math: begin rewrite of mach.math
Signed-off-by: Stephen Gutekanst <stephen@hexops.com>
This commit is contained in:
Stephen Gutekanst
parent
6b5a9990b9
commit
5b25db1025
7 changed files with 1449 additions and 1192 deletions
773
src/math/mat.zig
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773
src/math/mat.zig
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const std = @import("std");
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const mach = @import("../main.zig");
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const testing = mach.testing;
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const math = mach.math;
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const vec = @import("vec.zig");
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pub fn Mat(
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comptime n_cols: usize,
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comptime n_rows: usize,
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comptime Vector: type,
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) type {
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return struct {
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v: [cols]Vec,
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/// The number of columns, e.g. Mat3x4.cols == 3
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pub const cols = n_cols;
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/// The number of rows, e.g. Mat3x4.rows == 4
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pub const rows = n_rows;
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/// The scalar type of this matrix, e.g. Mat3x3.T == f32
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pub const T = Vector.T;
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/// The underlying Vec type, e.g. Mat3x3.Vec == Vec4
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pub const Vec = Vector;
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/// The Vec type corresponding to the number of rows, e.g. Mat3x3.RowVec == Vec3
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pub const RowVec = vec.Vec(rows, T);
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const Matrix = @This();
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/// Identity matrix
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pub const ident = switch (Matrix) {
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inline math.Mat3x3, math.Mat3x3h, math.Mat3x3d => Matrix.init(
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RowVec.init(1, 0, 0),
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RowVec.init(0, 1, 0),
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RowVec.init(0, 0, 1),
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),
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inline math.Mat4x4, math.Mat4x4h, math.Mat4x4d => Matrix.init(
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Vec.init(1, 0, 0, 0),
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Vec.init(0, 1, 0, 0),
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Vec.init(0, 0, 1, 0),
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Vec.init(0, 0, 0, 1),
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),
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else => @compileError("Expected Mat3x3, Mat4x4 found '" ++ @typeName(Matrix) ++ "'"),
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};
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pub usingnamespace switch (Matrix) {
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inline math.Mat3x3, math.Mat3x3h, math.Mat3x3d => struct {
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pub inline fn init(
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col0: RowVec,
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col1: RowVec,
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col2: RowVec,
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) Matrix {
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return .{ .v = [_]Vec{
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Vec.init(col0.x(), col0.y(), col0.z(), 1),
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Vec.init(col1.x(), col1.y(), col1.z(), 1),
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Vec.init(col2.x(), col2.y(), col2.z(), 1),
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} };
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}
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},
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inline math.Mat4x4, math.Mat4x4h, math.Mat4x4d => struct {
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pub inline fn init(col0: Vec, col1: Vec, col2: Vec, col3: Vec) Matrix {
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return .{ .v = [_]Vec{
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col0,
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col1,
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col2,
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col3,
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} };
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}
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},
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else => @compileError("Expected Mat3x3, Mat4x4 found '" ++ @typeName(Matrix) ++ "'"),
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};
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// TODO: the below code was correct in our old implementation, it just needs to be updated
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// to work with this new Mat approach, swapping f32 for the generic T float type, moving 3x3
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// and 4x4 specific functions into the mixin above, writing new tests, etc.
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// /// Constructs an orthographic projection matrix; an orthogonal transformation matrix which
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// /// transforms from the given left, right, bottom, and top dimensions into -1 +1 in x and y,
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// /// and 0 to +1 in z.
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// ///
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// /// The near/far parameters denotes the depth (z coordinate) of the near/far clipping plane.
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// ///
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// /// Returns an orthographic projection matrix.
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// pub inline fn ortho(
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// /// The sides of the near clipping plane viewport
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// left: f32,
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// right: f32,
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// bottom: f32,
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// top: f32,
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// /// The depth (z coordinate) of the near/far clipping plane.
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// near: f32,
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// far: f32,
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// ) Mat4x4 {
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// const xx = 2 / (right - left);
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// const yy = 2 / (top - bottom);
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// const zz = 1 / (near - far);
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// const tx = (right + left) / (left - right);
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// const ty = (top + bottom) / (bottom - top);
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// const tz = near / (near - far);
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// return init(Mat4x4, .{
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// xx, 0, 0, 0,
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// 0, yy, 0, 0,
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// 0, 0, zz, 0,
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// tx, ty, tz, 1,
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// });
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// }
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// /// Constructs a 2D matrix which translates coordinates by v.
