forked from M-Labs/nalgebra
add integration test
This commit is contained in:
Terence
parent
12c259f0b4
commit
6be0365203
@ -1,3 +1,5 @@
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#[cfg(feature = "arbitrary")]
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use quickcheck::{Arbitrary, Gen};
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use crate::{
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DualQuaternion, Quaternion, UnitDualQuaternion, SimdRealField, Isometry3,
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Translation3, UnitQuaternion
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@ -97,6 +99,21 @@ where
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}
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}
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#[cfg(feature = "arbitrary")]
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impl<N> Arbitrary for DualQuaternion<N>
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where
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N: SimdRealField + Arbitrary + Send,
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N::Element: SimdRealField,
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{
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#[inline]
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fn arbitrary<G: Gen>(rng: &mut G) -> Self {
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Self::from_real_and_dual(
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Arbitrary::arbitrary(rng),
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Arbitrary::arbitrary(rng)
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)
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}
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}
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impl<N: SimdRealField> UnitDualQuaternion<N> {
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/// The unit dual quaternion multiplicative identity, which also represents
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/// the identity transformation as an isometry.
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@ -195,3 +212,15 @@ where
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Self::identity()
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}
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}
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#[cfg(feature = "arbitrary")]
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impl<N> Arbitrary for UnitDualQuaternion<N>
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where
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N: SimdRealField + Arbitrary + Send,
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N::Element: SimdRealField,
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{
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#[inline]
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fn arbitrary<G: Gen>(rng: &mut G) -> Self {
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Self::new_normalize(Arbitrary::arbitrary(rng))
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}
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}
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@ -25,7 +25,7 @@
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use crate::{
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DualQuaternion, SimdRealField, Point3, Point, Vector3, Isometry3, Quaternion,
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UnitDualQuaternion, UnitQuaternion, U1, U3, U4, Unit, Allocator,
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DefaultAllocator, Vector
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DefaultAllocator, Vector, Translation3
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};
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use crate::base::storage::Storage;
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use std::mem;
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@ -362,6 +362,223 @@ dual_quaternion_op_impl!(
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Output = UnitDualQuaternion<N> => U3, U3;
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UnitDualQuaternion::<N>::new_unchecked(DualQuaternion::from_real(self.into_inner())) * rhs;);
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// UnitDualQuaternion ÷ UnitQuaternion
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: &'a UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>,
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Output = UnitDualQuaternion<N> => U1, U4;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
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'a, 'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: &'a UnitDualQuaternion<N>, rhs: UnitQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
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'a);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
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'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };);
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// UnitQuaternion ÷ UnitDualQuaternion
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: &'a UnitQuaternion<N>, rhs: &'b UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U1, U4;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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UnitDualQuaternion::<N>::new_unchecked(
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DualQuaternion::from_real(self.into_inner())
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) * rhs.inverse()
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}; 'a, 'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: &'a UnitQuaternion<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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UnitDualQuaternion::<N>::new_unchecked(
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DualQuaternion::from_real(self.into_inner())
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) * rhs.inverse()
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}; 'a);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: UnitQuaternion<N>, rhs: &'b UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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UnitDualQuaternion::<N>::new_unchecked(
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DualQuaternion::from_real(self.into_inner())
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) * rhs.inverse()
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}; 'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U4, U1);
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self: UnitQuaternion<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U3;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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UnitDualQuaternion::<N>::new_unchecked(
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DualQuaternion::from_real(self.into_inner())
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) * rhs.inverse()
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};);
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// UnitDualQuaternion × Translation3
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dual_quaternion_op_impl!(
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Mul, mul;
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(U4, U1), (U3, U1);
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self: &'a UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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self * UnitDualQuaternion::<N>::from_parts(rhs.clone(), UnitQuaternion::identity());
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'a, 'b);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U4, U1), (U3, U3);
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self: &'a UnitDualQuaternion<N>, rhs: Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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self * UnitDualQuaternion::<N>::from_parts(rhs, UnitQuaternion::identity());
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'a);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U4, U1), (U3, U3);
