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added more 180 rotation tests

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This commit is contained in:
Joshua Smith 2022-03-28 16:46:48 -05:00
parent 6eab8f5175
commit d8fcbd12f4
1 changed files with 58 additions and 43 deletions
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101
tests/geometry/rotation.rs
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@ -102,6 +102,53 @@ mod proptest_tests {
};
}
macro_rules! gen_powf_180deg_rotation_test {
($(
fn $powf_rot_n:ident($($v:ident in $vec:ident()),*);
)*) => {$(
proptest! {
#[test]
fn $powf_rot_n($($v in $vec(),)*) {
use nalgebra::*;
use num_traits::Zero;
use std::f64::consts::PI;
//an array of tuples with the unit plane and angle
let plane_angles = gen_rotation_planes!($($v),*).iter().map(
|b| Unit::try_new_and_get(*b,0.0).map_or_else(
|| (Matrix::zero(), 0.0),
|(b,a)| (b.into_inner(), a)
)
).collect::<Vec<_>>();
//loop over every choice of between the original angle and swapping to 180 deg
let n = plane_angles.len();
for mask in 0..(1<<n) {
let mut b = SMatrix::zero();
for i in 0..n {
let (bi, ai) = plane_angles[i];
if mask & (1<<i) != 0 {
b += PI*bi;
} else {
b += ai*bi;
}
}
//makes sure that e^(B/2)^2 == e^B
let r1 = Rotation::from_matrix_unchecked(b.exp());
let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
}
}
}
)*}
}
gen_powf_rotation_test!(
fn powf_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
fn powf_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
@ -112,49 +159,17 @@ mod proptest_tests {
);
);
proptest! {
#[test]
fn powf_180deg_rotation_4d(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4()) {
use nalgebra::*;
use std::f64::consts::PI;
let [b1,b2] = gen_rotation_planes!(v1,v2,v3,v4);
if let (Some((b1,a1)), Some((b2,a2))) = (
Unit::try_new_and_get(b1,0.0), Unit::try_new_and_get(b2,0.0)
) {
let (b1, b2) = (b1.into_inner(), b2.into_inner());
{
let b = a1*b1 + PI*b2;
let r1 = Rotation::from_matrix_unchecked(b.exp());
let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
}
{
let b = PI*b1 + a2*b2;
let r1 = Rotation::from_matrix_unchecked(b.exp());
let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
}
{
let b = PI*b1 + PI*b2;
let r1 = Rotation::from_matrix_unchecked(b.exp());
let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
}
}
}
}
gen_powf_180deg_rotation_test!(
fn powf_180deg_rotation_2(v1 in vector2(), v2 in vector2());
fn powf_180deg_rotation_3(v1 in vector3(), v2 in vector3());
fn powf_180deg_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
fn powf_180deg_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
fn powf_180deg_rotation_6(
v1 in vector6(), v2 in vector6(),
v3 in vector6(), v4 in vector6(),
v5 in vector6(), v6 in vector6()
);
);
proptest! {
/*