784 lines
27 KiB
Rust
784 lines
27 KiB
Rust
// Copyright 2013-2014 The CGMath Developers. For a full listing of the authors,
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// refer to the Cargo.toml file at the top-level directory of this distribution.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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extern crate approx;
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extern crate cgmath;
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pub mod matrix2 {
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use std::f64;
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use cgmath::*;
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const A: Matrix2<f64> = Matrix2 { x: Vector2 { x: 1.0f64, y: 3.0f64 },
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y: Vector2 { x: 2.0f64, y: 4.0f64 } };
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const B: Matrix2<f64> = Matrix2 { x: Vector2 { x: 2.0f64, y: 4.0f64 },
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y: Vector2 { x: 3.0f64, y: 5.0f64 } };
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const C: Matrix2<f64> = Matrix2 { x: Vector2 { x: 2.0f64, y: 1.0f64 },
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y: Vector2 { x: 1.0f64, y: 2.0f64 } };
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const V: Vector2<f64> = Vector2 { x: 1.0f64, y: 2.0f64 };
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const F: f64 = 0.5;
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#[test]
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fn test_neg() {
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assert_eq!(-A,
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Matrix2::new(-1.0f64, -3.0f64,
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-2.0f64, -4.0f64));
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}
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#[test]
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fn test_mul_scalar() {
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let result = Matrix2::new(0.5f64, 1.5f64,
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1.0f64, 2.0f64) ;
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assert_eq!(A * F, result);
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assert_eq!(F * A, result);
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}
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#[test]
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fn test_div_scalar() {
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assert_eq!(A / F,
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Matrix2::new(2.0f64, 6.0f64,
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4.0f64, 8.0f64));
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assert_eq!(4.0f64 / C,
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Matrix2::new(2.0f64, 4.0f64,
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4.0f64, 2.0f64));
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}
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#[test]
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fn test_rem_scalar() {
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assert_eq!(A % 3.0f64,
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Matrix2::new(1.0f64, 0.0f64,
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2.0f64, 1.0f64));
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assert_eq!(3.0f64 % A,
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Matrix2::new(0.0f64, 0.0f64,
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1.0f64, 3.0f64));
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}
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#[test]
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fn test_add_matrix() {
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assert_eq!(A + B,
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Matrix2::new(3.0f64, 7.0f64,
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5.0f64, 9.0f64));
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}
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#[test]
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fn test_sub_matrix() {
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assert_eq!(A - B,
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Matrix2::new(-1.0f64, -1.0f64,
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-1.0f64, -1.0f64));
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}
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#[test]
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fn test_mul_vector() {
