move vector math out of libui
created a new header-only static libmath lib
Test: built & ran
Bug: n/a
Change-Id: Ic63ef5f54d9a0de07a9ab9e4d67be01ab6169fc0
diff --git a/libs/math/tests/mat_test.cpp b/libs/math/tests/mat_test.cpp
new file mode 100644
index 0000000..c365366
--- /dev/null
+++ b/libs/math/tests/mat_test.cpp
@@ -0,0 +1,692 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "MatTest"
+
+#include <stdlib.h>
+
+#include <limits>
+#include <random>
+#include <functional>
+
+#include <gtest/gtest.h>
+
+#include <math/mat2.h>
+#include <math/mat4.h>
+
+namespace android {
+
+class MatTest : public testing::Test {
+protected:
+};
+
+TEST_F(MatTest, Basics) {
+ mat4 m0;
+ EXPECT_EQ(sizeof(mat4), sizeof(float)*16);
+}
+
+TEST_F(MatTest, ComparisonOps) {
+ mat4 m0;
+ mat4 m1(2);
+
+ EXPECT_TRUE(m0 == m0);
+ EXPECT_TRUE(m0 != m1);
+ EXPECT_FALSE(m0 != m0);
+ EXPECT_FALSE(m0 == m1);
+}
+
+TEST_F(MatTest, Constructors) {
+ mat4 m0;
+ ASSERT_EQ(m0[0].x, 1);
+ ASSERT_EQ(m0[0].y, 0);
+ ASSERT_EQ(m0[0].z, 0);
+ ASSERT_EQ(m0[0].w, 0);
+ ASSERT_EQ(m0[1].x, 0);
+ ASSERT_EQ(m0[1].y, 1);
+ ASSERT_EQ(m0[1].z, 0);
+ ASSERT_EQ(m0[1].w, 0);
+ ASSERT_EQ(m0[2].x, 0);
+ ASSERT_EQ(m0[2].y, 0);
+ ASSERT_EQ(m0[2].z, 1);
+ ASSERT_EQ(m0[2].w, 0);
+ ASSERT_EQ(m0[3].x, 0);
+ ASSERT_EQ(m0[3].y, 0);
+ ASSERT_EQ(m0[3].z, 0);
+ ASSERT_EQ(m0[3].w, 1);
+
+ mat4 m1(2);
+ mat4 m2(vec4(2));
+ mat4 m3(m2);
+
+ EXPECT_EQ(m1, m2);
+ EXPECT_EQ(m2, m3);
+ EXPECT_EQ(m3, m1);
+
+ mat4 m4(vec4(1), vec4(2), vec4(3), vec4(4));
+}
+
+TEST_F(MatTest, ArithmeticOps) {
+ mat4 m0;
+ mat4 m1(2);
+ mat4 m2(vec4(2));
+
+ m1 += m2;
+ EXPECT_EQ(mat4(4), m1);
+
+ m2 -= m1;
+ EXPECT_EQ(mat4(-2), m2);
+
+ m1 *= 2;
+ EXPECT_EQ(mat4(8), m1);
+
+ m1 /= 2;
+ EXPECT_EQ(mat4(4), m1);
+
+ m0 = -m0;
+ EXPECT_EQ(mat4(-1), m0);
+}
+
+TEST_F(MatTest, UnaryOps) {
+ const mat4 identity;
+ mat4 m0;
+
+ m0 = -m0;
+ EXPECT_EQ(mat4(vec4(-1, 0, 0, 0),
+ vec4(0, -1, 0, 0),
+ vec4(0, 0, -1, 0),
+ vec4(0, 0, 0, -1)), m0);
+
+ m0 = -m0;
+ EXPECT_EQ(identity, m0);
+}
+
+TEST_F(MatTest, MiscOps) {
+ const mat4 identity;
+ mat4 m0;
+ EXPECT_EQ(4, trace(m0));
+
+ mat4 m1(vec4(1, 2, 3, 4), vec4(5, 6, 7, 8), vec4(9, 10, 11, 12), vec4(13, 14, 15, 16));
+ mat4 m2(vec4(1, 5, 9, 13), vec4(2, 6, 10, 14), vec4(3, 7, 11, 15), vec4(4, 8, 12, 16));
+ EXPECT_EQ(m1, transpose(m2));
