1;
+ b[0] = 1; b[1] = -2; b[2] = 1;
+ c[0] = 4; c[1] = 1; c[2] = 4;
+
+ BH_VERIFY(BH_PlaneFromPoints(a, b, c, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Distance)
+{
+ float a[3], b[3], c[3], r[4];
+
+ a[0] = 1; a[1] = -2; a[2] = 1;
+ b[0] = 4; b[1] = -2; b[2] = -2;
+ c[0] = 4; c[1] = 1; c[2] = 4;
+
+ BH_VERIFY(BH_PlaneFromPoints(a, b, c, r) == BH_OK);
+
+ BH_VERIFY_DELTA(BH_PlaneDistance(r, a), 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_PlaneDistance(r, b), 0.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_PlaneDistance(r, c), 0.0000f, ACCEPTABLE_DELTA);
+
+ a[0] = 3; a[1] = 4; a[2] = 5;
+ b[0] = 2; b[1] = -1; b[2] = 6;
+ BH_VERIFY_DELTA(BH_PlaneDistance(r, a), 2.4495f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(BH_PlaneDistance(r, b), -1.6330f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(ClosestPoint)
+{
+ float a[3], b[3], c[3], r[4];
+
+ a[0] = 1; a[1] = -2; a[2] = 1;
+ b[0] = 4; b[1] = -2; b[2] = -2;
+ c[0] = 4; c[1] = 1; c[2] = 4;
+
+ BH_VERIFY(BH_PlaneFromPoints(a, b, c, r) == BH_OK);
+
+ b[0] = 3; b[1] = 4; b[2] = 5;
+
+ BH_PlaneClosestPoint(r, b, c);
+ BH_VERIFY_DELTA(c[0], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(c[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(c[2], 6.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(FromPoints);
+ BH_UNIT_ADD(Degenerate);
+ BH_UNIT_ADD(Distance);
+ BH_UNIT_ADD(ClosestPoint);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestQuat.c b/test/src/TestQuat.c
new file mode 100644
index 0000000..55e86d5
--- /dev/null
+++ b/test/src/TestQuat.c
@@ -0,0 +1,131 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Identity)
+{
+ float r[4];
+
+ BH_Quat4fIdentity(r);
+ BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Conjugate)
+{
+ float a[4], r[4];
+
+ a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+ BH_Quat4fConjugate(a, r);
+ BH_VERIFY_DELTA(r[0], 0.9018f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.0010f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.4099f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(ToEuler)
+{
+ float a[4];
+ float roll, pitch, yaw;
+
+ a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+ BH_Quat4fToEuler(a, &roll, &pitch, &yaw);
+ BH_VERIFY_DELTA(roll, -2.7671f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(pitch, -0.8324f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(yaw, -0.1649f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(FromEuler)
+{
+ float r[4];
+
+ BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, r);
+ BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(ToAxis)
+{
+ float a[4], r[3];
+ float angle;
+
+ a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+ BH_Quat4fToAxis(a, r, &angle);
+ BH_VERIFY_DELTA(r[0], -0.9104f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -0.4138f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(angle, 2.8668f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(FromAxis)
+{
+ float a[3], r[4];
+ a[0] = -0.9104f; a[1] = -0.0010f; a[2] = -0.4138f;
+
+ BH_Quat4fFromAxis(a, 2.8668f, r);
+ BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(InverseMultiply)
+{
+ float a[4], r[4];
+
+ a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+ BH_Quat4fInverse(a, r);
+ BH_Quat4fMul(a, r, r);
+ BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Identity);
+ BH_UNIT_ADD(Conjugate);
+ BH_UNIT_ADD(ToEuler);
+ BH_UNIT_ADD(FromEuler);
+ BH_UNIT_ADD(ToAxis);
+ BH_UNIT_ADD(FromAxis);
+ BH_UNIT_ADD(InverseMultiply);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestRay2f.c b/test/src/TestRay2f.c
new file mode 100644
index 0000000..811cd96
--- /dev/null
+++ b/test/src/TestRay2f.c
@@ -0,0 +1,196 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(RayIntersectLine)
+{
+ float a[2], b[2], p[2], d[2], r[3];
+ float time;
+
+ a[0] = 4.0000f; a[1] = 9.0000f;
+ b[0] = 2.0000f; b[1] = 5.0000f;
+
+ p[0] = -5.0000f; p[1] = 3.0000f;
+ d[0] = 0.8944f; d[1] = 0.4472f;
+
+ BH_VERIFY(BH_LineFromPoints(a, b, r) == BH_OK);
