/**
* @brief オブジェクト空間->世界座標への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
void fromObjectToWorldMatrix(LDMatrix44 m)
{
// m23からsin(pitch)を取り出す
ld_float sp = -m.m23;
// ジンバルロックのチェック
if ((ld_float)Math.Abs(sp) > 1.0f - LDMathUtil.GINBAL_TOLERANCE)
{
//真上か真下
pitch = LDMathUtil.PI_OVER_2 * sp;
heading = (ld_float)Math.Atan2(-m.m31, m.m11);
bank = 0.0f;
}
else
{
heading = (ld_float)Math.Atan2(m.m13, m.m33);
pitch = (ld_float)Math.Asin(sp);
bank = (ld_float)Math.Atan2(m.m21, m.m22);
}
/**
* @brief 回転行列をオイラー角に変換する
* @param &m RotationMatrixをセットする
*/
// void fromRotationMatrix( const RotationMatrix &m ) ;
}
/**
* @brief EMatrix44 * EMatrix44(コピーが発生するので、速度重視の場合は使わない)
* @param m EMatrix44をセットする
* @param p EMatrix44をセットする
* @return EMatrix44 * EMatrix44を返す
*/
public static LDMatrix44 operator *(LDMatrix44 a, LDMatrix44 b)
{
LDMatrix44 r = new LDMatrix44();
// dst[ 0] = a[ 0]*b[ 0] + a[ 4]*b[ 1] + a[ 8]*b[ 2] + a[12]*b[ 3] ;
r.m11 = a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31 + a.m14 * b.m41;
r.m12 = a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32 + a.m14 * b.m42;
r.m13 = a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33 + a.m14 * b.m43;
r.m14 = a.m11 * b.m14 + a.m12 * b.m24 + a.m13 * b.m34 + a.m14 * b.m44;
r.m21 = a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31 + a.m24 * b.m41;
r.m22 = a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32 + a.m24 * b.m42;
r.m23 = a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33 + a.m24 * b.m43;
r.m24 = a.m21 * b.m14 + a.m22 * b.m24 + a.m23 * b.m34 + a.m24 * b.m44;
r.m31 = a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31 + a.m34 * b.m41;
r.m32 = a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32 + a.m34 * b.m42;
r.m33 = a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33 + a.m34 * b.m43;
r.m34 = a.m31 * b.m14 + a.m32 * b.m24 + a.m33 * b.m34 + a.m34 * b.m44;
r.m41 = a.m41 * b.m11 + a.m42 * b.m21 + a.m43 * b.m31 + a.m44 * b.m41;
r.m42 = a.m41 * b.m12 + a.m42 * b.m22 + a.m43 * b.m32 + a.m44 * b.m42;
r.m43 = a.m41 * b.m13 + a.m42 * b.m23 + a.m43 * b.m33 + a.m44 * b.m43;
r.m44 = a.m41 * b.m14 + a.m42 * b.m24 + a.m43 * b.m34 + a.m44 * b.m44;
return(r);//コピーが発生するので、速度重視の場合は使わない
}
/// <summary>
/// 行列を設定
/// </summary>
/// <param name="m2">EMatrix44をセットする</param>
public void setMatrix(LDMatrix44 m2)
{
for (int i = 0; i < m2.m.Length; i++)
{
this.m[i] = m2.m[i];
}
}
public void translateTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
actual.translate(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : actual = 単位行列, x = 1.0, y = 2.0, z = 3.0 (任意の値)
expected.m14 = 1.0f;
expected.m24 = 2.0f;
expected.m34 = 3.0f;
expected.m44 = 1.0f;
actual.translate(1.0f, 2.0f, 3.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m14 = 4.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m24 = 4.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m34 = 4.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
actual.m44 = 4.0f;