+ EXPECT_EQ(m2, transpose(m1));
+ EXPECT_EQ(vec4(1, 6, 11, 16), diag(m1));
+
+ EXPECT_EQ(identity, inverse(identity));
+
+ mat4 m3(vec4(4, 3, 0, 0), vec4(3, 2, 0, 0), vec4(0, 0, 1, 0), vec4(0, 0, 0, 1));
+ mat4 m3i(inverse(m3));
+ EXPECT_FLOAT_EQ(-2, m3i[0][0]);
+ EXPECT_FLOAT_EQ(3, m3i[0][1]);
+ EXPECT_FLOAT_EQ(3, m3i[1][0]);
+ EXPECT_FLOAT_EQ(-4, m3i[1][1]);
+
+ mat4 m3ii(inverse(m3i));
+ EXPECT_FLOAT_EQ(m3[0][0], m3ii[0][0]);
+ EXPECT_FLOAT_EQ(m3[0][1], m3ii[0][1]);
+ EXPECT_FLOAT_EQ(m3[1][0], m3ii[1][0]);
+ EXPECT_FLOAT_EQ(m3[1][1], m3ii[1][1]);
+
+ EXPECT_EQ(m1, m1*identity);
+
+
+ for (size_t c=0 ; c<4 ; c++) {
+ for (size_t r=0 ; r<4 ; r++) {
+ EXPECT_FLOAT_EQ(m1[c][r], m1(r, c));
+ }
+ }
+}
+
+TEST_F(MatTest, ElementAccess) {
+ mat4 m(vec4(1, 2, 3, 4), vec4(5, 6, 7, 8), vec4(9, 10, 11, 12), vec4(13, 14, 15, 16));
+ for (size_t c=0 ; c<4 ; c++) {
+ for (size_t r=0 ; r<4 ; r++) {
+ EXPECT_FLOAT_EQ(m[c][r], m(r, c));
+ }
+ }
+
+ m(3,2) = 100;
+ EXPECT_FLOAT_EQ(m[2][3], 100);
+ EXPECT_FLOAT_EQ(m(3, 2), 100);
+}
+
+//------------------------------------------------------------------------------
+// MAT 3
+//------------------------------------------------------------------------------
+
+class Mat3Test : public testing::Test {
+protected:
+};
+
+TEST_F(Mat3Test, Basics) {
+ mat3 m0;
+ EXPECT_EQ(sizeof(mat3), sizeof(float)*9);
+}
+
+TEST_F(Mat3Test, ComparisonOps) {
+ mat3 m0;
+ mat3 m1(2);
+
+ EXPECT_TRUE(m0 == m0);
+ EXPECT_TRUE(m0 != m1);
+ EXPECT_FALSE(m0 != m0);
+ EXPECT_FALSE(m0 == m1);
+}
+
+TEST_F(Mat3Test, Constructors) {
+ mat3 m0;
+ ASSERT_EQ(m0[0].x, 1);
+ ASSERT_EQ(m0[0].y, 0);
+ ASSERT_EQ(m0[0].z, 0);
+ ASSERT_EQ(m0[1].x, 0);
+ ASSERT_EQ(m0[1].y, 1);
+ ASSERT_EQ(m0[1].z, 0);
+ ASSERT_EQ(m0[2].x, 0);
+ ASSERT_EQ(m0[2].y, 0);
+ ASSERT_EQ(m0[2].z, 1);
+
+ mat3 m1(2);
+ mat3 m2(vec3(2));
+ mat3 m3(m2);
+
+ EXPECT_EQ(m1, m2);
+ EXPECT_EQ(m2, m3);
+ EXPECT_EQ(m3, m1);
+}
+
+TEST_F(Mat3Test, ArithmeticOps) {
+ mat3 m0;
+ mat3 m1(2);
+ mat3 m2(vec3(2));
+
+ m1 += m2;
+ EXPECT_EQ(mat3(4), m1);
+
+ m2 -= m1;
+ EXPECT_EQ(mat3(-2), m2);
+
+ m1 *= 2;
+ EXPECT_EQ(mat3(8), m1);
+
+ m1 /= 2;
+ EXPECT_EQ(mat3(4), m1);
+
+ m0 = -m0;
+ EXPECT_EQ(mat3(-1), m0);
+}
+
+TEST_F(Mat3Test, UnaryOps) {
+ const mat3 identity;
+ mat3 m0;
+
+ m0 = -m0;
+ EXPECT_EQ(mat3(vec3(-1, 0, 0),
+ vec3(0, -1, 0),
