/indra/llmath/tests/m3math_test.cpp

/** 
 * @file m3math_test.cpp
 * @author Adroit
 * @date 2007-03
 * @brief Test cases of m3math.h
 *
 * $LicenseInfo:firstyear=2007&license=viewerlgpl$
 * Second Life Viewer Source Code
 * Copyright (C) 2010, Linden Research, Inc.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation;
 * version 2.1 of the License only.
 * 
 * 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 GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 * 
 * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
 * $/LicenseInfo$
 */

#include "linden_common.h"

#include "../m3math.h"
#include "../v3math.h"
#include "../v4math.h"
#include "../m4math.h"
#include "../llquaternion.h"
#include "../v3dmath.h"

#include "../test/lltut.h"

#if LL_WINDOWS
// disable unreachable code warnings caused by usage of skip.
#pragma warning(disable: 4702)
#endif

#if LL_WINDOWS
// disable unreachable code warnings caused by usage of skip.
#pragma warning(disable: 4702)
#endif

namespace tut
{
	struct m3math_test
	{
	};
	typedef test_group<m3math_test> m3math_test_t;
	typedef m3math_test_t::object m3math_test_object_t;
	tut::m3math_test_t tut_m3math_test("m3math_h");

	//test case for setIdentity() fn.
	template<> template<>
	void m3math_test_object_t::test<1>()
	{
		LLMatrix3 llmat3_obj;
		llmat3_obj.setIdentity();
		ensure("LLMatrix3::setIdentity failed", 1.f == llmat3_obj.mMatrix[0][0] &&
					0.f == llmat3_obj.mMatrix[0][1] &&
					0.f == llmat3_obj.mMatrix[0][2] &&
					0.f == llmat3_obj.mMatrix[1][0] &&
					1.f == llmat3_obj.mMatrix[1][1] &&
					0.f == llmat3_obj.mMatrix[1][2] &&
					0.f == llmat3_obj.mMatrix[2][0] &&
					0.f == llmat3_obj.mMatrix[2][1] &&
					1.f == llmat3_obj.mMatrix[2][2]);
	}

	//test case for LLMatrix3& setZero() fn.
	template<> template<>
	void m3math_test_object_t::test<2>()
	{
		LLMatrix3 llmat3_obj(30, 1, 2, 3);
		llmat3_obj.setZero();

		ensure("LLMatrix3::setZero failed", 0.f == llmat3_obj.setZero().mMatrix[0][0] &&
					0.f == llmat3_obj.setZero().mMatrix[0][1] &&
					0.f == llmat3_obj.setZero().mMatrix[0][2] &&
					0.f == llmat3_obj.setZero().mMatrix[1][0] &&
					0.f == llmat3_obj.setZero().mMatrix[1][1] &&
					0.f == llmat3_obj.setZero().mMatrix[1][2] &&
					0.f == llmat3_obj.setZero().mMatrix[2][0] &&
					0.f == llmat3_obj.setZero().mMatrix[2][1] &&
					0.f == llmat3_obj.setZero().mMatrix[2][2]);
	}

	//test case for setRows(const LLVector3 &x_axis, const LLVector3 &y_axis, const LLVector3 &z_axis) fns.
	template<> template<>
	void m3math_test_object_t::test<3>()
	{
		LLMatrix3 llmat3_obj;
		LLVector3 vect1(2, 1, 4);
		LLVector3 vect2(3, 5, 7);
		LLVector3 vect3(6, 9, 7);
		llmat3_obj.setRows(vect1, vect2, vect3);
		ensure("LLVector3::setRows failed ", 2 == llmat3_obj.mMatrix[0][0] &&
						1 == llmat3_obj.mMatrix[0][1] &&
						4 == llmat3_obj.mMatrix[0][2] &&
						3 == llmat3_obj.mMatrix[1][0] &&
						5 == llmat3_obj.mMatrix[1][1] &&
						7 == llmat3_obj.mMatrix[1][2] &&
						6 == llmat3_obj.mMatrix[2][0] &&
						9 == llmat3_obj.mMatrix[2][1] &&
						7 == llmat3_obj.mMatrix[2][2]);
	}

	//test case for getFwdRow(), getLeftRow(), getUpRow() fns.
	template<> template<>
	void m3math_test_object_t::test<4>()
	{
		LLMatrix3 llmat3_obj;
		LLVector3 vect1(2, 1, 4);
		LLVector3 vect2(3, 5, 7);
		LLVector3 vect3(6, 9, 7);
		llmat3_obj.setRows(vect1, vect2, vect3);
		
		ensure("LLVector3::getFwdRow failed ", vect1 == llmat3_obj.getFwdRow());
		ensure("LLVector3::getLeftRow failed ", vect2 == llmat3_obj.getLeftRow());
		ensure("LLVector3::getUpRow failed ", vect3 == llmat3_obj.getUpRow());
	}