expected.m14 = actual.m11 * x + actual.m12 * y + actual.m13 * z + actual.m14;
expected.m24 = actual.m21 * x + actual.m22 * y + actual.m23 * z + actual.m24;
expected.m34 = actual.m31 * x + actual.m32 * y + actual.m33 * z + actual.m34;
expected.m44 = actual.m41 * x + actual.m42 * y + actual.m43 * z + actual.m44;
actual.translate(x, y, z);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
}
public void fromQuaterionTest()
{
LDQuat quat = new LDQuat(0.0f, 0.0f, 0.0f, 0.0f);
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, quat = 0.0 (ゼロ)
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 単位行列, quat x = 1.0, y = 2.0, z = 3.0, w = 0.5 (任意の値)
quat.x = 1.0f;
quat.y = 2.0f;
quat.z = 3.0f;
quat.w = 0.5f;
ld_float xx = 2.0f * quat.x;
ld_float yy = 2.0f * quat.y;
ld_float zz = 2.0f * quat.z;
ld_float ww = -2.0f * quat.w;
expected.m11 = 1.0f - yy * quat.y - zz * quat.z;
expected.m12 = xx * quat.y + ww * quat.z;
expected.m13 = xx * quat.z - ww * quat.y;
expected.m21 = xx * quat.y - ww * quat.z;
expected.m22 = 1.0f - xx * quat.x - zz * quat.z;
expected.m23 = yy * quat.z + ww * quat.x;
expected.m31 = xx * quat.z + ww * quat.y;
expected.m32 = yy * quat.z - ww * quat.x;
expected.m33 = 1.0f - xx * quat.x - yy * quat.y;
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
public void fromQuaterionTest()
{
LDQuat quat=new LDQuat(0.0f, 0.0f, 0.0f, 0.0f );
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, quat = 0.0 (ゼロ)
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 単位行列, quat x = 1.0, y = 2.0, z = 3.0, w = 0.5 (任意の値)
quat.x = 1.0f;
quat.y = 2.0f;
quat.z = 3.0f;
quat.w = 0.5f;
ld_float xx = 2.0f * quat.x;
ld_float yy = 2.0f * quat.y;
ld_float zz = 2.0f * quat.z;
ld_float ww = -2.0f * quat.w;
expected.m11 = 1.0f - yy * quat.y - zz * quat.z;
expected.m12 = xx * quat.y + ww * quat.z;
expected.m13 = xx * quat.z - ww * quat.y;
expected.m21 = xx * quat.y - ww * quat.z;
expected.m22 = 1.0f - xx * quat.x - zz * quat.z;
expected.m23 = yy * quat.z + ww * quat.x;
expected.m31 = xx * quat.z + ww * quat.y;
expected.m32 = yy * quat.z - ww * quat.x;
expected.m33 = 1.0f - xx * quat.x - yy * quat.y;
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
//------ 演算 -------
/**
* @brief 受け取った２つの行列の掛け算を行う(指定の行列 m2 を右から掛け、dstに設定する)
* @param b EMatrix44をセットする
* @param *dst 変換行列を受け取るポインタをセットする
*/
public void mult(LDMatrix44 b, LDMatrix44 dst, ld_bool omit4thRow = false)
{
//Debug.Assert(this != dst);
if (this == dst)
{
mult_safe(this.m, b.m, dst.m, omit4thRow);
}
else
{
mult_fast(this.m, b.m, dst.m, omit4thRow);
}
}
public void fromWorldToObjectMatrixTest()
{
LDMatrix44 matrix = new LDMatrix44();
LDEulerAngles actual = new LDEulerAngles();
LDEulerAngles expected = new LDEulerAngles();
//ld_float delta = 0.00001f;
// Input : (単位行列)
actual.identity();
expected.identity();
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
// Input : matrix.m23 = 1.0 (ジンバルロックのケース)
matrix.m23 = 1.0f;
expected.heading = (float)Math.Atan2(-matrix.m31, matrix.m11);
expected.pitch = LDMathUtil.PI_OVER_2 * -matrix.m23;