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// pub inline fn translate2d(v: Vec2) Mat3x3 {
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// return init(Mat3x3, .{
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// 1, 0, 0, 0,
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// 0, 1, 0, 0,
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// v[0], v[1], 1, 0,
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// });
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// }
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// /// Constructs a 3D matrix which translates coordinates by v.
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// pub inline fn translate3d(v: Vec3) Mat4x4 {
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// return init(Mat4x4, .{
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// 1, 0, 0, 0,
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// 0, 1, 0, 0,
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// 0, 0, 1, 0,
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// v[0], v[1], v[2], 1,
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// });
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// }
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// /// Returns the translation component of the 2D matrix.
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// pub inline fn translation2d(v: Mat3x3) Vec2 {
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// return .{ mat.index(v, 8), mat.index(v, 9) };
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// }
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// /// Returns the translation component of the 3D matrix.
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// pub inline fn translation3d(v: Mat4x4) Vec3 {
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// return .{ mat.index(v, 12), mat.index(v, 13), mat.index(v, 14) };
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// }
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// /// Constructs a 3D matrix which scales each dimension by the given vector.
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// pub inline fn scale3d(v: Vec3) Mat4x4 {
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// return init(Mat4x4, .{
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// v[0], 0, 0, 0,
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// 0, v[1], 0, 0,
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// 0, 0, v[2], 0,
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// 0, 0, 0, 1,
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// });
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// }
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// /// Constructs a 3D matrix which scales each dimension by the given vector.
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// pub inline fn scale2d(v: Vec2) Mat3x3 {
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// return init(Mat3x3, .{
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// v[0], 0, 0, 0,
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// 0, v[1], 0, 0,
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// 0, 0, 1, 0,
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// });
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// }
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// // Multiplies matrices a * b
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// pub inline fn mul(a: anytype, b: @TypeOf(a)) @TypeOf(a) {
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// return if (@TypeOf(a) == Mat3x3) {
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// const a00 = a[0][0];
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// const a01 = a[0][1];
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// const a02 = a[0][2];
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// const a10 = a[1][0];
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// const a11 = a[1][1];
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// const a12 = a[1][2];
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// const a20 = a[2][0];
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// const a21 = a[2][1];
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// const a22 = a[2][2];
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// const b00 = b[0][0];
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// const b01 = b[0][1];
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// const b02 = b[0][2];
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// const b10 = b[1][0];
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// const b11 = b[1][1];
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// const b12 = b[1][2];
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// const b20 = b[2][0];
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// const b21 = b[2][1];
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// const b22 = b[2][2];
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// return init(Mat3x3, .{
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// a00 * b00 + a10 * b01 + a20 * b02,
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// a01 * b00 + a11 * b01 + a21 * b02,
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// a02 * b00 + a12 * b01 + a22 * b02,
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// a00 * b10 + a10 * b11 + a20 * b12,
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// a01 * b10 + a11 * b11 + a21 * b12,
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// a02 * b10 + a12 * b11 + a22 * b12,
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// a00 * b20 + a10 * b21 + a20 * b22,
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// a01 * b20 + a11 * b21 + a21 * b22,
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// a02 * b20 + a12 * b21 + a22 * b22,
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// });
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// } else if (@TypeOf(a) == Mat4x4) {
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// const a00 = a[0][0];
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// const a01 = a[0][1];
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// const a02 = a[0][2];
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// const a03 = a[0][3];
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// const a10 = a[1][0];
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// const a11 = a[1][1];
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// const a12 = a[1][2];
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// const a13 = a[1][3];
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// const a20 = a[2][0];
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// const a21 = a[2][1];
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// const a22 = a[2][2];
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// const a23 = a[2][3];
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// const a30 = a[3][0];
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// const a31 = a[3][1];
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// const a32 = a[3][2];
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// const a33 = a[3][3];
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// const b00 = b[0][0];
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// const b01 = b[0][1];
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// const b02 = b[0][2];
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// const b03 = b[0][3];
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// const b10 = b[1][0];
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// const b11 = b[1][1];
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// const b12 = b[1][2];
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// const b13 = b[1][3];
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// const b20 = b[2][0];
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// const b21 = b[2][1];
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// const b22 = b[2][2];
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// const b23 = b[2][3];
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// const b30 = b[3][0];
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// const b31 = b[3][1];
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// const b32 = b[3][2];
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// const b33 = b[3][3];
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// return init(Mat4x4, .{
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// a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
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// a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
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// a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
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// a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03,
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// a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
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// a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
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// a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
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// a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13,
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// a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
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// a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
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// a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
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// a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23,
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// a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
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// a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
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// a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
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// a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33,
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// });
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// } else @compileError("Expected matrix, found '" ++ @typeName(@TypeOf(a)) ++ "'");
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// }
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// /// Check if two matrices are approximate equal. Returns true if the absolute difference between
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// /// each element in matrix them is less or equal than the specified tolerance.