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assert_eq!(A * V, Vector2::new(5.0f64, 11.0f64));
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}
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#[test]
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fn test_mul_matrix() {
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assert_eq!(A * B,
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Matrix2::new(10.0f64, 22.0f64,
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13.0f64, 29.0f64));
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assert_eq!(A * B, &A * &B);
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}
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#[test]
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fn test_sum_matrix() {
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assert_eq!(A + B + C, [A, B, C].iter().sum());
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assert_eq!(A + B + C, [A, B, C].iter().cloned().sum());
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}
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#[test]
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fn test_product_matrix() {
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assert_eq!(A * B * C, [A, B, C].iter().product());
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assert_eq!(A * B * C, [A, B, C].iter().cloned().product());
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}
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#[test]
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fn test_determinant() {
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assert_eq!(A.determinant(), -2.0f64)
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}
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#[test]
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fn test_trace() {
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assert_eq!(A.trace(), 5.0f64);
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}
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#[test]
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fn test_transpose() {
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assert_eq!(A.transpose(),
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Matrix2::<f64>::new(1.0f64, 2.0f64,
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3.0f64, 4.0f64));
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}
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#[test]
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fn test_transpose_self() {
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let mut mut_a = A;
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mut_a.transpose_self();
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assert_eq!(mut_a, A.transpose());
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}
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#[test]
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fn test_invert() {
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assert!(Matrix2::<f64>::identity().invert().unwrap().is_identity());
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assert_eq!(A.invert().unwrap(),
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Matrix2::new(-2.0f64, 1.5f64,
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1.0f64, -0.5f64));
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assert!(Matrix2::new(0.0f64, 2.0f64,
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0.0f64, 5.0f64).invert().is_none());
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}
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#[test]
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fn test_predicates() {
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assert!(Matrix2::<f64>::identity().is_identity());
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assert!(Matrix2::<f64>::identity().is_symmetric());
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assert!(Matrix2::<f64>::identity().is_diagonal());
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assert!(Matrix2::<f64>::identity().is_invertible());
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assert!(!A.is_identity());
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assert!(!A.is_symmetric());
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assert!(!A.is_diagonal());
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assert!(A.is_invertible());
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assert!(!C.is_identity());
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assert!(C.is_symmetric());
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assert!(!C.is_diagonal());