+ BH_VERIFY(BH_Ray2fIntersectLine(p, d, r, &time, r) == BH_OK);
+
+ BH_VERIFY_DELTA(time, 8.9443f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fScale(d, time, r);
+ BH_Vec2fAdd(p, r, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ d[0] = -2.0000f; d[1] = -4.0000f;
+ BH_VERIFY(BH_LineFromPoints(a, b, r) == BH_OK);
+ BH_VERIFY(BH_Ray2fIntersectLine(p, d, r, &time, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(RayIntersectRay)
+{
+ float p1[2], d1[2], p2[2], d2[2], r[2];
+ float time;
+
+ p1[0] = -5.0000f; p1[1] = 3.0000f;
+ d1[0] = 0.8944f; d1[1] = 0.4472f;
+
+ p2[0] = 4.0000f; p2[1] = 9.0000f;
+ d2[0] = -0.4472f; d2[1] =-0.8944f;
+
+ BH_VERIFY(BH_Ray2fIntersectRay(p1, d1, p2, d2, &time, r) == BH_OK);
+
+ BH_VERIFY_DELTA(time, 8.9443f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fScale(d1, time, r);
+ BH_Vec2fAdd(p1, r, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_VERIFY(BH_Ray2fIntersectRay(p1, d1, p2, d1, &time, r) != BH_OK);
+
+ d1[0] = 0.0000f; d1[1] = 1.0000f;
+ BH_VERIFY(BH_Ray2fIntersectRay(p1, d1, p2, d2, &time, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(RayIntersectSegment)
+{
+ float p[2], d[2], a[2], b[2], r[2];
+ float time;
+
+ p[0] = -5.0000f; p[1] = 3.0000f;
+ d[0] = 0.8944f; d[1] = 0.4472f;
+
+ a[0] = 4.0000f; a[1] = 9.0000f;
+ b[0] = 2.0000f; b[1] = 5.0000f;
+
+ BH_VERIFY(BH_Ray2fIntersectSegment(p, d, a, b, &time, r) == BH_OK);
+
+ BH_VERIFY_DELTA(time, 8.9443f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fScale(d, time, r);
+ BH_Vec2fAdd(p, r, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ d[0] = -2.0000f; d[1] = -4.0000f;
+ BH_VERIFY(BH_Ray2fIntersectSegment(p, d, a, b, &time, r) != BH_OK);
+
+ d[0] = 1.0000f; d[1] = 0.0000f;
+ BH_VERIFY(BH_Ray2fIntersectSegment(p, d, a, b, &time, r) != BH_OK);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(SegmentIntersectLine)
+{
+ float a1[2], b1[2], a2[2], b2[2], r[3];
+ float time;
+
+ a1[0] = -5.0000f; a1[1] = 3.0000f;
+ b1[0] = 5.0000f; b1[1] = 8.0000f;
+
+ a2[0] = 4.0000f; a2[1] = 9.0000f;
+ b2[0] = 2.0000f; b2[1] = 5.0000f;
+
+ BH_VERIFY(BH_LineFromPoints(a2, b2, r) == BH_OK);
+ BH_VERIFY(BH_Segment2fIntersectLine(a1, b1, r, &time, r) == BH_OK);
+
+ BH_VERIFY_DELTA(time, 0.8000f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fLerp(a1, b1, time, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(SegmentIntersectSegment)
+{
+ float a1[2], b1[2], a2[2], b2[2], r[2];
+ float time;
+
+ a1[0] = -5.0000f; a1[1] = 3.0000f;
+ b1[0] = 5.0000f; b1[1] = 8.0000f;
+
+ a2[0] = 4.0000f; a2[1] = 9.0000f;
+ b2[0] = 2.0000f; b2[1] = 5.0000f;
+
+ BH_VERIFY(BH_Segment2fIntersectSegment(a1, b1, a2, b2, &time, r) == BH_OK);
+
+ BH_VERIFY_DELTA(time, 0.8000f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fLerp(a1, b1, time, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Time)
+{
+ float a1[2], b1[2], a2[2], b2[2], r[2];
+ float time1, time2;
+
+ a1[0] = -5.0000f; a1[1] = 3.0000f;
+ b1[0] = 10.0000f; b1[1] = 5.0000f;
+
+ a2[0] = 4.0000f; a2[1] = 9.0000f;
+ b2[0] = -2.0000f; b2[1] =-4.0000f;
+
+ BH_VERIFY(BH_Ray2fIntersectTime(a1, b1, a2, b2, &time1, &time2) == BH_OK);
+
+ BH_VERIFY_DELTA(time1, 0.8000f, ACCEPTABLE_DELTA * 10);
+ BH_VERIFY_DELTA(time2, 0.5000f, ACCEPTABLE_DELTA * 10);
+
+ BH_Vec2fScale(b1, time1, r);
+ BH_Vec2fAdd(a1, r, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fScale(b2, time2, r);
+ BH_Vec2fAdd(a2, r, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(RayIntersectLine);
+ BH_UNIT_ADD(RayIntersectRay);
+ BH_UNIT_ADD(RayIntersectSegment);
+ BH_UNIT_ADD(SegmentIntersectLine);
+ BH_UNIT_ADD(SegmentIntersectSegment);
+ BH_UNIT_ADD(Time);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestRay3f.c b/test/src/TestRay3f.c
new file mode 100644
index 0000000..6a80270
--- /dev/null
+++ b/test/src/TestRay3f.c
@@ -0,0 +1,99 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(RayIntersectTriangle)
+{
+ float a[3], b[3], c[3], p[3], d[3], out[3], t;
+
+ a[0] =-3.0000f; a[1] = 1.0000f; a[2] = 2.0000f;