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self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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self * UnitDualQuaternion::<N>::from_parts(rhs.clone(), UnitQuaternion::identity());
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'b);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U4, U1), (U3, U3);
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self: UnitDualQuaternion<N>, rhs: Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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self * UnitDualQuaternion::<N>::from_parts(rhs, UnitQuaternion::identity()); );
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// UnitDualQuaternion ÷ Translation3
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U3, U1);
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self: &'a UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
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'a, 'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U3, U3);
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self: &'a UnitDualQuaternion<N>, rhs: Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
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'a);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U3, U3);
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self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
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'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U4, U1), (U3, U3);
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self: UnitDualQuaternion<N>, rhs: Translation3<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };);
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// Translation3 × UnitDualQuaternion
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dual_quaternion_op_impl!(
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Mul, mul;
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(U3, U1), (U4, U1);
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self: &'b Translation3<N>, rhs: &'a UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
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'a, 'b);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U3, U1), (U4, U1);
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self: &'a Translation3<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
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'a);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U3, U1), (U4, U1);
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self: Translation3<N>, rhs: &'b UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) * rhs;
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'b);
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dual_quaternion_op_impl!(
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Mul, mul;
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(U3, U1), (U4, U1);
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self: Translation3<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) * rhs;);
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// Translation3 ÷ UnitDualQuaternion
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dual_quaternion_op_impl!(
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Div, div;
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(U3, U1), (U4, U1);
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self: &'b Translation3<N>, rhs: &'a UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
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'a, 'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U3, U1), (U4, U1);
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self: &'a Translation3<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
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'a);
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dual_quaternion_op_impl!(
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Div, div;
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(U3, U1), (U4, U1);
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self: Translation3<N>, rhs: &'b UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) / rhs;
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'b);
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dual_quaternion_op_impl!(
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Div, div;
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(U3, U1), (U4, U1);
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self: Translation3<N>, rhs: UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) / rhs;);
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// UnitDualQuaternion × Isometry3
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dual_quaternion_op_impl!(
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Mul, mul;
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@ -738,6 +955,78 @@ dual_quaternion_op_impl!(
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self: UnitDualQuaternion<N>, rhs: UnitDualQuaternion<N>;
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*self /= &rhs; );
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// UnitDualQuaternion ×= UnitQuaternion
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dual_quaternion_op_impl!(
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MulAssign, mul_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>;
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{
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let res = &*self * UnitDualQuaternion::from_rotation(rhs);
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self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
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self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
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};);
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dual_quaternion_op_impl!(
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MulAssign, mul_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>;
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*self *= rhs.clone(); 'b);
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// UnitDualQuaternion ÷= UnitQuaternion
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dual_quaternion_op_impl!(
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DivAssign, div_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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let res = &*self * UnitDualQuaternion::from_rotation(rhs.inverse());
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self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
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self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
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};
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'b);
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dual_quaternion_op_impl!(
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DivAssign, div_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>;
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*self /= &rhs; );
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// UnitDualQuaternion ×= Translation3
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dual_quaternion_op_impl!(
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MulAssign, mul_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: Translation3<N>;
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{
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let res = &*self * UnitDualQuaternion::from_parts(rhs, UnitQuaternion::identity());
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self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
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self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
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};);
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dual_quaternion_op_impl!(
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MulAssign, mul_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>;
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*self *= rhs.clone(); 'b);