	//test case for operator*(const LLMatrix3 &a, const LLMatrix3 &b)
	template<> template<>
	void m3math_test_object_t::test<5>()
	{
		LLMatrix3 llmat_obj1;
		LLMatrix3 llmat_obj2;		
		LLMatrix3 llmat_obj3;
		
		LLVector3 llvec1(1, 3, 5);
		LLVector3 llvec2(3, 6, 1);
		LLVector3 llvec3(4, 6, 9);

		LLVector3 llvec4(1, 1, 5);
		LLVector3 llvec5(3, 6, 8);
		LLVector3 llvec6(8, 6, 2);

		LLVector3 llvec7(0, 0, 0);
		LLVector3 llvec8(0, 0, 0);
		LLVector3 llvec9(0, 0, 0);
		
		llmat_obj1.setRows(llvec1, llvec2, llvec3);
		llmat_obj2.setRows(llvec4, llvec5, llvec6);
		llmat_obj3.setRows(llvec7, llvec8, llvec9);
		llmat_obj3 = llmat_obj1 * llmat_obj2;
		ensure("LLMatrix3::operator*(const LLMatrix3 &a, const LLMatrix3 &b) failed", 
						50 == llmat_obj3.mMatrix[0][0] &&
						49 == llmat_obj3.mMatrix[0][1] &&
						39 == llmat_obj3.mMatrix[0][2] &&
						29 == llmat_obj3.mMatrix[1][0] &&
						45 == llmat_obj3.mMatrix[1][1] &&
						65 == llmat_obj3.mMatrix[1][2] &&
						94 == llmat_obj3.mMatrix[2][0] &&
						94 == llmat_obj3.mMatrix[2][1] &&
						86 == llmat_obj3.mMatrix[2][2]);
	}


	//test case for operator*(const LLVector3 &a, const LLMatrix3 &b)
	template<> template<>
	void m3math_test_object_t::test<6>()
	{
				
		LLMatrix3 llmat_obj1;
		
		LLVector3 llvec(1, 3, 5);
		LLVector3 res_vec(0, 0, 0);
		LLVector3 llvec1(1, 3, 5);
		LLVector3 llvec2(3, 6, 1);
		LLVector3 llvec3(4, 6, 9);
		
		llmat_obj1.setRows(llvec1, llvec2, llvec3);
		res_vec = llvec * llmat_obj1;

		LLVector3 expected_result(30, 51, 53);

		ensure("LLMatrix3::operator*(const LLVector3 &a, const LLMatrix3 &b) failed", res_vec == expected_result);
	}

	//test case for operator*(const LLVector3d &a, const LLMatrix3 &b) 
	template<> template<>
	void m3math_test_object_t::test<7>()
	{
		LLMatrix3 llmat_obj1;
		LLVector3d llvec3d1;		
		LLVector3d llvec3d2(0, 3, 4);

		LLVector3 llvec1(1, 3, 5);
		LLVector3 llvec2(3, 2, 1);
		LLVector3 llvec3(4, 6, 0);
		
		llmat_obj1.setRows(llvec1, llvec2, llvec3);
		llvec3d1 = llvec3d2 * llmat_obj1;

		LLVector3d expected_result(25, 30, 3);
		
		ensure("LLMatrix3::operator*(const LLVector3 &a, const LLMatrix3 &b) failed", llvec3d1 == expected_result);
	}

	// test case for operator==(const LLMatrix3 &a, const LLMatrix3 &b)
	template<> template<>
	void m3math_test_object_t::test<8>()
	{
		LLMatrix3 llmat_obj1;
		LLMatrix3 llmat_obj2;		
		
		LLVector3 llvec1(1, 3, 5);
		LLVector3 llvec2(3, 6, 1);
		LLVector3 llvec3(4, 6, 9);

		llmat_obj1.setRows(llvec1, llvec2, llvec3);
		llmat_obj2.setRows(llvec1, llvec2, llvec3);
		ensure("LLMatrix3::operator==(const LLMatrix3 &a, const LLMatrix3 &b) failed", llmat_obj1 == llmat_obj2);

		llmat_obj2.setRows(llvec2, llvec2, llvec3);
		ensure("LLMatrix3::operator!=(const LLMatrix3 &a, const LLMatrix3 &b) failed", llmat_obj1 != llmat_obj2);
	}

	//test case for quaternion() fn.
	template<> template<>
	void m3math_test_object_t::test<9>()
	{
		LLMatrix3 llmat_obj1;
		LLQuaternion llmat_quat;		
		