+ b[0] =-5.0000f; b[1] =-2.0000f; b[2] = 0.0000f;
+ c[0] =-6.0000f; c[1] = 2.5000f; c[2] =-1.0000f;
+
+ p[0] =-1.5000f; p[1] = 1.0000f; p[2] = 1.0000f;
+ d[0] =-1.0000f; d[1] = 0.0000f; d[2] = 0.0000f;
+
+ BH_VERIFY(BH_Ray3fIntersectTriangle(p, d, a, b, c, &t, out) == BH_OK);
+
+ BH_VERIFY_DELTA(t, 2.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[0],-4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[2], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(SegmentIntersectTriangle)
+{
+ float a[3], b[3], c[3], d[3], f[3], out[3], t;
+
+ a[0] =-3.0000f; a[1] = 1.0000f; a[2] = 2.0000f;
+ b[0] =-5.0000f; b[1] =-2.0000f; b[2] = 0.0000f;
+ c[0] =-6.0000f; c[1] = 2.5000f; c[2] =-1.0000f;
+
+ d[0] =-1.5000f; d[1] = 1.0000f; d[2] = 1.0000f;
+ f[0] =-6.0000f; f[1] = 1.0000f; f[2] = 1.0000f;
+
+ BH_VERIFY(BH_Segment3fIntersectTriangle(d, f, a, b, c, &t, out) == BH_OK);
+ BH_VERIFY_DELTA(out[0],-4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[2], 1.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fLerp(d, f, t, out);
+ BH_VERIFY_DELTA(out[0],-4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[2], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Barycentric)
+{
+ float a[3], b[3], c[3], p[3], d[3], out[3], t;
+
+ a[0] =-3.0000f; a[1] = 1.0000f; a[2] = 2.0000f;
+ b[0] =-5.0000f; b[1] =-2.0000f; b[2] = 0.0000f;
+ c[0] =-6.0000f; c[1] = 2.5000f; c[2] =-1.0000f;
+
+ p[0] =-1.5000f; p[1] = 1.0000f; p[2] = 1.0000f;
+ d[0] =-1.0000f; d[1] = 0.0000f; d[2] = 0.0000f;
+
+ BH_VERIFY(BH_Ray3fIntersectTriangle(p, d, a, b, c, &t, out) == BH_OK);
+ (void)t;
+
+ BH_Triangle3fBarycentric(a, b, c, out, out);
+ BH_VERIFY(out[0] >= 0.0f);
+ BH_VERIFY(out[1] >= 0.0f);
+ BH_VERIFY(out[2] >= 0.0f);
+
+ BH_VERIFY(out[0] <= 1.0f);
+ BH_VERIFY(out[1] <= 1.0f);
+ BH_VERIFY(out[2] <= 1.0f);
+
+ BH_VERIFY_DELTA(out[0] + out[1] + out[2], 1.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fBarycentric(a, b, c, out[1], out[2], out);
+ BH_VERIFY_DELTA(out[0],-4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[1], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(out[2], 1.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(RayIntersectTriangle);
+ BH_UNIT_ADD(SegmentIntersectTriangle);
+ BH_UNIT_ADD(Barycentric);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec2f.c b/test/src/TestVec2f.c
new file mode 100644
index 0000000..92db45f
--- /dev/null
+++ b/test/src/TestVec2f.c
@@ -0,0 +1,284 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Add)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fAdd(a, b, r);
+ BH_VERIFY_DELTA(r[0], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 8.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fSub(a, b, r);
+ BH_VERIFY_DELTA(r[0], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fMul(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 12.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ float a[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+
+ BH_Vec2fScale(a, 10.0000f, r);
+ BH_VERIFY_DELTA(r[0], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 20.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ float a[2], b[2], c[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f;
+
+ BH_Vec2fMulAdd(a, b, c, r);
+ BH_VERIFY_DELTA(r[0], 6.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 14.5000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ float a[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+
+ BH_Vec2fNegate(a, r);
+ BH_VERIFY_DELTA(r[0], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Dot)
+{
+ float a[2], b[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+ BH_VERIFY_DELTA(BH_Vec2fDot(a, b), 17.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Cross)
+{
+ float a[2], b[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+ BH_VERIFY_DELTA(BH_Vec2fCross(a, b), -4.0f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Length)
+{
+ float a[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ BH_VERIFY_DELTA(BH_Vec2fLength(a), sqrt(5.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Normal)