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// UnitDualQuaternion ÷= Translation3
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dual_quaternion_op_impl!(
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DivAssign, div_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>;
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#[allow(clippy::suspicious_arithmetic_impl)]
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{
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let res = &*self * UnitDualQuaternion::from_parts(rhs.inverse(), UnitQuaternion::identity());
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self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
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self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
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};
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'b);
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dual_quaternion_op_impl!(
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DivAssign, div_assign;
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(U4, U1), (U4, U1);
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self: UnitDualQuaternion<N>, rhs: Translation3<N>;
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*self /= &rhs; );
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// UnitDualQuaternion ×= Isometry3
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dual_quaternion_op_impl!(
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MulAssign, mul_assign;
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172
tests/geometry/dual_quaternion.rs
Normal file
172
tests/geometry/dual_quaternion.rs
Normal file
@ -0,0 +1,172 @@
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#![cfg(feature = "arbitrary")]
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#![allow(non_snake_case)]
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use na::{
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Isometry3, Point3, Translation3, UnitQuaternion, UnitDualQuaternion, Vector3,
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};
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quickcheck!(
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fn isometry_equivalence(iso: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
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let dq = UnitDualQuaternion::from_isometry(&iso);
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relative_eq!(iso * p, dq * p, epsilon = 1.0e-7)
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&& relative_eq!(iso * v, dq * v, epsilon = 1.0e-7)
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}
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fn inverse_is_identity(i: UnitDualQuaternion<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
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let ii = i.inverse();
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relative_eq!(i * ii, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(ii * i, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!((i * ii) * p, p, epsilon = 1.0e-7)
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&& relative_eq!((ii * i) * p, p, epsilon = 1.0e-7)
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&& relative_eq!((i * ii) * v, v, epsilon = 1.0e-7)
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&& relative_eq!((ii * i) * v, v, epsilon = 1.0e-7)
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}
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fn multiply_equals_alga_transform(
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dq: UnitDualQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>
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) -> bool {
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dq * v == dq.transform_vector(&v)
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&& dq * p == dq.transform_point(&p)
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&& relative_eq!(
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dq.inverse() * v,
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dq.inverse_transform_vector(&v),
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epsilon = 1.0e-7
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)
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&& relative_eq!(
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dq.inverse() * p,
|
||||
dq.inverse_transform_point(&p),
|
||||
epsilon = 1.0e-7
|
||||
)
|
||||
}
|
||||
|
||||
#[cfg_attr(rustfmt, rustfmt_skip)]
|
||||
fn composition(
|
||||
dq: UnitDualQuaternion<f64>,
|
||||
uq: UnitQuaternion<f64>,
|
||||
t: Translation3<f64>,
|
||||
v: Vector3<f64>,
|
||||
p: Point3<f64>
|
||||
) -> bool {
|
||||
// (rotation × dual quaternion) * point = rotation × (dual quaternion * point)
|
||||
relative_eq!((uq * dq) * v, uq * (dq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((uq * dq) * p, uq * (dq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (dual quaternion × rotation) * point = dual quaternion × (rotation * point)
|
||||
relative_eq!((dq * uq) * v, dq * (uq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((dq * uq) * p, dq * (uq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (translation × dual quaternion) * point = translation × (dual quaternion * point)
|
||||
relative_eq!((t * dq) * v, (dq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((t * dq) * p, t * (dq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (dual quaternion × translation) * point = dual quaternion × (translation * point)
|
||||
relative_eq!((dq * t) * v, dq * v, epsilon = 1.0e-7) &&
|
||||
relative_eq!((dq * t) * p, dq * (t * p), epsilon = 1.0e-7)
|
||||
}
|
||||
|
||||
#[cfg_attr(rustfmt, rustfmt_skip)]
|
||||
fn all_op_exist(
|
||||
dq: UnitDualQuaternion<f64>,
|
||||
uq: UnitQuaternion<f64>,
|
||||
t: Translation3<f64>,
|
||||
v: Vector3<f64>,
|
||||
p: Point3<f64>
|
||||
) -> bool {
|
||||
let iMi = dq * dq;
|
||||
let iMuq = dq * uq;
|
||||
let iDi = dq / dq;
|
||||
let iDuq = dq / uq;
|
||||
|
||||
let iMp = dq * p;
|
||||
let iMv = dq * v;
|
||||
|
||||
let iMt = dq * t;
|
||||
let tMi = t * dq;
|
||||
|
||||
let tMuq = t * uq;
|
||||
|
||||
let uqMi = uq * dq;
|
||||
let uqDi = uq / dq;
|
||||
|
||||
let uqMt = uq * t;
|
||||
|
||||
let mut iMt1 = dq;
|
||||
let mut iMt2 = dq;
|
||||
|
||||
let mut iMi1 = dq;
|
||||
let mut iMi2 = dq;
|
||||
|
||||
let mut iMuq1 = dq;
|
||||
let mut iMuq2 = dq;
|
||||
|
||||
let mut iDi1 = dq;
|
||||
let mut iDi2 = dq;
|
||||
|
||||
let mut iDuq1 = dq;
|
||||
let mut iDuq2 = dq;
|
||||
|
||||
iMt1 *= t;
|
||||
iMt2 *= &t;
|
||||
|
||||
iMi1 *= dq;
|
||||
iMi2 *= &dq;
|
||||
|
||||
iMuq1 *= uq;
|
||||
iMuq2 *= &uq;
|
||||
|
||||
iDi1 /= dq;
|
||||
iDi2 /= &dq;
|
||||
|
||||
iDuq1 /= uq;
|
||||
iDuq2 /= &uq;
|
||||
|
||||
iMt == iMt1
|
||||
&& iMt == iMt2
|
||||
&& iMi == iMi1
|
||||
&& iMi == iMi2
|
||||
&& iMuq == iMuq1
|
||||
&& iMuq == iMuq2
|
||||
&& iDi == iDi1
|
||||
&& iDi == iDi2
|
||||
&& iDuq == iDuq1
|
||||
&& iDuq == iDuq2
|
||||
&& iMi == &dq * &dq
|
||||
&& iMi == dq * &dq
|
||||
&& iMi == &dq * dq
|
||||
&& iMuq == &dq * &uq
|
||||
&& iMuq == dq * &uq
|
||||
&& iMuq == &dq * uq
|
||||
&& iDi == &dq / &dq
|
||||
&& iDi == dq / &dq
|
||||
&& iDi == &dq / dq
|
||||
&& iDuq == &dq / &uq
|
||||
&& iDuq == dq / &uq
|
||||
&& iDuq == &dq / uq
|
||||
&& iMp == &dq * &p
|
||||
&& iMp == dq * &p
|
||||
&& iMp == &dq * p
|
||||
&& iMv == &dq * &v
|
||||
&& iMv == dq * &v
|
||||
&& iMv == &dq * v
|
||||
&& iMt == &dq * &t
|
||||
&& iMt == dq * &t
|
||||
&& iMt == &dq * t
|
||||
&& tMi == &t * &dq
|
||||
&& tMi == t * &dq
|
||||
&& tMi == &t * dq
|
||||
&& tMuq == &t * &uq
|
||||
&& tMuq == t * &uq
|
||||
&& tMuq == &t * uq
|
||||
&& uqMi == &uq * &dq
|
||||
&& uqMi == uq * &dq
|
||||
&& uqMi == &uq * dq
|
||||
&& uqDi == &uq / &dq
|
||||
&& uqDi == uq / &dq
|
||||
&& uqDi == &uq / dq
|
||||
&& uqMt == &uq * &t
|
||||
&& uqMt == uq * &t
|
||||
&& uqMt == &uq * t
|
||||
}
|
||||
);
|
||||
@ -5,3 +5,4 @@ mod quaternion;
|
||||
mod rotation;
|
||||
mod similarity;
|
||||
mod unit_complex;
|
||||
mod dual_quaternion;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user