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// pub inline fn equals(a: anytype, b: @TypeOf(a), tolerance: f32) bool {
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// // TODO: leverage a vec.equals function
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// return if (@TypeOf(a) == Mat3x3) {
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// return float.equals(f32, a[0][0], b[0][0], tolerance) and
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// float.equals(f32, a[0][1], b[0][1], tolerance) and
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// float.equals(f32, a[0][2], b[0][2], tolerance) and
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// float.equals(f32, a[0][3], b[0][3], tolerance) and
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// float.equals(f32, a[1][0], b[1][0], tolerance) and
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// float.equals(f32, a[1][1], b[1][1], tolerance) and
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// float.equals(f32, a[1][2], b[1][2], tolerance) and
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// float.equals(f32, a[1][3], b[1][3], tolerance) and
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// float.equals(f32, a[2][0], b[2][0], tolerance) and
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// float.equals(f32, a[2][1], b[2][1], tolerance) and
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// float.equals(f32, a[2][2], b[2][2], tolerance) and
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// float.equals(f32, a[2][3], b[2][3], tolerance);
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// } else if (@TypeOf(a) == Mat4x4) {
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// return float.equals(f32, a[0][0], b[0][0], tolerance) and
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// float.equals(f32, a[0][1], b[0][1], tolerance) and
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// float.equals(f32, a[0][2], b[0][2], tolerance) and
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// float.equals(f32, a[0][3], b[0][3], tolerance) and
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// float.equals(f32, a[1][0], b[1][0], tolerance) and
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// float.equals(f32, a[1][1], b[1][1], tolerance) and
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// float.equals(f32, a[1][2], b[1][2], tolerance) and
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// float.equals(f32, a[1][3], b[1][3], tolerance) and
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// float.equals(f32, a[2][0], b[2][0], tolerance) and
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// float.equals(f32, a[2][1], b[2][1], tolerance) and
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// float.equals(f32, a[2][2], b[2][2], tolerance) and
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// float.equals(f32, a[2][3], b[2][3], tolerance) and
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// float.equals(f32, a[3][0], b[3][0], tolerance) and
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// float.equals(f32, a[3][1], b[3][1], tolerance) and
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// float.equals(f32, a[3][2], b[3][2], tolerance) and
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// float.equals(f32, a[3][3], b[3][3], tolerance);
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// } else @compileError("Expected matrix, found '" ++ @typeName(@TypeOf(a)) ++ "'");
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// }
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// /// Constructs a 3D matrix which rotates around the X axis by `angle_radians`.
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// pub inline fn rotateX(angle_radians: f32) Mat4x4 {
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// const c = std.math.cos(angle_radians);
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// const s = std.math.sin(angle_radians);
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// return init(Mat4x4, .{
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// 1, 0, 0, 0,
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// 0, c, s, 0,
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// 0, -s, c, 0,
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// 0, 0, 0, 1,
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// });
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// }
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// /// Constructs a 3D matrix which rotates around the X axis by `angle_radians`.
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// pub inline fn rotateY(angle_radians: f32) Mat4x4 {
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// const c = std.math.cos(angle_radians);
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// const s = std.math.sin(angle_radians);
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// return init(Mat4x4, .{
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// c, 0, -s, 0,
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// 0, 1, 0, 0,
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// s, 0, c, 0,
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// 0, 0, 0, 1,
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// });
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// }
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// /// Constructs a 3D matrix which rotates around the Z axis by `angle_radians`.