+{
+ float a[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+
+ BH_Vec2fNormal(a, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f / sqrt(5.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f / sqrt(5.0000f), ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(BH_Vec2fNormalEx(a, r), sqrt(5.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[0], 1.0000f / sqrt(5.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f / sqrt(5.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fMin(a, b, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fMin(b, a, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fMax(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fMax(b, a, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Lerp)
+{
+ float a[2], b[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+
+ BH_Vec2fLerp(a, b, 0.0000f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fLerp(a, b, 0.5000f, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fLerp(a, b, 1.0000f, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Project)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f;
+
+ BH_Vec2fProject(a, b, r);
+ BH_VERIFY_DELTA(r[0], 1.6000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 1.2000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Barycentric)
+{
+ float a[2], b[2], c[2], r[2];
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f;
+
+ BH_Vec2fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.2500f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 2.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+
+ a[0] = 1.0000f; a[1] = 2.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f;
+ c[0] = 4.0000f; c[1] = 4.0000f;
+
+ BH_Vec2fBarycentric(a, b, c, 0.0f, 0.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.5000f, ACCEPTABLE_DELTA);
+
+ BH_Vec2fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Dot);
+ BH_UNIT_ADD(Cross);
+ BH_UNIT_ADD(Length);
+ BH_UNIT_ADD(Normal);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+ BH_UNIT_ADD(Lerp);
+ BH_UNIT_ADD(Project);
+ BH_UNIT_ADD(Barycentric);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec2i.c b/test/src/TestVec2i.c
new file mode 100644
index 0000000..cf216d8
--- /dev/null
+++ b/test/src/TestVec2i.c
@@ -0,0 +1,147 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+BH_UNIT_TEST(Add)
+{
+ int a[2], b[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+
+ BH_Vec2iAdd(a, b, r);
+ BH_VERIFY(r[0] == 6);
+ BH_VERIFY(r[1] == 8);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ int a[2], b[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+
+ BH_Vec2iSub(a, b, r);
+ BH_VERIFY(r[0] == -4);
+ BH_VERIFY(r[1] == -4);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ int a[2], b[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+
+ BH_Vec2iMul(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 12);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ int a[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+
+ BH_Vec2iScale(a, 10, r);
+ BH_VERIFY(r[0] == 10);
+ BH_VERIFY(r[1] == 20);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ int a[2], b[2], c[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+ c[0] = 4; c[1] = 3;
+
+ BH_Vec2iMulAdd(a, b, c, r);
+ BH_VERIFY(r[0] == 9);
+ BH_VERIFY(r[1] == 15);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ int a[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+
+ BH_Vec2iNegate(a, r);
+ BH_VERIFY(r[0] == -1);
+ BH_VERIFY(r[1] == -2);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ int a[2], b[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+
+ BH_Vec2iMin(a, b, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+
+ BH_Vec2iMin(b, a, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ int a[2], b[2], r[2];
+
+ a[0] = 1; a[1] = 2;
+ b[0] = 5; b[1] = 6;
+
+ BH_Vec2iMax(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+
+ BH_Vec2iMax(b, a, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec3f.c b/test/src/TestVec3f.c