expected.bank = 0.0f;
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
// Input : matrix.m23 = 1.0 (任意の値. 角度計算のケース)
matrix.m11 = 0.1f;
matrix.m12 = 0.2f;
matrix.m13 = 0.3f;
matrix.m14 = 0.4f;
matrix.m21 = 0.1f;
matrix.m22 = 0.2f;
matrix.m23 = 0.3f;
matrix.m24 = 0.4f;
matrix.m31 = 0.1f;
matrix.m32 = 0.2f;
matrix.m33 = 0.3f;
matrix.m34 = 0.4f;
matrix.m41 = 0.1f;
matrix.m42 = 0.2f;
matrix.m43 = 0.3f;
matrix.m44 = 0.4f;
expected.heading = (float)Math.Atan2(matrix.m13, matrix.m33);
expected.pitch = (float)Math.Asin(-matrix.m23);
expected.bank = (float)Math.Atan2(matrix.m21, matrix.m22);
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
}
//------ EMatrix43.cpp ------
public void identityTest()
{
LDMatrix44 actual = new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
//ld_float delta = 0.00001f;
// 単位行列に初期化できているかテスト
expected.m11 = 1.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m14 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 1.0f;
expected.m23 = 0.0f;
expected.m24 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 1.0f;
expected.m34 = 0.0f;
expected.m41 = 0.0f;
expected.m42 = 0.0f;
expected.m43 = 0.0f;
expected.m44 = 1.0f;
actual.identity();
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
}
/**
* @brief 世界座標->オブジェクト空間への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
public void fromWorldToObjectMatrix(LDMatrix44 m)
{
// m23からsin(pitch)を取り出す
ld_float sp = -m.m23;
// ジンバルロックのチェック
if ((ld_float)Math.Abs(sp) > 1.0f - LDMathUtil.GINBAL_TOLERANCE)
{
//真上か真下
pitch = LDMathUtil.PI_OVER_2 * sp;
heading = (ld_float)Math.Atan2(-m.m31, m.m11);
bank = 0.0f;
}
else
{
heading = (ld_float)Math.Atan2(m.m13, m.m33);
pitch = (ld_float)Math.Asin(sp);
bank = (ld_float)Math.Atan2(m.m21, m.m22);
}
}
//------ EMatrix43.cpp ------
public void identityTest()
{
LDMatrix44 actual=new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
//ld_float delta = 0.00001f;
// 単位行列に初期化できているかテスト
expected.m11 = 1.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m14 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 1.0f;
expected.m23 = 0.0f;
expected.m24 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 1.0f;
expected.m34 = 0.0f;
expected.m41 = 0.0f;
expected.m42 = 0.0f;
expected.m43 = 0.0f;
expected.m44 = 1.0f;
actual.identity();
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
}
/**
* @brief オブジェクト空間->世界座標への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
public void fromObjectToWorldMatrix(LDMatrix44 m)
{
throw new NotImplementedException();
}
/**
* @brief 世界座標->オブジェクト空間への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
public void fromWorldToObjectMatrix(LDMatrix44 m)
{
// m23からsin(pitch)を取り出す
ld_float sp = -m.m23;
// ジンバルロックのチェック
if ((ld_float)Math.Abs(sp) > 1.0f - LDMathUtil.GINBAL_TOLERANCE)
{
//真上か真下
pitch = LDMathUtil.PI_OVER_2 * sp;
heading = (ld_float)Math.Atan2(-m.m31, m.m11);
bank = 0.0f;
}
else
{
heading = (ld_float)Math.Atan2(m.m13, m.m33);
pitch = (ld_float)Math.Asin(sp);