		LLVector3 llmat1(2.0f, 1.0f, 6.0f);
		LLVector3 llmat2(1.0f, 1.0f, 3.0f);
		LLVector3 llmat3(1.0f, 7.0f, 5.0f);

		llmat_obj1.setRows(llmat1, llmat2, llmat3);
		llmat_quat = llmat_obj1.quaternion();
		ensure("LLMatrix3::quaternion failed ", is_approx_equal(-0.66666669f, llmat_quat.mQ[0]) &&
						is_approx_equal(-0.83333337f, llmat_quat.mQ[1]) &&
						is_approx_equal(0.0f, llmat_quat.mQ[2]) &&
						is_approx_equal(1.5f, llmat_quat.mQ[3]));
	}

	//test case for transpose() fn.
	template<> template<>
	void m3math_test_object_t::test<10>()
	{
		LLMatrix3 llmat_obj;
	
		LLVector3 llvec1(1, 2, 3);
		LLVector3 llvec2(3, 2, 1);
		LLVector3 llvec3(2, 2, 2);

		llmat_obj.setRows(llvec1, llvec2, llvec3);
		llmat_obj.transpose();

		LLVector3 resllvec1(1, 3, 2);
		LLVector3 resllvec2(2, 2, 2);
		LLVector3 resllvec3(3, 1, 2);
		LLMatrix3 expectedllmat_obj;
		expectedllmat_obj.setRows(resllvec1, resllvec2, resllvec3);

		ensure("LLMatrix3::transpose failed ", llmat_obj == expectedllmat_obj);
	}
	
	//test case for determinant() fn.
	template<> template<>
	void m3math_test_object_t::test<11>()
	{
		LLMatrix3 llmat_obj1;
		
		LLVector3 llvec1(1, 2, 3);
		LLVector3 llvec2(3, 2, 1);
		LLVector3 llvec3(2, 2, 2);
		llmat_obj1.setRows(llvec1, llvec2, llvec3);
		ensure("LLMatrix3::determinant failed ",  0.0f == llmat_obj1.determinant());
	}

	//test case for orthogonalize() fn.
	template<> template<>
	void m3math_test_object_t::test<12>()
	{
		LLMatrix3 llmat_obj;

		LLVector3 llvec1(1, 4, 3);
		LLVector3 llvec2(1, 2, 0);
		LLVector3 llvec3(2, 4, 2);

        skip("This test fails depending on architecture. Need to fix comparison operation, is_approx_equal, to work on more than one platform.");

		llmat_obj.setRows(llvec1, llvec2, llvec3);
		llmat_obj.orthogonalize();

		ensure("LLMatrix3::orthogonalize failed ",
		       is_approx_equal(0.19611614f, llmat_obj.mMatrix[0][0]) &&
		       is_approx_equal(0.78446454f, llmat_obj.mMatrix[0][1]) &&
		       is_approx_equal(0.58834841f, llmat_obj.mMatrix[0][2]) &&
		       is_approx_equal(0.47628204f, llmat_obj.mMatrix[1][0]) &&
		       is_approx_equal(0.44826545f, llmat_obj.mMatrix[1][1]) &&
		       is_approx_equal(-0.75644795f, llmat_obj.mMatrix[1][2]) &&
		       is_approx_equal(-0.85714286f, llmat_obj.mMatrix[2][0]) &&
		       is_approx_equal(0.42857143f, llmat_obj.mMatrix[2][1]) &&
		       is_approx_equal(-0.28571429f, llmat_obj.mMatrix[2][2]));
	}

	//test case for adjointTranspose() fn.
	template<> template<>
	void m3math_test_object_t::test<13>()
	{
		LLMatrix3 llmat_obj;

		LLVector3 llvec1(3, 2, 1);
		LLVector3 llvec2(6, 2, 1);
		LLVector3 llvec3(3, 6, 8);

		llmat_obj.setRows(llvec1, llvec2, llvec3);
		llmat_obj.adjointTranspose();
		
		ensure("LLMatrix3::adjointTranspose failed ", 10 == llmat_obj.mMatrix[0][0] &&
						-45 == llmat_obj.mMatrix[1][0] &&
						30 == llmat_obj.mMatrix[2][0] &&
						-10 == llmat_obj.mMatrix[0][1] &&
						21 == llmat_obj.mMatrix[1][1] &&
						-12 == llmat_obj.mMatrix[2][1] &&
						0  == llmat_obj.mMatrix[0][2] &&
						3 == llmat_obj.mMatrix[1][2] &&
						-6 == llmat_obj.mMatrix[2][2]);
	}

	/* TBD: Need to add test cases for getEulerAngles() and setRot() functions */
}