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// pub inline fn rotateZ(angle_radians: f32) Mat4x4 {
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// const c = std.math.cos(angle_radians);
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// const s = std.math.sin(angle_radians);
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// return init(Mat4x4, .{
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// c, s, 0, 0,
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// -s, c, 0, 0,
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// 0, 0, 1, 0,
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// 0, 0, 0, 1,
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// });
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// }
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};
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}
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test "gpu_compatibility" {
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// https://www.w3.org/TR/WGSL/#alignment-and-size
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try testing.expect(usize, 48).eql(@sizeOf(math.Mat3x3));
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try testing.expect(usize, 64).eql(@sizeOf(math.Mat4x4));
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try testing.expect(usize, 24).eql(@sizeOf(math.Mat3x3h));
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try testing.expect(usize, 32).eql(@sizeOf(math.Mat4x4h));
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try testing.expect(usize, 48 * 2).eql(@sizeOf(math.Mat3x3d)); // speculative
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try testing.expect(usize, 64 * 2).eql(@sizeOf(math.Mat4x4d)); // speculative
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}
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test "zero_struct_overhead" {
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// Proof that using e.g. [3]Vec4 is equal to [3]@Vector(4, f32)
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try testing.expect(usize, @alignOf([3]@Vector(4, f32))).eql(@alignOf(math.Mat3x3));
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try testing.expect(usize, @alignOf([4]@Vector(4, f32))).eql(@alignOf(math.Mat4x4));
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try testing.expect(usize, @sizeOf([3]@Vector(4, f32))).eql(@sizeOf(math.Mat3x3));
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try testing.expect(usize, @sizeOf([4]@Vector(4, f32))).eql(@sizeOf(math.Mat4x4));
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}
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test "n" {
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try testing.expect(usize, 3).eql(math.Mat3x3.cols);
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try testing.expect(usize, 3).eql(math.Mat3x3.rows);
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try testing.expect(type, math.Vec4).eql(math.Mat3x3.Vec);
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try testing.expect(usize, 4).eql(math.Mat3x3.Vec.n);
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}
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test "init" {
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try testing.expect(math.Mat3x3, math.mat3x3(
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math.vec3(1, 2, 3),
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math.vec3(4, 5, 6),
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math.vec3(7, 8, 9),
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)).eql(math.Mat3x3{
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.v = [_]math.Vec4{
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math.Vec4.init(1, 2, 3, 1),
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math.Vec4.init(4, 5, 6, 1),
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math.Vec4.init(7, 8, 9, 1),
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},
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});
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}
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test "mat3x3_ident" {
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try testing.expect(math.Mat3x3, math.Mat3x3.ident).eql(math.Mat3x3{
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.v = [_]math.Vec4{
