148 lines
6.0 KiB
Rust
148 lines
6.0 KiB
Rust
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#[cfg(feature = "arbitrary")]
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#[macro_use]
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extern crate quickcheck;
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#[macro_use]
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extern crate approx;
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extern crate num_traits as num;
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extern crate alga;
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extern crate nalgebra as na;
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use alga::linear::Transformation;
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use na::{Vector3, Point3, Translation3, Isometry3, Similarity3, Affine3, Projective3, Transform3,
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Rotation3, UnitQuaternion};
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#[cfg(feature = "arbitrary")]
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quickcheck!{
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fn translation_conversion(t: Translation3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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let iso: Isometry3<f64> = na::convert(t);
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let sim: Similarity3<f64> = na::convert(t);
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let aff: Affine3<f64> = na::convert(t);
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let prj: Projective3<f64> = na::convert(t);
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let tr: Transform3<f64> = na::convert(t);
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t == na::try_convert(iso).unwrap() &&
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t == na::try_convert(sim).unwrap() &&
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t == na::try_convert(aff).unwrap() &&
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t == na::try_convert(prj).unwrap() &&
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t == na::try_convert(tr).unwrap() &&
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t.transform_vector(&v) == iso * v &&
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t.transform_vector(&v) == sim * v &&
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t.transform_vector(&v) == aff * v &&
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t.transform_vector(&v) == prj * v &&
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t.transform_vector(&v) == tr * v &&
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t * p == iso * p &&
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t * p == sim * p &&
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t * p == aff * p &&
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t * p == prj * p &&
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t * p == tr * p
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}
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fn rotation_conversion(r: Rotation3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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let uq: UnitQuaternion<f64> = na::convert(r);
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let iso: Isometry3<f64> = na::convert(r);
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let sim: Similarity3<f64> = na::convert(r);
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let aff: Affine3<f64> = na::convert(r);
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let prj: Projective3<f64> = na::convert(r);
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let tr: Transform3<f64> = na::convert(r);
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relative_eq!(r, na::try_convert(uq).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(r, na::try_convert(iso).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(r, na::try_convert(sim).unwrap(), epsilon = 1.0e-7) &&
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r == na::try_convert(aff).unwrap() &&
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r == na::try_convert(prj).unwrap() &&
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r == na::try_convert(tr).unwrap() &&
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// NOTE: we need relative_eq because IsometryBase and SimilarityBase use quaternions.
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relative_eq!(r * v, uq * v, epsilon = 1.0e-7) &&
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relative_eq!(r * v, iso * v, epsilon = 1.0e-7) &&
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relative_eq!(r * v, sim * v, epsilon = 1.0e-7) &&
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r * v == aff * v &&
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r * v == prj * v &&
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r * v == tr * v &&
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relative_eq!(r * p, uq * p, epsilon = 1.0e-7) &&
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relative_eq!(r * p, iso * p, epsilon = 1.0e-7) &&
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relative_eq!(r * p, sim * p, epsilon = 1.0e-7) &&
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r * p == aff * p &&
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r * p == prj * p &&
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r * p == tr * p
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}
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fn unit_quaternion_conversion(uq: UnitQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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let rot: Rotation3<f64> = na::convert(uq);
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let iso: Isometry3<f64> = na::convert(uq);
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let sim: Similarity3<f64> = na::convert(uq);
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let aff: Affine3<f64> = na::convert(uq);
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let prj: Projective3<f64> = na::convert(uq);
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let tr: Transform3<f64> = na::convert(uq);
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uq == na::try_convert(iso).unwrap() &&
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uq == na::try_convert(sim).unwrap() &&
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relative_eq!(uq, na::try_convert(rot).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(uq, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(uq, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(uq, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) &&
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// NOTE: iso and sim use unit quaternions for the rotation so conversions to them are exact.
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relative_eq!(uq * v, rot * v, epsilon = 1.0e-7) &&
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uq * v == iso * v &&
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uq * v == sim * v &&
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relative_eq!(uq * v, aff * v, epsilon = 1.0e-7) &&
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relative_eq!(uq * v, prj * v, epsilon = 1.0e-7) &&
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relative_eq!(uq * v, tr * v, epsilon = 1.0e-7) &&
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relative_eq!(uq * p, rot * p, epsilon = 1.0e-7) &&
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uq * p == iso * p &&
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uq * p == sim * p &&
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relative_eq!(uq * p, aff * p, epsilon = 1.0e-7) &&
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relative_eq!(uq * p, prj * p, epsilon = 1.0e-7) &&
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relative_eq!(uq * p, tr * p, epsilon = 1.0e-7)
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}
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fn isometry_conversion(iso: Isometry3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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let sim: Similarity3<f64> = na::convert(iso);
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let aff: Affine3<f64> = na::convert(iso);
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let prj: Projective3<f64> = na::convert(iso);
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let tr: Transform3<f64> = na::convert(iso);
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iso == na::try_convert(sim).unwrap() &&
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relative_eq!(iso, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(iso, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(iso, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) &&
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iso * v == sim * v &&
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relative_eq!(iso * v, aff * v, epsilon = 1.0e-7) &&
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relative_eq!(iso * v, prj * v, epsilon = 1.0e-7) &&
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relative_eq!(iso * v, tr * v, epsilon = 1.0e-7) &&
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iso * p == sim * p &&
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relative_eq!(iso * p, aff * p, epsilon = 1.0e-7) &&
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relative_eq!(iso * p, prj * p, epsilon = 1.0e-7) &&
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relative_eq!(iso * p, tr * p, epsilon = 1.0e-7)
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}
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fn similarity_conversion(sim: Similarity3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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let aff: Affine3<f64> = na::convert(sim);
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let prj: Projective3<f64> = na::convert(sim);
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let tr: Transform3<f64> = na::convert(sim);
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relative_eq!(sim, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(sim, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(sim, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) &&
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relative_eq!(sim * v, aff * v, epsilon = 1.0e-7) &&
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relative_eq!(sim * v, prj * v, epsilon = 1.0e-7) &&
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relative_eq!(sim * v, tr * v, epsilon = 1.0e-7) &&
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relative_eq!(sim * p, aff * p, epsilon = 1.0e-7) &&
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relative_eq!(sim * p, prj * p, epsilon = 1.0e-7) &&
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relative_eq!(sim * p, tr * p, epsilon = 1.0e-7)
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}
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// XXX test TransformBase
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}
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