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assert!(C.is_invertible());
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assert!(Matrix2::from_value(6.0f64).is_diagonal());
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}
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#[test]
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fn test_from_angle() {
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// Rotate the vector (1, 0) by π/2 radians to the vector (0, 1)
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let rot1 = Matrix2::from_angle(Rad(0.5f64 * f64::consts::PI));
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assert_ulps_eq!(rot1 * Vector2::unit_x(), &Vector2::unit_y());
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// Rotate the vector (-1, 0) by -π/2 radians to the vector (0, 1)
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let rot2 = -rot1;
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assert_ulps_eq!(rot2 * -Vector2::unit_x(), &Vector2::unit_y());
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// Rotate the vector (1, 1) by π radians to the vector (-1, -1)
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let rot3: Matrix2<f64> = Matrix2::from_angle(Rad(f64::consts::PI));
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assert_ulps_eq!(rot3 * Vector2::new(1.0, 1.0), &Vector2::new(-1.0, -1.0));
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}
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}
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pub mod matrix3 {
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use cgmath::*;
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const A: Matrix3<f64> = Matrix3 { x: Vector3 { x: 1.0f64, y: 4.0f64, z: 7.0f64 },
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y: Vector3 { x: 2.0f64, y: 5.0f64, z: 8.0f64 },
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z: Vector3 { x: 3.0f64, y: 6.0f64, z: 9.0f64 } };
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const B: Matrix3<f64> = Matrix3 { x: Vector3 { x: 2.0f64, y: 5.0f64, z: 8.0f64 },
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y: Vector3 { x: 3.0f64, y: 6.0f64, z: 9.0f64 },
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z: Vector3 { x: 4.0f64, y: 7.0f64, z: 10.0f64 } };
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const C: Matrix3<f64> = Matrix3 { x: Vector3 { x: 2.0f64, y: 4.0f64, z: 6.0f64 },
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y: Vector3 { x: 0.0f64, y: 2.0f64, z: 4.0f64 },
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z: Vector3 { x: 0.0f64, y: 0.0f64, z: 1.0f64 } };
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const D: Matrix3<f64> = Matrix3 { x: Vector3 { x: 3.0f64, y: 2.0f64, z: 1.0f64 },
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y: Vector3 { x: 2.0f64, y: 3.0f64, z: 2.0f64 },
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z: Vector3 { x: 1.0f64, y: 2.0f64, z: 3.0f64 } };
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const V: Vector3<f64> = Vector3 { x: 1.0f64, y: 2.0f64, z: 3.0f64 };
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const F: f64 = 0.5;
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#[test]
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fn test_neg() {
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assert_eq!(-A,
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Matrix3::new(-1.0f64, -4.0f64, -7.0f64,
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-2.0f64, -5.0f64, -8.0f64,
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-3.0f64, -6.0f64, -9.0f64));
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}
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#[test]
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fn test_mul_scalar() {
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let result = Matrix3::new(0.5f64, 2.0f64, 3.5f64,
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1.0f64, 2.5f64, 4.0f64,
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1.5f64, 3.0f64, 4.5f64);
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assert_eq!(A * F, result);
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assert_eq!(F * A, result);
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}
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#[test]
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fn test_div_scalar() {
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assert_eq!(A / F,
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Matrix3::new(2.0f64, 8.0f64, 14.0f64,
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4.0f64, 10.0f64, 16.0f64,
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6.0f64, 12.0f64, 18.0f64));
