Mikhail Romanko
67e7582d63
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).
132 lines
2.9 KiB
C
132 lines
2.9 KiB
C
#include <BH/Math.h>
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#include <BH/Unit.h>
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#define ACCEPTABLE_DELTA 0.0001f
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BH_UNIT_TEST(Identity)
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{
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float r[4];
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BH_Quat4fIdentity(r);
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BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(Conjugate)
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{
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float a[4], r[4];
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a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
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BH_Quat4fConjugate(a, r);
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BH_VERIFY_DELTA(r[0], 0.9018f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], 0.0010f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], 0.4099f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(ToEuler)
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{
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float a[4];
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float roll, pitch, yaw;
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a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
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BH_Quat4fToEuler(a, &roll, &pitch, &yaw);
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BH_VERIFY_DELTA(roll, -2.7671f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(pitch, -0.8324f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(yaw, -0.1649f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(FromEuler)
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{
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float r[4];
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BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, r);
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BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(ToAxis)
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{
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float a[4], r[3];
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float angle;
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a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
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BH_Quat4fToAxis(a, r, &angle);
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BH_VERIFY_DELTA(r[0], -0.9104f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], -0.4138f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(angle, 2.8668f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(FromAxis)
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{
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float a[3], r[4];
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a[0] = -0.9104f; a[1] = -0.0010f; a[2] = -0.4138f;
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BH_Quat4fFromAxis(a, 2.8668f, r);
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BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
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return 0;
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}
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BH_UNIT_TEST(InverseMultiply)
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{
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float a[4], r[4];
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a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
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BH_Quat4fInverse(a, r);
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BH_Quat4fMul(a, r, r);
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BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
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BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
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return 0;
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}
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int main(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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BH_UNIT_ADD(Identity);
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BH_UNIT_ADD(Conjugate);
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BH_UNIT_ADD(ToEuler);
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BH_UNIT_ADD(FromEuler);
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BH_UNIT_ADD(ToAxis);
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BH_UNIT_ADD(FromAxis);
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BH_UNIT_ADD(InverseMultiply);
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return BH_UnitRun();
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}
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