/*
* This file is part of the Colobot: Gold Edition source code
* Copyright (C) 2001-2014, Daniel Roux, EPSITEC SA & TerranovaTeam
* http://epsiteŃ.ch; http://colobot.info; http://github.com/colobot
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program 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 GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://gnu.org/licenses
*/
/*
Unit tests for Matrix struct
Test data was randomly generated and the expected results
calculated using GNU Octave.
*/
#include "math/func.h"
#include "math/matrix.h"
#include <gtest/gtest.h>
const float TEST_TOLERANCE = 1e-6;
TEST(MatrixTest, TransposeTest)
{
const Math::Matrix mat(
(float[4][4])
{
{ -0.07011674491203920, 1.26145596067429810, 2.09476603598066902, 0.35560176915570696 },
{ -1.34075615966224704, 1.17988499016709314, 0.00601713429241016, -0.75213676977972566 },
{ 0.59186722295223981, 0.88089224074765293, 0.70994467464257294, 0.36730385425340212 },
{ -0.95649396555068111, 0.75912182022565566, 1.34883305778387186, -1.34957997578168754 }
}
);
const Math::Matrix expectedTranspose(
(float[4][4])
{
{ -0.07011674491203920, -1.34075615966224704, 0.59186722295223981, -0.95649396555068111 },
{ 1.26145596067429810, 1.17988499016709314, 0.88089224074765293, 0.75912182022565566 },
{ 2.09476603598066902, 0.00601713429241016, 0.70994467464257294, 1.34883305778387186 },
{ 0.35560176915570696, -0.75213676977972566, 0.36730385425340212, -1.34957997578168754 }
}
);
Math::Matrix transpose = Math::Transpose(mat);
EXPECT_TRUE(Math::MatricesEqual(transpose, expectedTranspose, TEST_TOLERANCE));
}
TEST(MatrixTest, CofactorTest)
{
const Math::Matrix mat1(
(float[4][4])
{
{ 0.610630320796245, 1.059932357918312, -1.581674311378210, 1.782214448453331 },
{ 0.191028848211526, -0.813898708757524, 1.516114203870644, 0.395202639476002 },
{ 0.335142750345279, -0.346586619596529, 0.545382042472336, -0.879268918923072 },
{ 1.417588151657198, 1.450841789070141, 0.219080104196171, 0.378724047481655 }
}
);
const Math::Matrix expectedCofactors1(
(float[4][4])
{
{ -2.402679369186782, 2.282452509293019, 1.722732204057644, -0.746939701104385 },
{ -0.687677756877654, 1.168949180331164, -0.985354966837796, -1.334071111592705 },
{ -5.115621958424845, 4.229724770159009, 2.529000630782808, 1.481632618355891 },
{ 0.147480897398694, -2.140677680337111, -1.207189492265546, 0.151236920408051 }
}
);
for (int r = 0; r < 4; ++r)
{
for (int c = 0; c < 4; ++c)
{
float ret = mat1.Cofactor(r, c);
float exp = expectedCofactors1.m[4*c+r];
EXPECT_TRUE(Math::IsEqual(ret, exp, TEST_TOLERANCE));
}
}
const Math::Matrix mat2(
(float[4][4])
{
{ 0.9845099464982393, -0.9091233416532389, -0.6272243714245945, 0.4645001858944354 },
{ -0.1333308471483736, 0.9128181433725897, -1.0937461393836190, 0.3180936795928376 },
{ -0.0654324396846289, 0.1014641705415945, 1.5107709042683430, -0.0240560430414690 },
{ 0.0179638644093347, -1.0695585982782767, -0.1741250853101032, 1.0803106709464336 }
}
);
const Math::Matrix expectedCofactors2(
(float[4][4])
{
{ 2.0861102207614466, 0.2989010779528912, 0.0746276150537432, 0.2732659822656097 },
{ 0.6850002886584565, 1.5513169659641379, -0.0503743176545917, 1.5163672441575642 },
{ 1.2385556680997216, 1.1827709562505695, 1.2282813085138962, 1.3483789679871401 },
{ -1.0710790241539783, -0.5589604503588883, 0.0100959837872308, 1.1897872684455839 }
}
);
for (int r = 0; r < 4; ++r)
{
for (int c = 0; c < 4; ++c)
{
float ret = mat2.Cofactor(r, c);
float exp = expectedCofactors2.m[4*c+r];
EXPECT_TRUE(Math::IsEqual(ret, exp, TEST_TOLERANCE));
