Add line, plane, ray and segments, split math unit test

Added some basic geometric primitives such as planes, rays, segments and lines (plus some extra functions like xProject, xBarycentric, Lerpf), as well as some intersection tests between them. Additionally, I split massive math test into smaller ones and tweaked unit test library (testing no longer stops after first failure).
2025-02-24 09:37:22 +03:00
parent be16daaecf
commit 67e7582d63
24 changed files with 3755 additions and 915 deletions
--- a/test/src/TestQuat.c
+++ 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();
+}