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assert_eq!(6.0f64 / D,
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Matrix3::new(2.0f64, 3.0f64, 6.0f64,
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3.0f64, 2.0f64, 3.0f64,
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6.0f64, 3.0f64, 2.0f64));
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}
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#[test]
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fn test_rem_scalar() {
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assert_eq!(A % 3.0f64,
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Matrix3::new(1.0f64, 1.0f64, 1.0f64,
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2.0f64, 2.0f64, 2.0f64,
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0.0f64, 0.0f64, 0.0f64));
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assert_eq!(9.0f64 % A,
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Matrix3::new(0.0f64, 1.0f64, 2.0f64,
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1.0f64, 4.0f64, 1.0f64,
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0.0f64, 3.0f64, 0.0f64));
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}
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#[test]
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fn test_add_matrix() {
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assert_eq!(A + B,
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Matrix3::new(3.0f64, 9.0f64, 15.0f64,
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5.0f64, 11.0f64, 17.0f64,
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7.0f64, 13.0f64, 19.0f64));
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}
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#[test]
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fn test_sub_matrix() {
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assert_eq!(A - B,
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Matrix3::new(-1.0f64, -1.0f64, -1.0f64,
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-1.0f64, -1.0f64, -1.0f64,
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-1.0f64, -1.0f64, -1.0f64));
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}
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#[test]
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fn test_mul_vector() {
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assert_eq!(A * V, Vector3::new(14.0f64, 32.0f64, 50.0f64));
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}
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#[test]
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fn test_mul_matrix() {
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assert_eq!(A * B,
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Matrix3::new(36.0f64, 81.0f64, 126.0f64,
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42.0f64, 96.0f64, 150.0f64,
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48.0f64, 111.0f64, 174.0f64));
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assert_eq!(A * B, &A * &B);
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}
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#[test]
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fn test_sum_matrix() {
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assert_eq!(A + B + C + D, [A, B, C, D].iter().sum());
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assert_eq!(A + B + C + D, [A, B, C, D].iter().cloned().sum());
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}
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#[test]
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fn test_product_matrix() {
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assert_eq!(A * B * C * D, [A, B, C, D].iter().product());
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assert_eq!(A * B * C * D, [A, B, C, D].iter().cloned().product());
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}
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#[test]
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fn test_determinant() {
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assert_eq!(A.determinant(), 0.0f64);
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}
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#[test]
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fn test_trace() {
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assert_eq!(A.trace(), 15.0f64);
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}
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#[test]
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fn test_transpose() {
