/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ //234567890123456789012345678901234567890123456789012345678901234567890123456789 // 1 2 3 4 5 6 7 #include #include #include TEST(test_dNormalization3) { const dVector3 x = {1,0,0,0}; const dVector3 y = {0,1,0,0}; const dVector3 z = {0,0,1,0}; dVector3 v; // Check when value in first component (i.e. [0]) v[0] = REAL(1.0); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(x, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.1); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(x, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(1e-20); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(x, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); // Check when value in first component (i.e. [0]) v[0] = REAL(0.0); v[1] = REAL(1.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(y, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(0.1); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(y, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(1e-20); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(y, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); // Check when value in first component (i.e. [0]) v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(1.0); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(z, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(0.1); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(z, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(1e-20); dSafeNormalize3(v); CHECK_ARRAY_CLOSE(z, v, 3, 1e-6); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); // Check negative // Check when value in first component (i.e. [0]) v[0] = REAL(-1.0); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(-0.1); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(-1e-20); v[1] = REAL(0.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); // Check when value in first component (i.e. [0]) v[0] = REAL(0.0); v[1] = REAL(-1.0); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(-0.1); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(-1e-20); v[2] = REAL(0.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); // Check when value in first component (i.e. [0]) v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-1.0); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-0.1); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(0.0); v[1] = REAL(0.0); v[2] = REAL(-1e-20); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(9999999999.0); v[1] = REAL(0.0); v[2] = REAL(1e-20); dSafeNormalize3(v); CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0)); v[0] = REAL(9999999999.0); v[1] = REAL(9999.0); v[2] = REAL(9.0); dSafeNormalize3(v); CHECK_CLOSE(dCalcVectorLength3(v), REAL(1.0),REAL(0.001)); } TEST(test_dOrthogonalizeR) { { dMatrix3 r1 = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } { dMatrix3 r1 = { 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } { dMatrix3 r1 = { 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } { dMatrix3 r1 = { -1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } { dMatrix3 r1 = { 0, -1, 0, 0, 0, 0, 1, 0, -1, 0, 0, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } { dMatrix3 r1 = { 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, 0 }; dMatrix3 r2; memcpy(r2, r1, sizeof(dMatrix3)); dOrthogonalizeR(r2); CHECK_ARRAY_EQUAL(r1, r2, 12); } }