+ vec3(0, 0, -1)), m0);
+
+ m0 = -m0;
+ EXPECT_EQ(identity, m0);
+}
+
+TEST_F(Mat3Test, MiscOps) {
+ const mat3 identity;
+ mat3 m0;
+ EXPECT_EQ(3, trace(m0));
+
+ mat3 m1(vec3(1, 2, 3), vec3(4, 5, 6), vec3(7, 8, 9));
+ mat3 m2(vec3(1, 4, 7), vec3(2, 5, 8), vec3(3, 6, 9));
+ EXPECT_EQ(m1, transpose(m2));
+ EXPECT_EQ(m2, transpose(m1));
+ EXPECT_EQ(vec3(1, 5, 9), diag(m1));
+
+ EXPECT_EQ(identity, inverse(identity));
+
+ mat3 m3(vec3(4, 3, 0), vec3(3, 2, 0), vec3(0, 0, 1));
+ mat3 m3i(inverse(m3));
+ EXPECT_FLOAT_EQ(-2, m3i[0][0]);
+ EXPECT_FLOAT_EQ(3, m3i[0][1]);
+ EXPECT_FLOAT_EQ(3, m3i[1][0]);
+ EXPECT_FLOAT_EQ(-4, m3i[1][1]);
+
+ mat3 m3ii(inverse(m3i));
+ EXPECT_FLOAT_EQ(m3[0][0], m3ii[0][0]);
+ EXPECT_FLOAT_EQ(m3[0][1], m3ii[0][1]);
+ EXPECT_FLOAT_EQ(m3[1][0], m3ii[1][0]);
+ EXPECT_FLOAT_EQ(m3[1][1], m3ii[1][1]);
+
+ EXPECT_EQ(m1, m1*identity);
+}
+
+//------------------------------------------------------------------------------
+// MAT 2
+//------------------------------------------------------------------------------
+
+class Mat2Test : public testing::Test {
+protected:
+};
+
+TEST_F(Mat2Test, Basics) {
+ mat2 m0;
+ EXPECT_EQ(sizeof(mat2), sizeof(float)*4);
+}
+
+TEST_F(Mat2Test, ComparisonOps) {
+ mat2 m0;
+ mat2 m1(2);
+
+ EXPECT_TRUE(m0 == m0);
+ EXPECT_TRUE(m0 != m1);
+ EXPECT_FALSE(m0 != m0);
+ EXPECT_FALSE(m0 == m1);
+}
+
+TEST_F(Mat2Test, Constructors) {
+ mat2 m0;
+ ASSERT_EQ(m0[0].x, 1);
+ ASSERT_EQ(m0[0].y, 0);
+ ASSERT_EQ(m0[1].x, 0);
+ ASSERT_EQ(m0[1].y, 1);
+
+ mat2 m1(2);
+ mat2 m2(vec2(2));
+ mat2 m3(m2);
+
+ EXPECT_EQ(m1, m2);
+ EXPECT_EQ(m2, m3);
+ EXPECT_EQ(m3, m1);
+}
+
+TEST_F(Mat2Test, ArithmeticOps) {
+ mat2 m0;
+ mat2 m1(2);
+ mat2 m2(vec2(2));
+
+ m1 += m2;
+ EXPECT_EQ(mat2(4), m1);
+
+ m2 -= m1;
+ EXPECT_EQ(mat2(-2), m2);
+
+ m1 *= 2;
+ EXPECT_EQ(mat2(8), m1);
+
+ m1 /= 2;
+ EXPECT_EQ(mat2(4), m1);
+
+ m0 = -m0;
+ EXPECT_EQ(mat2(-1), m0);
+}
+
+TEST_F(Mat2Test, UnaryOps) {
+ const mat2 identity;
+ mat2 m0;
+
+ m0 = -m0;
+ EXPECT_EQ(mat2(vec2(-1, 0),
+ vec2(0, -1)), m0);
+
+ m0 = -m0;
+ EXPECT_EQ(identity, m0);
+}
+
+TEST_F(Mat2Test, MiscOps) {
+ const mat2 identity;
+ mat2 m0;
+ EXPECT_EQ(2, trace(m0));
+
+ mat2 m1(vec2(1, 2), vec2(3, 4));
+ mat2 m2(vec2(1, 3), vec2(2, 4));
+ EXPECT_EQ(m1, transpose(m2));
+ EXPECT_EQ(m2, transpose(m1));
+ EXPECT_EQ(vec2(1, 4), diag(m1));