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assert_eq!(A.transpose(),
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Matrix3::<f64>::new(1.0f64, 2.0f64, 3.0f64,
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4.0f64, 5.0f64, 6.0f64,
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7.0f64, 8.0f64, 9.0f64));
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}
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#[test]
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fn test_transpose_self() {
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let mut mut_a = A;
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mut_a.transpose_self();
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assert_eq!(mut_a, A.transpose());
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}
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#[test]
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fn test_invert() {
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assert!(Matrix3::<f64>::identity().invert().unwrap().is_identity());
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assert_eq!(A.invert(), None);
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assert_eq!(C.invert().unwrap(),
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Matrix3::new(0.5f64, -1.0f64, 1.0f64,
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0.0f64, 0.5f64, -2.0f64,
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0.0f64, 0.0f64, 1.0f64));
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}
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#[test]
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fn test_predicates() {
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assert!(Matrix3::<f64>::identity().is_identity());
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assert!(Matrix3::<f64>::identity().is_symmetric());
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assert!(Matrix3::<f64>::identity().is_diagonal());
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assert!(Matrix3::<f64>::identity().is_invertible());
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assert!(!A.is_identity());
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assert!(!A.is_symmetric());
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assert!(!A.is_diagonal());
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assert!(!A.is_invertible());
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assert!(!D.is_identity());
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assert!(D.is_symmetric());
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assert!(!D.is_diagonal());
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assert!(D.is_invertible());
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assert!(Matrix3::from_value(6.0f64).is_diagonal());
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}
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mod from_axis_x {
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use cgmath::*;
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fn check_from_axis_angle_x(pitch: Rad<f32>) {
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let found = Matrix3::from_angle_x(pitch);
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let expected = Matrix3::from(Euler { x: pitch, y: Rad(0.0), z: Rad(0.0) });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_x(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_x(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_x(Rad(-1.0)); }
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}
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mod from_axis_y {
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use cgmath::*;
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fn check_from_axis_angle_y(yaw: Rad<f32>) {
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let found = Matrix3::from_angle_y(yaw);
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let expected = Matrix3::from(Euler { x: Rad(0.0), y: yaw, z: Rad(0.0) });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_y(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_y(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_y(Rad(-1.0)); }
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}
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mod from_axis_z {
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use cgmath::*;
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fn check_from_axis_angle_z(roll: Rad<f32>) {
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let found = Matrix3::from_angle_z(roll);