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math.Vec4.init(1, 0, 0, 1),
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math.Vec4.init(0, 1, 0, 1),
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math.Vec4.init(0, 0, 1, 1),
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},
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});
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}
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test "mat4x4_ident" {
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try testing.expect(math.Mat4x4, math.Mat4x4.ident).eql(math.Mat4x4{
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.v = [_]math.Vec4{
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math.Vec4.init(1, 0, 0, 0),
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math.Vec4.init(0, 1, 0, 0),
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math.Vec4.init(0, 0, 1, 0),
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math.Vec4.init(0, 0, 1, 1),
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},
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});
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}
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|
||||
// TODO(math): the tests below violate our styleguide (https://machengine.org/about/style/) we
|
||||
// should write new tests loosely based on them:
|
||||
|
||||
// test "mat.ortho" {
|
||||
// const ortho_mat = mat.ortho(-2, 2, -2, 3, 10, 110);
|
||||
|
||||
// // Computed Values
|
||||
// try expectEqual(ortho_mat[0][0], 0.5);
|
||||
// try expectEqual(ortho_mat[1][1], 0.4);
|
||||
// try expectEqual(ortho_mat[2][2], -0.01);
|
||||
// try expectEqual(ortho_mat[3][0], 0);
|
||||
// try expectEqual(ortho_mat[3][1], -0.2);
|
||||
// try expectEqual(ortho_mat[3][2], -0.1);
|
||||
|
||||
// // Constant values, which should not change but we still check for completeness
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 2, 4 + 3,
|
||||
// 4 * 2, 4 * 2 + 1, 4 * 2 + 3,
|
||||
// };
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(ortho_mat, index), 0);
|
||||
// }
|
||||
// try expectEqual(ortho_mat[3][3], 1);
|
||||
// }
|
||||
|
||||
// test "mat.translate2d" {
|
||||
// const v = Vec2{ 1.0, -2.5 };
|
||||
// const translation_mat = mat.translate2d(v);
|
||||
|
||||
// // Computed Values
|
||||
// try expectEqual(translation_mat[2][0], v[0]);
|
||||
// try expectEqual(translation_mat[2][1], v[1]);
|
||||
|
||||
// // Constant values, which should not change but we still check for completeness
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 2, 4 + 3,
|
||||
// 4 * 2 + 3,
|
||||
// };
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(translation_mat, index), 0);
|
||||
// }
|
||||
// try expectEqual(translation_mat[0][0], 1);
|
||||
// try expectEqual(translation_mat[1][1], 1);
|
||||
// try expectEqual(translation_mat[2][2], 1);
|
||||
// }
|
||||
|
||||
// test "mat.translate3d" {
|
||||
// const v = Vec3{ 1.0, -2.5, 0.001 };
|
||||
// const translation_mat = mat.translate3d(v);
|
||||
|
||||
// // Computed Values
|
||||
// try expectEqual(translation_mat[3][0], v[0]);
|
||||
// try expectEqual(translation_mat[3][1], v[1]);
|
||||
// try expectEqual(translation_mat[3][2], v[2]);
|
||||
|
||||
// // Constant values, which should not change but we still check for completeness
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 2, 4 + 3,
|
||||
// 4 * 2, 4 * 2 + 1, 4 * 2 + 3,
|
||||
// };
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(translation_mat, index), 0);
|
||||
// }
|
||||
// try expectEqual(translation_mat[3][3], 1);
|
||||
// }
|
||||
|
||||
// test "mat.translation" {
|
||||
// {
|
||||
// const v = Vec2{ 1.0, -2.5 };
|
||||
// const translation_mat = mat.translate2d(v);
|
||||
// const result = mat.translation2d(translation_mat);
|
||||
// try expectEqual(result[0], v[0]);
|
||||
// try expectEqual(result[1], v[1]);
|
||||
// }
|
||||
|
||||
// {
|
||||
// const v = Vec3{ 1.0, -2.5, 0.001 };
|
||||
// const translation_mat = mat.translate3d(v);
|
||||
// const result = mat.translation3d(translation_mat);
|
||||
// try expectEqual(result[0], v[0]);
|
||||
// try expectEqual(result[1], v[1]);
|
||||
// try expectEqual(result[2], v[2]);
|
||||
// }
|
||||
// }
|
||||
|
||||
// test "mat.scale2d" {
|
||||
// const v = Vec2{ 1.0, -2.5 };
|
||||
// const scale_mat = mat.scale2d(v);
|