+
+ EXPECT_EQ(identity, inverse(identity));
+
+ EXPECT_EQ(m1, m1*identity);
+}
+
+//------------------------------------------------------------------------------
+// MORE MATRIX TESTS
+//------------------------------------------------------------------------------
+
+template <typename T>
+class MatTestT : public ::testing::Test {
+public:
+};
+
+typedef ::testing::Types<float,float> TestMatrixValueTypes;
+
+TYPED_TEST_CASE(MatTestT, TestMatrixValueTypes);
+
+#define TEST_MATRIX_INVERSE(MATRIX, EPSILON) \
+{ \
+ typedef decltype(MATRIX) MatrixType; \
+ MatrixType inv1 = inverse(MATRIX); \
+ MatrixType ident1 = MATRIX * inv1; \
+ static const MatrixType IDENTITY; \
+ for (size_t row = 0; row < MatrixType::ROW_SIZE; ++row) { \
+ for (size_t col = 0; col < MatrixType::COL_SIZE; ++col) { \
+ EXPECT_NEAR(ident1[row][col], IDENTITY[row][col], EPSILON); \
+ } \
+ } \
+}
+
+TYPED_TEST(MatTestT, Inverse4) {
+ typedef ::android::details::TMat44<TypeParam> M44T;
+
+ M44T m1(1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1);
+
+ M44T m2(0, -1, 0, 0,
+ 1, 0, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1);
+
+ M44T m3(1, 0, 0, 0,
+ 0, 2, 0, 0,
+ 0, 0, 0, 1,
+ 0, 0, -1, 0);
+
+ M44T m4(
+ 4.683281e-01, 1.251189e-02, -8.834660e-01, -4.726541e+00,
+ -8.749647e-01, 1.456563e-01, -4.617587e-01, 3.044795e+00,
+ 1.229049e-01, 9.892561e-01, 7.916244e-02, -6.737138e+00,
+ 0.000000e+00, 0.000000e+00, 0.000000e+00, 1.000000e+00);
+
+ M44T m5(
+ 4.683281e-01, 1.251189e-02, -8.834660e-01, -4.726541e+00,
+ -8.749647e-01, 1.456563e-01, -4.617587e-01, 3.044795e+00,
+ 1.229049e-01, 9.892561e-01, 7.916244e-02, -6.737138e+00,
+ 1.000000e+00, 2.000000e+00, 3.000000e+00, 4.000000e+00);
+
+ TEST_MATRIX_INVERSE(m1, 0);
+ TEST_MATRIX_INVERSE(m2, 0);
+ TEST_MATRIX_INVERSE(m3, 0);
+ TEST_MATRIX_INVERSE(m4, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+ TEST_MATRIX_INVERSE(m5, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+}
+
+//------------------------------------------------------------------------------
+TYPED_TEST(MatTestT, Inverse3) {
+ typedef ::android::details::TMat33<TypeParam> M33T;
+
+ M33T m1(1, 0, 0,
+ 0, 1, 0,
+ 0, 0, 1);
+
+ M33T m2(0, -1, 0,
+ 1, 0, 0,
+ 0, 0, 1);
+
+ M33T m3(2, 0, 0,
+ 0, 0, 1,
+ 0, -1, 0);
+
+ M33T m4(
+ 4.683281e-01, 1.251189e-02, 0.000000e+00,