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let expected = Matrix3::from(Euler { x: Rad(0.0), y: Rad(0.0), z: roll });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_z(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_z(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_z(Rad(-1.0)); }
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}
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mod from_axis_angle {
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mod axis_x {
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use cgmath::*;
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fn check_from_axis_angle_x(pitch: Rad<f32>) {
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let found = Matrix3::from_axis_angle(Vector3::unit_x(), pitch);
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let expected = Matrix3::from(Euler { x: pitch, y: Rad(0.0), z: Rad(0.0) });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_x(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_x(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_x(Rad(-1.0)); }
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}
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mod axis_y {
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use cgmath::*;
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fn check_from_axis_angle_y(yaw: Rad<f32>) {
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let found = Matrix3::from_axis_angle(Vector3::unit_y(), yaw);
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let expected = Matrix3::from(Euler { x: Rad(0.0), y: yaw, z: Rad(0.0) });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_y(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_y(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_y(Rad(-1.0)); }
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}
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mod axis_z {
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use cgmath::*;
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fn check_from_axis_angle_z(roll: Rad<f32>) {
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let found = Matrix3::from_axis_angle(Vector3::unit_z(), roll);
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let expected = Matrix3::from(Euler { x: Rad(0.0), y: Rad(0.0), z: roll });
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assert_relative_eq!(found, expected, epsilon = 0.001);
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}
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#[test] fn test_zero() { check_from_axis_angle_z(Rad(0.0)); }
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#[test] fn test_pos_1() { check_from_axis_angle_z(Rad(1.0)); }
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#[test] fn test_neg_1() { check_from_axis_angle_z(Rad(-1.0)); }
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}
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}
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mod rotate_from_euler {
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use cgmath::*;
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#[test]
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fn test_x() {
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let vec = vec3(0.0, 0.0, 1.0);
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let rot = Matrix3::from(Euler::new(Deg(90.0), Deg(0.0), Deg(0.0)));
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assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
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let rot = Matrix3::from(Euler::new(Deg(-90.0), Deg(0.0), Deg(0.0)));
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assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
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}
|
|
|
|
#[test]
|
|
fn test_y() {
|
|
let vec = vec3(0.0, 0.0, 1.0);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(0.0), Deg(90.0), Deg(0.0)));
|
|
assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(0.0), Deg(-90.0), Deg(0.0)));
|
|
assert_ulps_eq!(vec3(-1.0, 0.0, 0.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_z() {
|
|
let vec = vec3(1.0, 0.0, 0.0);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(0.0), Deg(0.0), Deg(90.0)));
|
|
assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(0.0), Deg(0.0), Deg(-90.0)));
|
|
assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
|
|
}
|
|
|
|
|
|
// tests that the Y rotation is done after the X
|
|
#[test]
|
|
fn test_x_then_y() {
|
|
let vec = vec3(0.0, 1.0, 0.0);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(90.0), Deg(90.0), Deg(0.0)));
|
|
assert_ulps_eq!(vec3(0.0, 0.0, 1.0), rot * vec);
|
|
}
|
|
|
|
// tests that the Z rotation is done after the Y
|
|
#[test]
|
|
fn test_y_then_z() {
|
|
let vec = vec3(0.0, 0.0, 1.0);
|
|
|
