forked from M-Labs/nalgebra
249 lines
8.0 KiB
Rust
249 lines
8.0 KiB
Rust
#![cfg(feature = "arbitrary")]
|
||
#![allow(non_snake_case)]
|
||
|
||
use alga::linear::{Transformation, ProjectiveTransformation};
|
||
use na::{
|
||
Vector3, Point3, Rotation3, Isometry3, Translation3, UnitQuaternion,
|
||
Vector2, Point2, Rotation2, Isometry2, Translation2, UnitComplex
|
||
};
|
||
|
||
quickcheck!(
|
||
fn append_rotation_wrt_point_to_id(r: UnitQuaternion<f64>, p: Point3<f64>) -> bool {
|
||
let mut iso = Isometry3::identity();
|
||
iso.append_rotation_wrt_point_mut(&r, &p);
|
||
|
||
iso == Isometry3::rotation_wrt_point(r, p)
|
||
}
|
||
|
||
fn rotation_wrt_point_invariance(r: UnitQuaternion<f64>, p: Point3<f64>) -> bool {
|
||
let iso = Isometry3::rotation_wrt_point(r, p);
|
||
|
||
relative_eq!(iso * p, p, epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn look_at_rh_3(eye: Point3<f64>, target: Point3<f64>, up: Vector3<f64>) -> bool {
|
||
let viewmatrix = Isometry3::look_at_rh(&eye, &target, &up);
|
||
|
||
let origin = Point3::origin();
|
||
relative_eq!(viewmatrix * eye, origin, epsilon = 1.0e-7) &&
|
||
relative_eq!((viewmatrix * (target - eye)).normalize(), -Vector3::z(), epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn observer_frame_3(eye: Point3<f64>, target: Point3<f64>, up: Vector3<f64>) -> bool {
|
||
let observer = Isometry3::new_observer_frame(&eye, &target, &up);
|
||
|
||
let origin = Point3::origin();
|
||
relative_eq!(observer * origin, eye, epsilon = 1.0e-7) &&
|
||
relative_eq!(observer * Vector3::z(), (target - eye).normalize(), epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn inverse_is_identity(i: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
|
||
let ii = i.inverse();
|
||
|
||
relative_eq!(i * ii, Isometry3::identity(), epsilon = 1.0e-7) &&
|
||
relative_eq!(ii * i, Isometry3::identity(), epsilon = 1.0e-7) &&
|
||
relative_eq!((i * ii) * p, p, epsilon = 1.0e-7) &&
|
||
relative_eq!((ii * i) * p, p, epsilon = 1.0e-7) &&
|
||
relative_eq!((i * ii) * v, v, epsilon = 1.0e-7) &&
|
||
relative_eq!((ii * i) * v, v, epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn inverse_is_parts_inversion(t: Translation3<f64>, r: UnitQuaternion<f64>) -> bool {
|
||
let i = t * r;
|
||
i.inverse() == r.inverse() * t.inverse()
|
||
}
|
||
|
||
fn multiply_equals_alga_transform(i: Isometry3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
|
||
i * v == i.transform_vector(&v) &&
|
||
i * p == i.transform_point(&p) &&
|
||
relative_eq!(i.inverse() * v, i.inverse_transform_vector(&v), epsilon = 1.0e-7) &&
|
||
relative_eq!(i.inverse() * p, i.inverse_transform_point(&p), epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn composition2(i: Isometry2<f64>, uc: UnitComplex<f64>, r: Rotation2<f64>,
|
||
t: Translation2<f64>, v: Vector2<f64>, p: Point2<f64>) -> bool {
|
||
// (rotation × translation) * point = rotation × (translation * point)
|
||
relative_eq!((uc * t) * v, uc * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((uc * t) * p, uc * (t * p), epsilon = 1.0e-7) &&
|
||
relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7) &&
|
||
|
||
// (translation × rotation) * point = translation × (rotation * point)
|
||
(t * uc) * v == uc * v &&
|
||
(t * r) * v == r * v &&
|
||
(t * uc) * p == t * (uc * p) &&
|
||
(t * r) * p == t * (r * p) &&
|
||
|
||
// (rotation × isometry) * point = rotation × (isometry * point)
|
||
relative_eq!((uc * i) * v, uc * (i * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((uc * i) * p, uc * (i * p), epsilon = 1.0e-7) &&
|
||
|
||
// (isometry × rotation) * point = isometry × (rotation * point)
|
||
relative_eq!((i * uc) * v, i * (uc * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((i * uc) * p, i * (uc * p), epsilon = 1.0e-7) &&
|
||
|
||