+ -8.749647e-01, 1.456563e-01, 0.000000e+00,
+ 0.000000e+00, 0.000000e+00, 1.000000e+00);
+
+ M33T m5(
+ 4.683281e-01, 1.251189e-02, -8.834660e-01,
+ -8.749647e-01, 1.456563e-01, -4.617587e-01,
+ 1.229049e-01, 9.892561e-01, 7.916244e-02);
+
+ TEST_MATRIX_INVERSE(m1, 0);
+ TEST_MATRIX_INVERSE(m2, 0);
+ TEST_MATRIX_INVERSE(m3, 0);
+ TEST_MATRIX_INVERSE(m4, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+ TEST_MATRIX_INVERSE(m5, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+}
+
+//------------------------------------------------------------------------------
+TYPED_TEST(MatTestT, Inverse2) {
+ typedef ::android::details::TMat22<TypeParam> M22T;
+
+ M22T m1(1, 0,
+ 0, 1);
+
+ M22T m2(0, -1,
+ 1, 0);
+
+ M22T m3(
+ 4.683281e-01, 1.251189e-02,
+ -8.749647e-01, 1.456563e-01);
+
+ M22T m4(
+ 4.683281e-01, 1.251189e-02,
+ -8.749647e-01, 1.456563e-01);
+
+ TEST_MATRIX_INVERSE(m1, 0);
+ TEST_MATRIX_INVERSE(m2, 0);
+ TEST_MATRIX_INVERSE(m3, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+ TEST_MATRIX_INVERSE(m4, 20.0 * std::numeric_limits<TypeParam>::epsilon());
+}
+
+//------------------------------------------------------------------------------
+// A macro to help with vector comparisons within floating point range.
+#define EXPECT_VEC_EQ(VEC1, VEC2) \
+do { \
+ const decltype(VEC1) v1 = VEC1; \
+ const decltype(VEC2) v2 = VEC2; \
+ if (std::is_same<TypeParam,float>::value) { \
+ for (size_t i = 0; i < v1.size(); ++i) { \
+ EXPECT_FLOAT_EQ(v1[i], v2[i]); \
+ } \
+ } else if (std::is_same<TypeParam,float>::value) { \
+ for (size_t i = 0; i < v1.size(); ++i) { \
+ EXPECT_DOUBLE_EQ(v1[i], v2[i]); \
+ } \
+ } else { \
+ for (size_t i = 0; i < v1.size(); ++i) { \
+ EXPECT_EQ(v1[i], v2[i]); \
+ } \
+ } \
+} while(0)
+
+//------------------------------------------------------------------------------
+// A macro to help with type comparisons within floating point range.
+#define ASSERT_TYPE_EQ(T1, T2) \
+do { \
+ const decltype(T1) t1 = T1; \
+ const decltype(T2) t2 = T2; \
+ if (std::is_same<TypeParam,float>::value) { \
+ ASSERT_FLOAT_EQ(t1, t2); \
+ } else if (std::is_same<TypeParam,float>::value) { \
+ ASSERT_DOUBLE_EQ(t1, t2); \
+ } else { \
+ ASSERT_EQ(t1, t2); \
+ } \
+} while(0)
+
+//------------------------------------------------------------------------------
+// Test some translation stuff.