|
let rot = Matrix3::from(Euler::new(Deg(0.0), Deg(90.0), Deg(90.0)));
|
|
assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
|
|
}
|
|
}
|
|
|
|
mod rotate_from_axis_angle {
|
|
use cgmath::*;
|
|
|
|
#[test]
|
|
fn test_x() {
|
|
let vec = vec3(0.0, 0.0, 1.0);
|
|
|
|
let rot = Matrix3::from_angle_x(Deg(90.0));
|
|
println!("x mat: {:?}", rot);
|
|
assert_ulps_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_y() {
|
|
let vec = vec3(0.0, 0.0, 1.0);
|
|
|
|
let rot = Matrix3::from_angle_y(Deg(90.0));
|
|
assert_ulps_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_z() {
|
|
let vec = vec3(1.0, 0.0, 0.0);
|
|
|
|
let rot = Matrix3::from_angle_z(Deg(90.0));
|
|
assert_ulps_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_xy() {
|
|
let vec = vec3(0.0, 0.0, 1.0);
|
|
|
|
let rot = Matrix3::from_axis_angle(vec3(1.0, 1.0, 0.0).normalize(), Deg(90.0));
|
|
assert_ulps_eq!(vec3(2.0f32.sqrt() / 2.0, -2.0f32.sqrt() / 2.0, 0.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_yz() {
|
|
let vec = vec3(1.0, 0.0, 0.0);
|
|
|
|
let rot = Matrix3::from_axis_angle(vec3(0.0, 1.0, 1.0).normalize(), Deg(-90.0));
|
|
assert_ulps_eq!(vec3(0.0, -2.0f32.sqrt() / 2.0, 2.0f32.sqrt() / 2.0), rot * vec);
|
|
}
|
|
|
|
#[test]
|
|
fn test_xz() {
|
|
let vec = vec3(0.0, 1.0, 0.0);
|
|
|
|
let rot = Matrix3::from_axis_angle(vec3(1.0, 0.0, 1.0).normalize(), Deg(90.0));
|
|
assert_ulps_eq!(vec3(-2.0f32.sqrt() / 2.0, 0.0, 2.0f32.sqrt() / 2.0), rot * vec);
|
|
}
|
|
}
|
|
}
|
|
|
|
pub mod matrix4 {
|
|
use cgmath::*;
|
|
|
|
const A: Matrix4<f64> = Matrix4 { x: Vector4 { x: 1.0f64, y: 5.0f64, z: 9.0f64, w: 13.0f64 },
|
|
y: Vector4 { x: 2.0f64, y: 6.0f64, z: 10.0f64, w: 14.0f64 },
|
|
z: Vector4 { x: 3.0f64, y: 7.0f64, z: 11.0f64, w: 15.0f64 },
|
|
w: Vector4 { x: 4.0f64, y: 8.0f64, z: 12.0f64, w: 16.0f64 } };
|
|
const B: Matrix4<f64> = Matrix4 { x: Vector4 { x: 2.0f64, y: 6.0f64, z: 10.0f64, w: 14.0f64 },
|
|
y: Vector4 { x: 3.0f64, y: 7.0f64, z: 11.0f64, w: 15.0f64 },
|
|
z: Vector4 { x: 4.0f64, y: 8.0f64, z: 12.0f64, w: 16.0f64 },
|
|
w: Vector4 { x: 5.0f64, y: 9.0f64, z: 13.0f64, w: 17.0f64 } };
|
|
const C: Matrix4<f64> = Matrix4 { x: Vector4 { x: 3.0f64, y: 2.0f64, z: 1.0f64, w: 1.0f64 },
|
|
y: Vector4 { x: 2.0f64, y: 3.0f64, z: 2.0f64, w: 2.0f64 },
|
|
z: Vector4 { x: 1.0f64, y: 2.0f64, z: 3.0f64, w: 3.0f64 },
|
|
w: Vector4 { x: 0.0f64, y: 1.0f64, z: 1.0f64, w: 0.0f64 } };
|
|
const D: Matrix4<f64> = Matrix4 { x: Vector4 { x: 4.0f64, y: 3.0f64, z: 2.0f64, w: 1.0f64 },
|
|
y: Vector4 { x: 3.0f64, y: 4.0f64, z: 3.0f64, w: 2.0f64 },
|
|
z: Vector4 { x: 2.0f64, y: 3.0f64, z: 4.0f64, w: 3.0f64 },
|
|
w: Vector4 { x: 1.0f64, y: 2.0f64, z: 3.0f64, w: 4.0f64 } };
|
|
|
|
const V: Vector4<f64> = Vector4 { x: 1.0f64, y: 2.0f64, z: 3.0f64, w: 4.0f64 };
|
|
const F: f64 = 0.5;
|
|
|
|
#[test]
|
|
fn test_neg() {
|
|
assert_eq!(-A,
|
|
Matrix4::new(-1.0f64, -5.0f64, -9.0f64, -13.0f64,
|
|
-2.0f64, -6.0f64, -10.0f64, -14.0f64,
|
|
-3.0f64, -7.0f64, -11.0f64, -15.0f64,
|
|
-4.0f64, -8.0f64, -12.0f64, -16.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_mul_scalar() {
|
|
let result = Matrix4::new(0.5f64, 2.5f64, 4.5f64, 6.5f64,
|
|
1.0f64, 3.0f64, 5.0f64, 7.0f64,
|
|
1.5f64, 3.5f64, 5.5f64, 7.5f64,
|
|
2.0f64, 4.0f64, 6.0f64, 8.0f64);
|
|
assert_eq!(A * F, result);
|
|
assert_eq!(F * A, result);
|
|
}
|
|
|
|
#[test]
|
|
fn test_div_scalar() {
|
|
assert_eq!(A / F,
|
|
Matrix4::new(2.0f64, 10.0f64, 18.0f64, 26.0f64,
|
|
4.0f64, 12.0f64, 20.0f64, 28.0f64,
|
|
6.0f64, 14.0f64, 22.0f64, 30.0f64,
|
|
8.0f64, 16.0f64, 24.0f64, 32.0f64));
|
|
assert_eq!(12.0f64 / D,
|
|
Matrix4::new( 3.0f64, 4.0f64, 6.0f64, 12.0f64,
|
|
4.0f64, 3.0f64, 4.0f64, 6.0f64,
|
|
6.0f64, 4.0f64, 3.0f64, 4.0f64,
|
|
12.0f64, 6.0f64, 4.0f64, 3.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_rem_scalar() {
|
|
assert_eq!(A % 4.0f64,
|
|
Matrix4::new(1.0f64, 1.0f64, 1.0f64, 1.0f64,
|
|
2.0f64, 2.0f64, 2.0f64, 2.0f64,
|
|
3.0f64, 3.0f64, 3.0f64, 3.0f64,
|
|
0.0f64, 0.0f64, 0.0f64, 0.0f64));
|
|
assert_eq!(16.0f64 % A,
|
|
Matrix4::new(0.0f64, 1.0f64, 7.0f64, 3.0f64,
|
|
0.0f64, 4.0f64, 6.0f64, 2.0f64,
|
|
1.0f64, 2.0f64, 5.0f64, 1.0f64,
|
|
0.0f64, 0.0f64, 4.0f64, 0.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_add_matrix() {
|
|
assert_eq!(A + B,
|
|
Matrix4::new(3.0f64, 11.0f64, 19.0f64, 27.0f64,
|
|
5.0f64, 13.0f64, 21.0f64, 29.0f64,
|
|
7.0f64, 15.0f64, 23.0f64, 31.0f64,
|
|
9.0f64, 17.0f64, 25.0f64, 33.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_sub_matrix() {
|
|
assert_eq!(A - B,
|
|
Matrix4::new(-1.0f64, -1.0f64, -1.0f64, -1.0f64,
|
|
-1.0f64, -1.0f64, -1.0f64, -1.0f64,
|
|
-1.0f64, -1.0f64, -1.0f64, -1.0f64,
|
|