bank = (ld_float)Math.Atan2(m.m21, m.m22);
}
}
public void rotateZTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
ld_float tmp;
ld_float theta;
// Input : actual = 単位行列, theta = 0.0 (ゼロ)
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(0.0f) + expected.m12 * (float)Math.Sin(0.0f);
expected.m12 = tmp * -(float)Math.Sin(0.0f) + expected.m12 * (float)Math.Cos(0.0f);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(0.0f) + expected.m22 * (float)Math.Sin(0.0f);
expected.m22 = tmp * -(float)Math.Sin(0.0f) + expected.m22 * (float)Math.Cos(0.0f);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m32 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
tmp = expected.m41;
expected.m41 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m42 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
actual.rotateZ(0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 任意の値, theta = PI/4.0f; (任意の値)
theta = LDMathUtil.PI / 4.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
expected.m11 = 1.0f;
expected.m12 = 2.0f;
expected.m13 = 3.0f;
expected.m21 = 1.0f;
expected.m22 = 2.0f;
expected.m23 = 3.0f;
expected.m31 = 1.0f;
expected.m32 = 2.0f;
expected.m33 = 3.0f;
expected.m41 = 1.0f;
expected.m42 = 2.0f;
expected.m43 = 3.0f;
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(theta) + expected.m12 * (float)Math.Sin(theta);
expected.m12 = tmp * -(float)Math.Sin(theta) + expected.m12 * (float)Math.Cos(theta);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(theta) + expected.m22 * (float)Math.Sin(theta);
expected.m22 = tmp * -(float)Math.Sin(theta) + expected.m22 * (float)Math.Cos(theta);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(theta) + expected.m32 * (float)Math.Sin(theta);
expected.m32 = tmp * -(float)Math.Sin(theta) + expected.m32 * (float)Math.Cos(theta);
tmp = expected.m41;
expected.m41 = tmp * (float)Math.Cos(theta) + expected.m42 * (float)Math.Sin(theta);
expected.m42 = tmp * -(float)Math.Sin(theta) + expected.m42 * (float)Math.Cos(theta);
actual.rotateZ(theta);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
public void fromWorldToObjectMatrixTest()
{
LDMatrix44 matrix=new LDMatrix44();
LDEulerAngles actual=new LDEulerAngles();
LDEulerAngles expected=new LDEulerAngles();
//ld_float delta = 0.00001f;
// Input : (単位行列)
actual.identity();
expected.identity();
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
// Input : matrix.m23 = 1.0 (ジンバルロックのケース)
matrix.m23 = 1.0f;
expected.heading = (float)Math.Atan2(-matrix.m31, matrix.m11);
expected.pitch = LDMathUtil.PI_OVER_2 * -matrix.m23;
expected.bank = 0.0f;
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
// Input : matrix.m23 = 1.0 (任意の値. 角度計算のケース)
matrix.m11 = 0.1f;
matrix.m12 = 0.2f;
matrix.m13 = 0.3f;
matrix.m14 = 0.4f;
matrix.m21 = 0.1f;
matrix.m22 = 0.2f;
matrix.m23 = 0.3f;
matrix.m24 = 0.4f;
matrix.m31 = 0.1f;
matrix.m32 = 0.2f;
matrix.m33 = 0.3f;
matrix.m34 = 0.4f;
matrix.m41 = 0.1f;
matrix.m42 = 0.2f;
matrix.m43 = 0.3f;
matrix.m44 = 0.4f;