new file mode 100644
index 0000000..9e07aeb
--- /dev/null
+++ b/test/src/TestVec3f.c
@@ -0,0 +1,309 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Add)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fAdd(a, b, r);
+ BH_VERIFY_DELTA(r[0], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 8.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fSub(a, b, r);
+ BH_VERIFY_DELTA(r[0], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fMul(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 12.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 21.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ float a[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+
+ BH_Vec3fScale(a, 10.0000f, r);
+ BH_VERIFY_DELTA(r[0], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 20.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 30.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ float a[3], b[3], c[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f; c[2] = 3.5000f;
+
+ BH_Vec3fMulAdd(a, b, c, r);
+ BH_VERIFY_DELTA(r[0], 6.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 14.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 24.5000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ float a[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+
+ BH_Vec3fNegate(a, r);
+ BH_VERIFY_DELTA(r[0], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Dot)
+{
+ float a[3], b[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+ BH_VERIFY_DELTA(BH_Vec3fDot(a, b), 38.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Cross)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fCross(a, b, r);
+ BH_VERIFY_DELTA(r[0], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 8.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Length)
+{
+ float a[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ BH_VERIFY_DELTA(BH_Vec3fLength(a), sqrt(14.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Normal)
+{
+ float a[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+
+ BH_Vec3fNormal(a, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(BH_Vec3fNormalEx(a, r), sqrt(14.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[0], 1.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f / sqrt(14.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fMin(a, b, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fMin(b, a, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fMax(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fMax(b, a, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Lerp)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+
+ BH_Vec3fLerp(a, b, 0.0000f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fLerp(a, b, 0.5000f, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fLerp(a, b, 1.0000f, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Project)
+{
+ float a[3], b[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f; b[2] = 2.0000f;
+
+ BH_Vec3fProject(a, b, r);
+ BH_VERIFY_DELTA(r[0], 2.2069f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 1.6552f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 1.1034f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Barycentric)
+{
+ float a[3], b[3], c[3], r[3];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f; c[2] = 3.5000f;
+
+ BH_Vec3fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.2500f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 2.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 4.2500f, ACCEPTABLE_DELTA);
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f; b[2] = 2.0000f;
+ c[0] = 4.0000f; c[1] = 4.0000f; c[2] = 4.0000f;
+
+ BH_Vec3fBarycentric(a, b, c, 0.0f, 0.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec3fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.2500f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Dot);
+ BH_UNIT_ADD(Cross);
+ BH_UNIT_ADD(Length);
+ BH_UNIT_ADD(Normal);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+ BH_UNIT_ADD(Lerp);
+ BH_UNIT_ADD(Project);