-1.0f64, -1.0f64, -1.0f64, -1.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_mul_vector() {
|
|
assert_eq!(A * V, Vector4::new(30.0f64, 70.0f64, 110.0f64, 150.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_mul_matrix() {
|
|
assert_eq!(A * B,
|
|
Matrix4::new(100.0f64, 228.0f64, 356.0f64, 484.0f64,
|
|
110.0f64, 254.0f64, 398.0f64, 542.0f64,
|
|
120.0f64, 280.0f64, 440.0f64, 600.0f64,
|
|
130.0f64, 306.0f64, 482.0f64, 658.0f64));
|
|
|
|
assert_eq!(A * B, &A * &B);
|
|
}
|
|
|
|
#[test]
|
|
fn test_sum_matrix() {
|
|
assert_eq!(A + B + C + D, [A, B, C, D].iter().sum());
|
|
assert_eq!(A + B + C + D, [A, B, C, D].iter().cloned().sum());
|
|
}
|
|
|
|
#[test]
|
|
fn test_product_matrix() {
|
|
assert_eq!(A * B * C * D, [A, B, C, D].iter().product());
|
|
assert_eq!(A * B * C * D, [A, B, C, D].iter().cloned().product());
|
|
}
|
|
|
|
#[test]
|
|
fn test_determinant() {
|
|
assert_eq!(A.determinant(), 0.0f64);
|
|
}
|
|
|
|
#[test]
|
|
fn test_trace() {
|
|
assert_eq!(A.trace(), 34.0f64);
|
|
}
|
|
|
|
#[test]
|
|
fn test_transpose() {
|
|
assert_eq!(A.transpose(),
|
|
Matrix4::<f64>::new( 1.0f64, 2.0f64, 3.0f64, 4.0f64,
|
|
5.0f64, 6.0f64, 7.0f64, 8.0f64,
|
|
9.0f64, 10.0f64, 11.0f64, 12.0f64,
|
|
13.0f64, 14.0f64, 15.0f64, 16.0f64));
|
|
}
|
|
|
|
#[test]
|
|
fn test_transpose_self() {
|
|
let mut mut_a = A;
|
|
mut_a.transpose_self();
|
|
assert_eq!(mut_a, A.transpose());
|
|
}
|
|
|
|
#[test]
|
|
fn test_invert() {
|
|
assert!(Matrix4::<f64>::identity().invert().unwrap().is_identity());
|
|
|
|
assert_ulps_eq!(&C.invert().unwrap(), &(
|
|
Matrix4::new( 5.0f64, -4.0f64, 1.0f64, 0.0f64,
|
|
-4.0f64, 8.0f64, -4.0f64, 0.0f64,
|
|
4.0f64, -8.0f64, 4.0f64, 8.0f64,
|
|
-3.0f64, 4.0f64, 1.0f64, -8.0f64) * 0.125f64));
|
|
|
|
let mat_c = Matrix4::new(-0.131917f64, -0.76871f64, 0.625846f64, 0.0f64,
|
|
-0., 0.631364f64, 0.775487f64, 0.0f64,
|
|
-0.991261f64, 0.1023f64, -0.083287f64, 0.0f64,
|
|
0., -1.262728f64, -1.550973f64, 1.0f64);
|
|
assert!((mat_c.invert().unwrap() * mat_c).is_identity());
|
|
|
|
let mat_d = Matrix4::new( 0.065455f64, -0.720002f64, 0.690879f64, 0.0f64,
|
|
-0., 0.692364f64, 0.721549f64, 0.0f64,
|
|
-0.997856f64, -0.047229f64, 0.045318f64, 0.0f64,
|
|
0., -1.384727f64, -1.443098f64, 1.0f64);
|
|
assert!((mat_d.invert().unwrap() * mat_d).is_identity());
|
|
|
|
let mat_e = Matrix4::new( 0.409936f64, 0.683812f64, -0.603617f64, 0.0f64,
|
|
0., 0.661778f64, 0.7497f64, 0.0f64,
|
|
0.912114f64, -0.307329f64, 0.271286f64, 0.0f64,
|
|
-0., -1.323555f64, -1.499401f64, 1.0f64);
|
|
assert!((mat_e.invert().unwrap() * mat_e).is_identity());
|
|
|
|
let mat_f = Matrix4::new(-0.160691f64, -0.772608f64, 0.614211f64, 0.0f64,
|
|
-0., 0.622298f64, 0.78278f64, 0.0f64,
|
|
-0.987005f64, 0.125786f64, -0.099998f64, 0.0f64,
|
|
0., -1.244597f64, -1.565561f64, 1.0f64);
|
|
assert!((mat_f.invert().unwrap() * mat_f).is_identity());
|
|
}
|
|
|
|
#[test]
|
|
fn test_predicates() {
|
|
assert!(Matrix4::<f64>::identity().is_identity());
|
|
assert!(Matrix4::<f64>::identity().is_symmetric());
|
|
assert!(Matrix4::<f64>::identity().is_diagonal());
|
|
assert!(Matrix4::<f64>::identity().is_invertible());
|
|
|
|
assert!(!A.is_identity());
|
|
assert!(!A.is_symmetric());
|
|
assert!(!A.is_diagonal());
|
|
assert!(!A.is_invertible());
|
|
|
|
assert!(!D.is_identity());
|
|
assert!(D.is_symmetric());
|
|
assert!(!D.is_diagonal());
|
|
assert!(D.is_invertible());
|
|
|
|
assert!(Matrix4::from_value(6.0f64).is_diagonal());
|
|
}
|
|
|
|
#[test]
|
|
fn test_from_translation() {
|
|
let mat = Matrix4::from_translation(Vector3::new(1.0f64, 2.0f64, 3.0f64));
|
|
let vertex = Vector4::new(0.0f64, 0.0f64, 0.0f64, 1.0f64);
|
|
let res = mat * vertex;
|
|
assert_eq!(res, Vector4::new(1., 2., 3., 1.));
|
|
}
|
|
|
|
#[test]
|
|
fn test_cast() {
|
|
assert_ulps_eq!(Matrix2::new(0.2f64, 1.5, 4.7, 2.3).cast().unwrap(), Matrix2::new(0.2f32, 1.5, 4.7, 2.3));
|
|
assert_ulps_eq!(Matrix3::new(
|
|
0.2f64, 1.5, 4.7,
|
|
2.3, 5.7, 2.1,
|
|
4.6, 5.2, 6.6,
|
|
).cast().unwrap(), Matrix3::new(
|
|
0.2f32, 1.5, 4.7,
|
|
2.3, 5.7, 2.1,
|
|
4.6, 5.2, 6.6,
|
|
));
|
|
|
|
assert_ulps_eq!(Matrix4::new(
|
|
0.2f64, 1.5, 4.7, 2.5,
|
|
2.3, 5.7, 2.1, 1.1,
|
|
4.6, 5.2, 6.6, 0.2,
|
|
3.2, 1.8, 0.4, 2.9,
|
|
).cast().unwrap(), Matrix4::new(
|
|
0.2f32, 1.5, 4.7, 2.5,
|
|
2.3, 5.7, 2.1, 1.1,
|
|
4.6, 5.2, 6.6, 0.2,
|
|
3.2, 1.8, 0.4, 2.9,
|
|
));
|
|
|
|
}
|
|
|
|
mod from {
|
|
use cgmath::*;
|
|
|
|
#[test]
|
|
fn test_quaternion() {
|
|
let quaternion = Quaternion::new(2f32, 3f32, 4f32, 5f32);
|
|
|
|
let matrix_short = Matrix4::from(quaternion);
|
|
|
|
let matrix_long = Matrix3::from(quaternion);
|
|
let matrix_long = Matrix4::from(matrix_long);
|
|
|
|
assert_ulps_eq!(matrix_short, matrix_long);
|
|
}
|
|
}
|
|
}
|