}
}
}
TEST(MatrixTest, DetTest)
{
const Math::Matrix mat1(
(float[4][4])
{
{ -0.95880162984708284, 0.24004047608997131, -0.78172309932665407, -0.11604124457222834 },
{ -0.36230592086261376, -0.75778166876017261, 0.33041059404631740, -1.06001391941094836 },
{ 0.00260215210936187, 1.27485610196385113, -0.26149859846418033, -0.59669701186364876 },
{ 0.36899429848485432, 3.01720896813933104, 2.10311476609438719, -1.68627076626448269 }
}
);
const float expectedDet1 = 4.07415413729671;
float ret1 = mat1.Det();
EXPECT_TRUE(Math::IsEqual(ret1, expectedDet1, TEST_TOLERANCE));
const Math::Matrix mat2(
(float[4][4])
{
{ -1.0860073221346871, 0.9150354098189495, -0.2723201933559999, 0.2922832160271507 },
{ -1.0248331304801788, -2.5081237461125205, -1.0277123574586633, -0.2254690663329798 },
{ -1.4227635282899367, -0.0403846809122684, 0.9216148477171653, 1.2517067488015878 },
{ -0.1160254467152022, 0.8270675274393656, 1.0327218739781614, -0.3674886870220400 }
}
);
const float expectedDet2 = -6.35122307880942;
float ret2 = mat2.Det();
EXPECT_TRUE(Math::IsEqual(ret2, expectedDet2, TEST_TOLERANCE));
}
TEST(MatrixTest, InverseTest)
{
const Math::Matrix mat1(
(float[4][4])
{
{ -2.2829352811514658, -0.9103222363187888, 0.2792976509411680, -0.7984393573193174 },
{ 2.4823665798689589, -0.0599056759070980, 0.3832364352926366, -1.6404257204372739 },
{ -0.3841952272526398, -0.8377700696457873, -0.3416328338427138, 1.1746577275723329 },
{ 0.1746031241954947, -0.4952532117949962, 0.2155084379835037, -1.6586460437329220 }
}
);
const Math::Matrix expectedInverse1(
(float[4][4])
{
{ -0.119472603171041, 0.331675963276297, 0.187516809009720, -0.137720814290806 },
{ -0.387591686166085, -0.487284946727583, -0.798527541290274, 0.102991635972060 },
{ 2.601905603425902, 2.606899016264679, -0.528006148839176, -4.204703326522837 },
{ 0.441220327151392, 0.519128136207318, 0.189567009205522, -1.194469716136194 }
}
);
Math::Matrix inverse1 = mat1.Inverse();
EXPECT_TRUE(Math::MatricesEqual(inverse1, expectedInverse1, TEST_TOLERANCE));
const Math::Matrix mat2(
(float[4][4])
{
{ -0.05464332404298505, -0.64357755258235749, -0.13017671677619302, -0.56742332785888006 },
{ 0.29048383600458222, -0.91517047043724875, 0.84517524415561684, 0.51628195547960565 },
{ 0.00946488004480186, -0.89077382212689293, 0.73565573766341397, -0.15932513521840930 },
{ -1.01244718912499132, -0.27840911963972276, -0.39189681211309862, 1.18315064340192055 }
}
);
const Math::Matrix expectedInverse2(
(float[4][4])
{
{ 0.771302711132012, 1.587542278361995, -2.003075114445104, -0.592574156227379 },
{ -1.208929259769431, -0.786598967848473, 0.607335305808052, -0.154759693303324 },
{ -1.500037668208218, -0.774300278997914, 1.917800427261255, -0.123268572651291 },
{ -0.121314770937944, 0.916925149209746, -0.935924950785014, 0.260875394250671 }
}
);
Math::Matrix inverse2 = mat2.Inverse();
EXPECT_TRUE(Math::MatricesEqual(inverse2, expectedInverse2, TEST_TOLERANCE));
}
TEST(MatrixTest, MultiplyTest)
{
const Math::Matrix mat1A(
(float[4][4])
{
{ 0.6561727049162027, -1.4180263627131411, -0.8271026046117423, 2.3919331748512578 },
{ -0.6035665535146352, 0.0150827348790615, -0.7090794192822540, 0.9057604704594814 },
{ -0.9871045001223655, -0.4980646811455065, 0.3806177002298990, 0.1520583649240934 },
{ -0.2721911170792712, 0.7627928194552067, -0.1504091336784158, 0.9747545351840121 }
}
);
const Math::Matrix mat1B(
(float[4][4])
{
{ -0.2643735892448818, -0.7542994492819621, 0.6082322350568750, 0.0581733424861419 },
{ 1.0293246070431237, 0.1979285388251341, -0.2932031385332818, 0.8838407179018929 },