+TYPED_TEST(MatTestT, Translation4) {
+ typedef ::android::details::TMat44<TypeParam> M44T;
+ typedef ::android::details::TVec4<TypeParam> V4T;
+
+ V4T translateBy(-7.3, 1.1, 14.4, 0.0);
+ V4T translation(translateBy[0], translateBy[1], translateBy[2], 1.0);
+ M44T translation_matrix = M44T::translate(translation);
+
+ V4T p1(9.9, 3.1, 41.1, 1.0);
+ V4T p2(-18.0, 0.0, 1.77, 1.0);
+ V4T p3(0, 0, 0, 1);
+ V4T p4(-1000, -1000, 1000, 1.0);
+
+ EXPECT_VEC_EQ(translation_matrix * p1, translateBy + p1);
+ EXPECT_VEC_EQ(translation_matrix * p2, translateBy + p2);
+ EXPECT_VEC_EQ(translation_matrix * p3, translateBy + p3);
+ EXPECT_VEC_EQ(translation_matrix * p4, translateBy + p4);
+}
+
+//------------------------------------------------------------------------------
+template <typename MATRIX>
+static void verifyOrthonormal(const MATRIX& A) {
+ typedef typename MATRIX::value_type T;
+
+ static constexpr T value_eps = T(100) * std::numeric_limits<T>::epsilon();
+
+ const MATRIX prod = A * transpose(A);
+ for (size_t i = 0; i < MATRIX::NUM_COLS; ++i) {
+ for (size_t j = 0; j < MATRIX::NUM_ROWS; ++j) {
+ if (i == j) {
+ ASSERT_NEAR(prod[i][j], T(1), value_eps);
+ } else {
+ ASSERT_NEAR(prod[i][j], T(0), value_eps);
+ }
+ }
+ }
+}
+
+//------------------------------------------------------------------------------
+// Test euler code.
+TYPED_TEST(MatTestT, EulerZYX_44) {
+ typedef ::android::details::TMat44<TypeParam> M44T;
+
+ std::default_random_engine generator(82828);
+ std::uniform_real_distribution<float> distribution(-6.0 * 2.0*M_PI, 6.0 * 2.0*M_PI);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < 100; ++i) {
+ M44T m = M44T::eulerZYX(rand_gen(), rand_gen(), rand_gen());
+ verifyOrthonormal(m);
+ }
+
+ M44T m = M44T::eulerZYX(1, 2, 3);
+ verifyOrthonormal(m);
+}
+
+//------------------------------------------------------------------------------
+// Test euler code.
+TYPED_TEST(MatTestT, EulerZYX_33) {
+
+ typedef ::android::details::TMat33<TypeParam> M33T;
+
+ std::default_random_engine generator(112233);
+ std::uniform_real_distribution<float> distribution(-6.0 * 2.0*M_PI, 6.0 * 2.0*M_PI);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < 100; ++i) {
+ M33T m = M33T::eulerZYX(rand_gen(), rand_gen(), rand_gen());
+ verifyOrthonormal(m);
+ }
+
+ M33T m = M33T::eulerZYX(1, 2, 3);
+ verifyOrthonormal(m);
+}
+
+//------------------------------------------------------------------------------
+// Test to quaternion with post translation.