// (translation × isometry) * point = translation × (isometry * point)
|
||
relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7) &&
|
||
|
||
// (isometry × translation) * point = isometry × (translation * point)
|
||
relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn composition3(i: Isometry3<f64>, uq: UnitQuaternion<f64>, r: Rotation3<f64>,
|
||
t: Translation3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
|
||
// (rotation × translation) * point = rotation × (translation * point)
|
||
relative_eq!((uq * t) * v, uq * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((uq * t) * p, uq * (t * p), epsilon = 1.0e-7) &&
|
||
relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7) &&
|
||
|
||
// (translation × rotation) * point = translation × (rotation * point)
|
||
(t * uq) * v == uq * v &&
|
||
(t * r) * v == r * v &&
|
||
(t * uq) * p == t * (uq * p) &&
|
||
(t * r) * p == t * (r * p) &&
|
||
|
||
// (rotation × isometry) * point = rotation × (isometry * point)
|
||
relative_eq!((uq * i) * v, uq * (i * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((uq * i) * p, uq * (i * p), epsilon = 1.0e-7) &&
|
||
|
||
// (isometry × rotation) * point = isometry × (rotation * point)
|
||
relative_eq!((i * uq) * v, i * (uq * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((i * uq) * p, i * (uq * p), epsilon = 1.0e-7) &&
|
||
|
||
// (translation × isometry) * point = translation × (isometry * point)
|
||
relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7) &&
|
||
relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7) &&
|
||
|
||
// (isometry × translation) * point = isometry × (translation * point)
|
||
relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7) &&
|
||
relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7)
|
||
}
|
||
|
||
fn all_op_exist(i: Isometry3<f64>, uq: UnitQuaternion<f64>, t: Translation3<f64>,
|
||
v: Vector3<f64>, p: Point3<f64>, r: Rotation3<f64>) -> bool {
|
||
let iMi = i * i;
|
||
let iMuq = i * uq;
|
||
let iDi = i / i;
|
||
let iDuq = i / uq;
|
||
|
||
let iMp = i * p;
|
||
let iMv = i * v;
|
||
|
||
let iMt = i * t;
|
||
let tMi = t * i;
|
||
|
||
let tMr = t * r;
|
||
let tMuq = t * uq;
|
||
|
||
let uqMi = uq * i;
|
||
let uqDi = uq / i;
|
||
|
||
let rMt = r * t;
|
||
let uqMt = uq * t;
|
||
|
||
let mut iMt1 = i;
|
||
let mut iMt2 = i;
|
||
|
||
let mut iMi1 = i;
|
||
let mut iMi2 = i;
|
||
|
||
let mut iMuq1 = i;
|
||
let mut iMuq2 = i;
|
||
|
||
let mut iDi1 = i;
|
||
let mut iDi2 = i;
|
||
|
||
let mut iDuq1 = i;
|
||
let mut iDuq2 = i;
|
||
|
||
iMt1 *= t;
|
||
iMt2 *= &t;
|
||
|
||
iMi1 *= i;
|
||
iMi2 *= &i;
|
||
|
||
iMuq1 *= uq;
|
||
iMuq2 *= &uq;
|
||
|
||
iDi1 /= i;
|
||
iDi2 /= &i;
|
||
|
||
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 == &i * &i &&
|
||
iMi == i * &i &&
|
||
iMi == &i * i &&
|
||
|
||
iMuq == &i * &uq &&
|
||
iMuq == i * &uq &&
|
||
iMuq == &i * uq &&
|
||
|
||
iDi == &i / &i &&
|
||
iDi == i / &i &&
|
||
iDi == &i / i &&
|
||
|
||
iDuq == &i / &uq &&
|
||
iDuq == i / &uq &&
|
||
iDuq == &i / uq &&
|
||
|
||
iMp == &i * &p &&
|
||
iMp == i * &p &&
|
||
iMp == &i * p &&
|
||
|
||
iMv == &i * &v &&
|
||
iMv == i * &v &&
|
||
iMv == &i * v &&
|
||
|
||
iMt == &i * &t &&
|
||
iMt == i * &t &&
|
||
iMt == &i * t &&
|
||
|
||
tMi == &t * &i &&
|
||
tMi == t * &i &&
|
||
tMi == &t * i &&
|
||
|
||
tMr == &t * &r &&
|
||
tMr == t * &r &&
|
||
tMr == &t * r &&
|
||
|
||
tMuq == &t * &uq &&
|
||
tMuq == t * &uq &&
|
||
tMuq == &t * uq &&
|
||
|
||
uqMi == &uq * &i &&
|
||
uqMi == uq * &i &&
|
||
uqMi == &uq * i &&
|
||
|
||
uqDi == &uq / &i &&
|
||
uqDi == uq / &i &&
|
||
uqDi == &uq / i &&
|
||
|
||
rMt == &r * &t &&
|
||
rMt == r * &t &&
|
||
rMt == &r * t &&
|
||
|
||
uqMt == &uq * &t &&
|
||
uqMt == uq * &t &&
|
||
uqMt == &uq * t
|
||
}
|
||
);
|