{ 0.3448687251553114, 0.5031654871245456, 0.7554693012922442, -0.4845315903845708 },
{ -1.8662838497278593, -0.7843850624747805, 0.1389026096476257, -1.3686415408300689 }
}
);
const Math::Matrix expectedMultiply1(
(float[4][4])
{
{ -6.382352236417988, -3.067984733682130, 0.522270304251466, -4.088079444498280 },
{ -1.759853366848825, -0.608994052024491, -0.781406179437379, -0.917870775786188 },
{ -0.404226802169062, 0.718232546720114, -0.145688356880835, -0.890167707987175 },
{ -1.013918490922430, -0.483971504099758, -0.367442194643757, -0.602858486133615 }
}
);
Math::Matrix multiply1 = Math::MultiplyMatrices(mat1A, mat1B);
EXPECT_TRUE(Math::MatricesEqual(multiply1, expectedMultiply1, TEST_TOLERANCE));
const Math::Matrix mat2A(
(float[4][4])
{
{ 0.8697203025776754, 2.1259475710644935, 1.7856691009707812, -2.1563963348328126 },
{ 1.5888074489288735, -0.0794849733953615, 0.7307782768677457, 0.7943129159612630 },
{ 0.2859761537233830, -0.6231231890384962, -0.0496743172880377, -0.8137857518646087 },
{ 1.2670547229512983, -0.5305171374831831, -0.4987412674062375, -1.1257327113869595 }
}
);
const Math::Matrix mat2B(
(float[4][4])
{
{ 1.1321105701165317, 0.1759563504574463, -2.0675778912000418, 1.4840339814245538 },
{ -1.5117280888829916, -0.0933013188828093, -0.2079262944351640, 0.9575727579539316 },
{ 0.3615378398970173, 1.2465163589027248, 1.1326150997082589, 0.9921208694352303 },
{ -0.7357104529373861, -0.4774022005969588, -0.2118739096676499, 1.1427567093270703 }
}
);
const Math::Matrix expectedMultiply2(
(float[4][4])
{
{ 0.00283516267056338, 3.21001319965989307, 0.23910503934370686, 2.63380716363006107 },
{ 1.59868505822469742, 0.81869715594617765, -2.60905981088293570, 3.91445839239110294 },
{ 1.84650099286297942, 0.43504079532852930, -0.34555619012424243, -1.15152951542451487 },
{ 2.88434318563174585, 0.18818239851585700, -2.83579436909308980, -0.40890672198610400 }
}
);
Math::Matrix multiply2 = Math::MultiplyMatrices(mat2A, mat2B);
EXPECT_TRUE(Math::MatricesEqual(multiply2, expectedMultiply2, TEST_TOLERANCE));
}
TEST(MatrixTest, MultiplyVectorTest)
{
const Math::Matrix mat1(
(float[4][4])
{
{ 0.188562846910008, -0.015148651460679, 0.394512304108827, 0.906910631257135 },
{ -0.297506779519667, 0.940119328178913, 0.970957796752517, 0.310559318965526 },
{ -0.819770525290873, -2.316574438778879, 0.155756069319732, -0.855661405742964 },
{ 0.000000000000000, 0.000000000000000, 0.000000000000000, 1.000000000000000 }
}
);
const Math::Vector vec1(-0.824708565156661, -1.598287748103842, -0.422498044734181);
const Math::Vector expectedMultiply1(0.608932463260470, -1.356893266403749, 3.457156276255142);
Math::Vector multiply1 = Math::MatrixVectorMultiply(mat1, vec1, false);
EXPECT_TRUE(Math::VectorsEqual(multiply1, expectedMultiply1, TEST_TOLERANCE));
const Math::Matrix mat2(
(float[4][4])
{
{ -0.63287117038834284, 0.55148060401816856, -0.02042395559467368, -1.50367083897656850 },
{ 0.69629042156335297, 0.12982747869796774, -1.16250029235919405, 1.19084447253756909 },
{ 0.44164132914357224, -0.15169304045662041, -0.00880583574621390, -0.55817802940035310 },
{ 0.95680476533530789, -1.51912346889253125, -0.74209769406615944, -0.20938988867903682 }
}
);
const Math::Vector vec2(0.330987381051962, 1.494375516393466, 1.483422335561857);
const Math::Vector expectedMultiply2(0.2816820577317669, 0.0334468811767428, 0.1996974284970455);
Math::Vector multiply2 = Math::MatrixVectorMultiply(mat2, vec2, true);
EXPECT_TRUE(Math::VectorsEqual(multiply2, expectedMultiply2, TEST_TOLERANCE));
}