||||
|
||||
// // Computed Values
|
||||
// try expectEqual(scale_mat[0][0], v[0]);
|
||||
// try expectEqual(scale_mat[1][1], v[1]);
|
||||
|
||||
// // Constant values, which should not change but we still check for completeness
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 2, 4 + 3,
|
||||
// 4 * 2, 4 * 2 + 1, 4 * 2 + 3,
|
||||
// };
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(scale_mat, index), 0);
|
||||
// }
|
||||
// try expectEqual(scale_mat[2][2], 1);
|
||||
// }
|
||||
|
||||
// test "mat.scale3d" {
|
||||
// const v = Vec3{ 1.0, -2.5, 0.001 };
|
||||
// const scale_mat = mat.scale3d(v);
|
||||
|
||||
// // Computed Values
|
||||
// try expectEqual(scale_mat[0][0], v[0]);
|
||||
// try expectEqual(scale_mat[1][1], v[1]);
|
||||
// try expectEqual(scale_mat[2][2], v[2]);
|
||||
|
||||
// // Constant values, which should not change but we still check for completeness
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 2, 4 + 3,
|
||||
// 4 * 2, 4 * 2 + 1, 4 * 2 + 3,
|
||||
// 4 * 3, 4 * 3 + 1, 4 * 3 + 2,
|
||||
// };
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(scale_mat, index), 0);
|
||||
// }
|
||||
// try expectEqual(scale_mat[3][3], 1);
|
||||
// }
|
||||
|
||||
// const degreesToRadians = std.math.degreesToRadians;
|
||||
|
||||
// // TODO: Maybe reconsider based on feedback to join all test for rotation into one test as only
|
||||
// // location of values change. And create some kind of struct that will hold this indexes and
|
||||
// // coresponding values
|
||||
// test "mat.rotateX" {
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 2, 3,
|
||||
// 4, 4 + 3, 4 * 2,
|
||||
// 4 * 2 + 3, 4 * 3, 4 * 3 + 1,
|
||||
// 4 * 3 + 2,
|
||||
// };
|
||||
|
||||
// const one_value_indexes = [_]u8{
|
||||
// 0, 4 * 3 + 3,
|
||||
// };
|
||||
|
||||
// const tolerance = 1e-7;
|
||||
|
||||
// {
|
||||
// const r = 90;
|
||||
// const R_x = mat.rotateX(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_x[1][1], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][2], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_x[1][2], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][1], -1, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 0;
|
||||
// const R_x = mat.rotateX(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_x[1][1], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][2], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_x[1][2], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][1], 0, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 45;
|
||||
// const result: f32 = std.math.sqrt(2.0) / 2.0; // sqrt(2) / 2
|
||||
// const R_x = mat.rotateX(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_x[1][1], result, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][2], result, tolerance);
|
||||
// try expectApproxEqAbs(R_x[1][2], result, tolerance);
|
||||
// try expectApproxEqAbs(R_x[2][1], -result, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_x, index), 1);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// test "mat.rotateY" {
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 1, 3,
|
||||
// 4, 4 + 2,
|
||||
// 4 + 3, 4 * 2 + 1,
|
||||
// 4 * 2 + 3, 4 * 3,
|
||||
// 4 * 3 + 1, 4 * 3 + 2,
|
||||
// };
|
||||
|
||||
// const one_value_indexes = [_]u8{
|
||||
// 4 + 1, 4 * 3 + 3,
|
||||
// };
|
||||
|
||||
// const tolerance = 1e-7;
|
||||
|
||||
// {
|
||||
// const r = 90;
|
||||
// const R_y = mat.rotateY(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_y[0][0], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_y[2][2], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_y[0][2], -1, tolerance);
|
||||
// try expectApproxEqAbs(R_y[2][0], 1, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 0;
|
||||
// const R_y = mat.rotateY(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_y[0][0], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_y[2][2], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_y[0][2], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_y[3][0], 0, tolerance); // TODO: [2][0] ?
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 45;
|
||||
// const result: f32 = std.math.sqrt(2.0) / 2.0; // sqrt(2) / 2
|
||||
// const R_y = mat.rotateY(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_y[0][0], result, tolerance);
|
||||
// try expectApproxEqAbs(R_y[2][2], result, tolerance);