+TYPED_TEST(MatTestT, ToQuaternionPostTranslation) {
+
+ typedef ::android::details::TMat44<TypeParam> M44T;
+ typedef ::android::details::TVec4<TypeParam> V4T;
+ typedef ::android::details::TQuaternion<TypeParam> QuatT;
+
+ std::default_random_engine generator(112233);
+ std::uniform_real_distribution<float> distribution(-6.0 * 2.0*M_PI, 6.0 * 2.0*M_PI);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < 100; ++i) {
+ M44T r = M44T::eulerZYX(rand_gen(), rand_gen(), rand_gen());
+ M44T t = M44T::translate(V4T(rand_gen(), rand_gen(), rand_gen(), 1));
+ QuatT qr = r.toQuaternion();
+ M44T tr = t * r;
+ QuatT qtr = tr.toQuaternion();
+
+ ASSERT_TYPE_EQ(qr.x, qtr.x);
+ ASSERT_TYPE_EQ(qr.y, qtr.y);
+ ASSERT_TYPE_EQ(qr.z, qtr.z);
+ ASSERT_TYPE_EQ(qr.w, qtr.w);
+ }
+
+ M44T r = M44T::eulerZYX(1, 2, 3);
+ M44T t = M44T::translate(V4T(20, -15, 2, 1));
+ QuatT qr = r.toQuaternion();
+ M44T tr = t * r;
+ QuatT qtr = tr.toQuaternion();
+
+ ASSERT_TYPE_EQ(qr.x, qtr.x);
+ ASSERT_TYPE_EQ(qr.y, qtr.y);
+ ASSERT_TYPE_EQ(qr.z, qtr.z);
+ ASSERT_TYPE_EQ(qr.w, qtr.w);
+}
+
+//------------------------------------------------------------------------------
+// Test to quaternion with post translation.
+TYPED_TEST(MatTestT, ToQuaternionPointTransformation33) {
+ static constexpr TypeParam value_eps =
+ TypeParam(1000) * std::numeric_limits<TypeParam>::epsilon();
+
+ typedef ::android::details::TMat33<TypeParam> M33T;
+ typedef ::android::details::TVec3<TypeParam> V3T;
+ typedef ::android::details::TQuaternion<TypeParam> QuatT;
+
+ std::default_random_engine generator(112233);
+ std::uniform_real_distribution<float> distribution(-100.0, 100.0);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < 100; ++i) {
+ M33T r = M33T::eulerZYX(rand_gen(), rand_gen(), rand_gen());
+ QuatT qr = r.toQuaternion();
+ V3T p(rand_gen(), rand_gen(), rand_gen());
+
+ V3T pr = r * p;
+ V3T pq = qr * p;
+
+ ASSERT_NEAR(pr.x, pq.x, value_eps);
+ ASSERT_NEAR(pr.y, pq.y, value_eps);
+ ASSERT_NEAR(pr.z, pq.z, value_eps);
+ }
+}
+
+//------------------------------------------------------------------------------
+// Test to quaternion with post translation.
+TYPED_TEST(MatTestT, ToQuaternionPointTransformation44) {
+ static constexpr TypeParam value_eps =
+ TypeParam(1000) * std::numeric_limits<TypeParam>::epsilon();
+
+ typedef ::android::details::TMat44<TypeParam> M44T;
+ typedef ::android::details::TVec4<TypeParam> V4T;
+ typedef ::android::details::TVec3<TypeParam> V3T;
+ typedef ::android::details::TQuaternion<TypeParam> QuatT;
+
+ std::default_random_engine generator(992626);
+ std::uniform_real_distribution<float> distribution(-100.0, 100.0);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < 100; ++i) {
+ M44T r = M44T::eulerZYX(rand_gen(), rand_gen(), rand_gen());
+ QuatT qr = r.toQuaternion();
+ V3T p(rand_gen(), rand_gen(), rand_gen());
+
+ V4T pr = r * V4T(p.x, p.y, p.z, 1);
+ pr.x /= pr.w;
+ pr.y /= pr.w;
+ pr.z /= pr.w;
+ V3T pq = qr * p;
+
+ ASSERT_NEAR(pr.x, pq.x, value_eps);
+ ASSERT_NEAR(pr.y, pq.y, value_eps);
+ ASSERT_NEAR(pr.z, pq.z, value_eps);
+ }
+}
+
+#undef TEST_MATRIX_INVERSE
+
+}; // namespace android