+ BH_UNIT_ADD(Barycentric);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec3i.c b/test/src/TestVec3i.c
new file mode 100644
index 0000000..f8ab9ee
--- /dev/null
+++ b/test/src/TestVec3i.c
@@ -0,0 +1,157 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+BH_UNIT_TEST(Add)
+{
+ int a[3], b[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+
+ BH_Vec3iAdd(a, b, r);
+ BH_VERIFY(r[0] == 6);
+ BH_VERIFY(r[1] == 8);
+ BH_VERIFY(r[2] == 10);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ int a[3], b[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+
+ BH_Vec3iSub(a, b, r);
+ BH_VERIFY(r[0] == -4);
+ BH_VERIFY(r[1] == -4);
+ BH_VERIFY(r[2] == -4);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ int a[3], b[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+
+ BH_Vec3iMul(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 12);
+ BH_VERIFY(r[2] == 21);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ int a[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+
+ BH_Vec3iScale(a, 10, r);
+ BH_VERIFY(r[0] == 10);
+ BH_VERIFY(r[1] == 20);
+ BH_VERIFY(r[2] == 30);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ int a[3], b[3], c[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+ c[0] = 4; c[1] = 3; c[2] = 2;
+
+ BH_Vec3iMulAdd(a, b, c, r);
+ BH_VERIFY(r[0] == 9);
+ BH_VERIFY(r[1] == 15);
+ BH_VERIFY(r[2] == 23);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ int a[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+
+ BH_Vec3iNegate(a, r);
+ BH_VERIFY(r[0] == -1);
+ BH_VERIFY(r[1] == -2);
+ BH_VERIFY(r[2] == -3);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ int a[3], b[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+
+ BH_Vec3iMin(a, b, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+ BH_VERIFY(r[2] == 3);
+
+ BH_Vec3iMin(b, a, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+ BH_VERIFY(r[2] == 3);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ int a[3], b[3], r[3];
+
+ a[0] = 1; a[1] = 2; a[2] = 3;
+ b[0] = 5; b[1] = 6; b[2] = 7;
+
+ BH_Vec3iMax(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+ BH_VERIFY(r[2] == 7);
+
+ BH_Vec3iMax(b, a, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+ BH_VERIFY(r[2] == 7);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec4f.c b/test/src/TestVec4f.c
new file mode 100644
index 0000000..3e0e877
--- /dev/null
+++ b/test/src/TestVec4f.c
@@ -0,0 +1,313 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Add)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fAdd(a, b, r);
+ BH_VERIFY_DELTA(r[0], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 8.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 12.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fSub(a, b, r);
+ BH_VERIFY_DELTA(r[0], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fMul(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 12.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 21.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 32.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ float a[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+
+ BH_Vec4fScale(a, 10.0000f, r);
+ BH_VERIFY_DELTA(r[0], 10.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 20.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 30.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 40.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ float a[4], b[4], c[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f; c[2] = 3.5000f; c[3] = 4.5000f;
+
+ BH_Vec4fMulAdd(a, b, c, r);
+ BH_VERIFY_DELTA(r[0], 6.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 14.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 24.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 36.5000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ float a[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+
+ BH_Vec4fNegate(a, r);
+ BH_VERIFY_DELTA(r[0], -1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], -2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], -3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], -4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Dot)