expected.heading = (float)Math.Atan2(matrix.m13, matrix.m33);
expected.pitch = (float)Math.Asin(-matrix.m23);
expected.bank = (float)Math.Atan2(matrix.m21, matrix.m22);
actual.fromWorldToObjectMatrix(matrix);
TestUtil.COMPARE(expected.heading, actual.heading);
TestUtil.COMPARE(expected.pitch, actual.pitch);
TestUtil.COMPARE(expected.bank, actual.bank);
}
/// <summary>
/// 行列式 未実装
/// </summary>
/// <param name="m">EMatrix44をセットする</param>
/// <returns>行列式を返す</returns>
public ld_float det(LDMatrix44 m)
{
throw new NotImplementedException();
}
/// <summary>
/// 逆行列 未実装
/// </summary>
/// <param name="m">EMatrix44をセットする</param>
/// <returns>逆行列を返す</returns>
public LDMatrix44 inverse(LDMatrix44 m)
{
throw new NotImplementedException();
}
/**
* @brief オブジェクト空間->世界座標への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
public void fromObjectToWorldMatrix(LDMatrix44 m)
{
throw new NotImplementedException();
}
public void scaleTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
expected.m11 = 0.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 0.0f;
expected.m23 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 0.0f;
expected.m41 = 0.0f;
expected.m42 = 0.0f;
expected.m43 = 0.0f;
actual.scale(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
expected.m11 = actual.m11 * x;
expected.m12 = actual.m12 * y;
expected.m13 = actual.m13 * z;
expected.m21 = actual.m21 * x;
expected.m22 = actual.m22 * y;
expected.m23 = actual.m23 * z;
expected.m31 = actual.m31 * x;
expected.m32 = actual.m32 * y;
expected.m33 = actual.m33 * z;
expected.m41 = actual.m41 * x;
expected.m42 = actual.m42 * y;
expected.m43 = actual.m43 * z;
actual.scale(x, y, z);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
public void multTest()
{
LDMatrix44 matrix1 = new LDMatrix44();
LDMatrix44 matrix2 = new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : matrix1 = 単位行列, matrix2 = 単位行列 (mult_fastのテスト)
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : matrix1, matrix2 = 任意の値 (mult_fastのテスト)
matrix1.m11 = 1.0f;
matrix1.m12 = 2.0f;
matrix1.m13 = 3.0f;
matrix1.m14 = 4.0f;
matrix1.m21 = 1.0f;
matrix1.m22 = 2.0f;
matrix1.m23 = 3.0f;
matrix1.m24 = 4.0f;
matrix1.m31 = 1.0f;
matrix1.m32 = 2.0f;
matrix1.m33 = 3.0f;
matrix1.m34 = 4.0f;
matrix1.m41 = 1.0f;
matrix1.m42 = 2.0f;
matrix1.m43 = 3.0f;
matrix1.m44 = 4.0f;
matrix2.m11 = 1.0f;
matrix2.m12 = 2.0f;
matrix2.m13 = 3.0f;
matrix2.m14 = 4.0f;
matrix2.m21 = 1.0f;
matrix2.m22 = 2.0f;
matrix2.m23 = 3.0f;
matrix2.m24 = 4.0f;
matrix2.m31 = 1.0f;
matrix2.m32 = 2.0f;
matrix2.m33 = 3.0f;
matrix2.m34 = 4.0f;
matrix2.m41 = 1.0f;
matrix2.m42 = 2.0f;
matrix2.m43 = 3.0f;
matrix2.m44 = 4.0f;
expected.m[0] = matrix1.m[0] * matrix2.m[0] + matrix1.m[4] * matrix2.m[1] +
matrix1.m[8] * matrix2.m[2] + matrix1.m[12] * matrix2.m[3];
expected.m[1] = matrix1.m[1] * matrix2.m[0] + matrix1.m[5] * matrix2.m[1] +
matrix1.m[9] * matrix2.m[2] + matrix1.m[13] * matrix2.m[3];
expected.m[2] = matrix1.m[2] * matrix2.m[0] + matrix1.m[6] * matrix2.m[1] +