|
||||
// try expectApproxEqAbs(R_y[0][2], -result, tolerance);
|
||||
// try expectApproxEqAbs(R_y[2][0], result, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_y, index), 1);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// test "mat.rotateZ" {
|
||||
// const zero_value_indexes = [_]u8{
|
||||
// 2, 3,
|
||||
// 4 + 2, 4 + 3,
|
||||
// 4 * 2, 4 * 2 + 1,
|
||||
// 4 * 2 + 3, 4 * 3,
|
||||
// 4 * 3 + 1, 4 * 3 + 2,
|
||||
// };
|
||||
|
||||
// const one_value_indexes = [_]u8{
|
||||
// 4 * 2 + 2, 4 * 3 + 3,
|
||||
// };
|
||||
|
||||
// const tolerance = 1e-7;
|
||||
|
||||
// {
|
||||
// const r = 90;
|
||||
// const R_z = mat.rotateZ(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_z[0][0], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][1], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_z[0][1], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][0], -1, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 0;
|
||||
// const R_z = mat.rotateZ(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_z[0][0], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][1], 1, tolerance);
|
||||
// try expectApproxEqAbs(R_z[0][1], 0, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][0], 0, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
// {
|
||||
// const r = 45;
|
||||
// const result: f32 = std.math.sqrt(2.0) / 2.0; // sqrt(2) / 2
|
||||
// const R_z = mat.rotateZ(degreesToRadians(f32, r));
|
||||
// try expectApproxEqAbs(R_z[0][0], result, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][1], result, tolerance);
|
||||
// try expectApproxEqAbs(R_z[0][1], result, tolerance);
|
||||
// try expectApproxEqAbs(R_z[1][0], -result, tolerance);
|
||||
|
||||
// for (zero_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 0);
|
||||
// }
|
||||
|
||||
// for (one_value_indexes) |index| {
|
||||
// try expectEqual(mat.index(R_z, index), 1);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// test "mat.mul" {
|
||||
// {
|
||||
// const tolerance = 1e-6;
|
||||
// const t = Vec3{ 1, 2, -3 };
|
||||
// const T = mat.translate3d(t);
|
||||
// const s = Vec3{ 3, 1, -5 };
|
||||
// const S = mat.scale3d(s);
|
||||
// const r = Vec3{ 30, -40, 235 };
|
||||
// const R_x = mat.rotateX(degreesToRadians(f32, r[0]));
|
||||
// const R_y = mat.rotateY(degreesToRadians(f32, r[1]));
|
||||
// const R_z = mat.rotateZ(degreesToRadians(f32, r[2]));
|
||||
|
||||
// const R_yz = mat.mul(R_y, R_z);
|
||||
// // This values are calculated by hand with help of matrix calculator: https://matrix.reshish.com/multCalculation.php
|
||||
// const expected_R_yz = mat.init(Mat4x4, .{
|
||||
// -0.43938504177070496278, -0.8191520442889918, -0.36868782649461236545, 0,
|
||||
// 0.62750687159713312638, -0.573576436351046, 0.52654078451836329713, 0,
|
||||
// -0.6427876096865394, 0, 0.766044443118978, 0,
|
||||
// 0, 0, 0, 1,
|
||||
// });
|
||||
// try expect(mat.equals(R_yz, expected_R_yz, tolerance));
|
||||
|
||||
// const R_xyz = mat.mul(R_x, R_yz);
|
||||
// const expected_R_xyz = mat.init(Mat4x4, .{
|
||||
// -0.439385041770705, -0.52506256666891627986, -0.72886904595489960019, 0,
|
||||
// 0.6275068715971331, -0.76000215715133560834, 0.16920947734596765363, 0,
|
||||
// -0.6427876096865394, -0.383022221559489, 0.66341394816893832989, 0,
|
||||
// 0, 0, 0, 1,
|
||||
// });
|
||||
// try expect(mat.equals(R_xyz, expected_R_xyz, tolerance));
|
||||
|
||||
// const SR = mat.mul(S, R_xyz);
|
||||
// const expected_SR = mat.init(Mat4x4, .{
|
||||
// -1.318155125312115, -0.5250625666689163, 3.6443452297744985, 0,
|
||||
// 1.8825206147913993, -0.7600021571513356, -0.8460473867298382, 0,
|
||||
// -1.9283628290596182, -0.383022221559489, -3.3170697408446915, 0,
|
||||
// 0, 0, 0, 1,
|
||||
// });
|
||||
// try expect(mat.equals(SR, expected_SR, tolerance));
|
||||
|
||||
// const TSR = mat.mul(T, SR);
|
||||
// const expected_TSR = mat.init(Mat4x4, .{
|
||||
// -1.318155125312115, -0.5250625666689163, 3.6443452297744985, 0,
|
||||
// 1.8825206147913993, -0.7600021571513356, -0.8460473867298382, 0,
|
||||
// -1.9283628290596182, -0.383022221559489, -3.3170697408446914, 0,
|
||||
// 1, 2, -3, 1,
|
||||
// });
|
||||
|
||||
// try expect(mat.equals(TSR, expected_TSR, tolerance));
|
||||
// }
|
||||
// }
|
||||
Loading…
Add table
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Reference in a new issue