+{
+ float a[4], b[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+ BH_VERIFY_DELTA(BH_Vec4fDot(a, b), 70.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Length)
+{
+ float a[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ BH_VERIFY_DELTA(BH_Vec4fLength(a), sqrt(30.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Normal)
+{
+ float a[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+
+ BH_Vec4fNormal(a, r);
+ BH_VERIFY_DELTA(r[0], 1.0f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+
+ BH_VERIFY_DELTA(BH_Vec4fNormalEx(a, r), sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[0], 1.0000f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0000f / sqrt(30.0000f), ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fMin(a, b, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fMin(b, a, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fMax(a, b, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fMax(b, a, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Lerp)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+
+ BH_Vec4fLerp(a, b, 0.0000f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fLerp(a, b, 0.5000f, r);
+ BH_VERIFY_DELTA(r[0], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 6.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fLerp(a, b, 1.0000f, r);
+ BH_VERIFY_DELTA(r[0], 5.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 6.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 7.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 8.0000f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Project)
+{
+ float a[4], b[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f; b[2] = 2.0000f; b[3] = 1.0000f;
+
+ BH_Vec4fProject(a, b, r);
+ BH_VERIFY_DELTA(r[0], 2.6667f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 1.3333f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 0.6667f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Barycentric)
+{
+ float a[4], b[4], c[4], r[4];
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 5.0000f; b[1] = 6.0000f; b[2] = 7.0000f; b[3] = 8.0000f;
+ c[0] = 1.5000f; c[1] = 2.5000f; c[2] = 3.5000f; c[3] = 4.5000f;
+
+ BH_Vec4fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 4.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 5.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 6.2500f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 2.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 4.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 5.2500f, ACCEPTABLE_DELTA);
+
+ a[0] = 1.0000f; a[1] = 2.0000f; a[2] = 3.0000f; a[3] = 4.0000f;
+ b[0] = 4.0000f; b[1] = 3.0000f; b[2] = 2.0000f; b[3] = 1.0000f;
+ c[0] = 4.0000f; c[1] = 4.0000f; c[2] = 4.0000f; c[3] = 4.0000f;
+
+ BH_Vec4fBarycentric(a, b, c, 0.0f, 0.0f, r);
+ BH_VERIFY_DELTA(r[0], 1.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 2.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 4.0000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fBarycentric(a, b, c, 0.5f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 4.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.5000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.0000f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 2.5000f, ACCEPTABLE_DELTA);
+
+ BH_Vec4fBarycentric(a, b, c, 0.25f, 0.5f, r);
+ BH_VERIFY_DELTA(r[0], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[1], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[2], 3.2500f, ACCEPTABLE_DELTA);
+ BH_VERIFY_DELTA(r[3], 3.2500f, ACCEPTABLE_DELTA);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Dot);
+ BH_UNIT_ADD(Length);
+ BH_UNIT_ADD(Normal);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+ BH_UNIT_ADD(Lerp);
+ BH_UNIT_ADD(Project);
+ BH_UNIT_ADD(Barycentric);
+
+ return BH_UnitRun();
+}
diff --git a/test/src/TestVec4i.c b/test/src/TestVec4i.c
new file mode 100644
index 0000000..ebd682c
--- /dev/null
+++ b/test/src/TestVec4i.c
@@ -0,0 +1,167 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+BH_UNIT_TEST(Add)
+{
+ int a[4], b[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+
+ BH_Vec4iAdd(a, b, r);
+ BH_VERIFY(r[0] == 6);
+ BH_VERIFY(r[1] == 8);
+ BH_VERIFY(r[2] == 10);
+ BH_VERIFY(r[3] == 12);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Sub)
+{
+ int a[4], b[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+
+ BH_Vec4iSub(a, b, r);
+ BH_VERIFY(r[0] == -4);
+ BH_VERIFY(r[1] == -4);
+ BH_VERIFY(r[2] == -4);
+ BH_VERIFY(r[3] == -4);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Mul)
+{
+ int a[4], b[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+
+ BH_Vec4iMul(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 12);
+ BH_VERIFY(r[2] == 21);
+ BH_VERIFY(r[3] == 32);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Scale)
+{
+ int a[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+
+ BH_Vec4iScale(a, 10, r);
+ BH_VERIFY(r[0] == 10);
+ BH_VERIFY(r[1] == 20);
+ BH_VERIFY(r[2] == 30);
+ BH_VERIFY(r[3] == 40);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(MulAdd)
+{
+ int a[4], b[4], c[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+ c[0] = 4; c[1] = 3; c[2] = 2; c[3] = 1;
+
+ BH_Vec4iMulAdd(a, b, c, r);
+ BH_VERIFY(r[0] == 9);
+ BH_VERIFY(r[1] == 15);
+ BH_VERIFY(r[2] == 23);
+ BH_VERIFY(r[3] == 33);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Negate)
+{
+ int a[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+
+ BH_Vec4iNegate(a, r);
+ BH_VERIFY(r[0] == -1);
+ BH_VERIFY(r[1] == -2);
+ BH_VERIFY(r[2] == -3);
+ BH_VERIFY(r[3] == -4);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Min)
+{
+ int a[4], b[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+
+ BH_Vec4iMin(a, b, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+ BH_VERIFY(r[2] == 3);
+ BH_VERIFY(r[3] == 4);
+
+ BH_Vec4iMin(b, a, r);
+ BH_VERIFY(r[0] == 1);
+ BH_VERIFY(r[1] == 2);
+ BH_VERIFY(r[2] == 3);
+ BH_VERIFY(r[3] == 4);
+
+ return 0;
+}
+
+
+BH_UNIT_TEST(Max)
+{
+ int a[4], b[4], r[4];
+
+ a[0] = 1; a[1] = 2; a[2] = 3; a[3] = 4;
+ b[0] = 5; b[1] = 6; b[2] = 7; b[3] = 8;
+
+ BH_Vec4iMax(a, b, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+ BH_VERIFY(r[2] == 7);
+ BH_VERIFY(r[3] == 8);
+
+ BH_Vec4iMax(b, a, r);
+ BH_VERIFY(r[0] == 5);
+ BH_VERIFY(r[1] == 6);
+ BH_VERIFY(r[2] == 7);
+ BH_VERIFY(r[3] == 8);
+
+ return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ BH_UNIT_ADD(Add);
+ BH_UNIT_ADD(Sub);
+ BH_UNIT_ADD(Mul);
+ BH_UNIT_ADD(Scale);
+ BH_UNIT_ADD(MulAdd);
+ BH_UNIT_ADD(Negate);
+ BH_UNIT_ADD(Min);
+ BH_UNIT_ADD(Max);
+
+ return BH_UnitRun();
+}
diff --git a/unit/include/BH/Unit.h b/unit/include/BH/Unit.h
index 3b3b2b6..c715c23 100644
--- a/unit/include/BH/Unit.h
+++ b/unit/include/BH/Unit.h
@@ -28,12 +28,20 @@ typedef int (*BH_UnitCallback)(void);
if (BH_VERIFY_DELTA < 0.0) \
BH_VERIFY_DELTA = -BH_VERIFY_DELTA; \
if (BH_VERIFY_DELTA > (e)) { \
- printf("%s:%d\t%s (differs by %f)\n", __FILE__, __LINE__, #x " == " #y, BH_VERIFY_DELTA); \
+ printf("%s:%d\t%s (differs by %f)\n", \
+ __FILE__, __LINE__, #x " == " #y, BH_VERIFY_DELTA); \
return -1; \
} \
} while(0)
+#define BH_UNIT_TEST(name) \
+ static int unit##name(void)
+
+
+#define BH_UNIT_ADD(name) \
+ BH_UnitAdd(#name, unit##name)
+
/**
* Adds unit test \a cb with name \a name for the testing.
diff --git a/unit/src/Unit.c b/unit/src/Unit.c
index 57d80b1..a0b61e1 100644
--- a/unit/src/Unit.c
+++ b/unit/src/Unit.c
@@ -55,6 +55,7 @@ void BH_UnitAdd(const char *name, BH_UnitCallback cb)
int BH_UnitRun(void)
{
BH_Unit *current;
+ int result = 0;
printf("Running tests...\n");
current = root;
@@ -64,15 +65,16 @@ int BH_UnitRun(void)
if (current->cb())
{
printf("\tFAIL\n");
- BH_UnitCleanup();
- return -1;
+ result = -1;
}
- printf("\tPASS\n");
+ else
+ printf("\tPASS\n");
+
fflush(stdout);
current = current->next;
}
BH_UnitCleanup();
- return 0;
+ return result;
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-01 01:45:47 +0000