matrix1.m[10] * matrix2.m[2] + matrix1.m[14] * matrix2.m[3];
expected.m[3] = matrix1.m[3] * matrix2.m[0] + matrix1.m[7] * matrix2.m[1] +
matrix1.m[11] * matrix2.m[2] + matrix1.m[15] * matrix2.m[3];
expected.m[4] = matrix1.m[0] * matrix2.m[4] + matrix1.m[4] * matrix2.m[5] +
matrix1.m[8] * matrix2.m[6] + matrix1.m[12] * matrix2.m[7];
expected.m[5] = matrix1.m[1] * matrix2.m[4] + matrix1.m[5] * matrix2.m[5] +
matrix1.m[9] * matrix2.m[6] + matrix1.m[13] * matrix2.m[7];
expected.m[6] = matrix1.m[2] * matrix2.m[4] + matrix1.m[6] * matrix2.m[5] +
matrix1.m[10] * matrix2.m[6] + matrix1.m[14] * matrix2.m[7];
expected.m[7] = matrix1.m[3] * matrix2.m[4] + matrix1.m[7] * matrix2.m[5] +
matrix1.m[11] * matrix2.m[6] + matrix1.m[15] * matrix2.m[7];
expected.m[8] = matrix1.m[0] * matrix2.m[8] + matrix1.m[4] * matrix2.m[9] +
matrix1.m[8] * matrix2.m[10] + matrix1.m[12] * matrix2.m[11];
expected.m[9] = matrix1.m[1] * matrix2.m[8] + matrix1.m[5] * matrix2.m[9] +
matrix1.m[9] * matrix2.m[10] + matrix1.m[13] * matrix2.m[11];
expected.m[10] = matrix1.m[2] * matrix2.m[8] + matrix1.m[6] * matrix2.m[9] +
matrix1.m[10] * matrix2.m[10] + matrix1.m[14] * matrix2.m[11];
expected.m[11] = matrix1.m[3] * matrix2.m[8] + matrix1.m[7] * matrix2.m[9] +
matrix1.m[11] * matrix2.m[10] + matrix1.m[15] * matrix2.m[11];
expected.m[12] = matrix1.m[0] * matrix2.m[12] + matrix1.m[4] * matrix2.m[13] +
matrix1.m[8] * matrix2.m[14] + matrix1.m[12] * matrix2.m[15];
expected.m[13] = matrix1.m[1] * matrix2.m[12] + matrix1.m[5] * matrix2.m[13] +
matrix1.m[9] * matrix2.m[14] + matrix1.m[13] * matrix2.m[15];
expected.m[14] = matrix1.m[2] * matrix2.m[12] + matrix1.m[6] * matrix2.m[13] +
matrix1.m[10] * matrix2.m[14] + matrix1.m[14] * matrix2.m[15];
expected.m[15] = matrix1.m[3] * matrix2.m[12] + matrix1.m[7] * matrix2.m[13] +
matrix1.m[11] * matrix2.m[14] + matrix1.m[15] * matrix2.m[15];
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : matrix1, matrix2 = 任意の値 (mult_safeのテスト) <- assertのため分岐できず
//matrix1.mult(matrix2, &matrix1);
}
public void transformTest()
{
LDVector3 vector = new LDVector3();
LDVector3 expected = new LDVector3();
LDVector3 actual = new LDVector3();
LDMatrix44 matrix = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : matrix = 単位行列, vector = 0.0 (ゼロ)
vector.zero();
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual = matrix.transform(vector);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : matrix = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
matrix.m11 = 1.0f;
matrix.m12 = 2.0f;
matrix.m13 = 3.0f;
matrix.m14 = 4.0f;
matrix.m21 = 1.0f;
matrix.m22 = 2.0f;
matrix.m23 = 3.0f;
matrix.m24 = 4.0f;
matrix.m31 = 1.0f;
matrix.m32 = 2.0f;
matrix.m33 = 3.0f;
matrix.m34 = 4.0f;
expected.x = matrix.m11 * vector.x + matrix.m12 * vector.y + matrix.m13 * vector.z + matrix.m14;
expected.y = matrix.m21 * vector.x + matrix.m22 * vector.y + matrix.m13 * vector.z + matrix.m24;
expected.z = matrix.m31 * vector.y + matrix.m32 * vector.y + matrix.m13 * vector.z + matrix.m34;
actual = matrix.transform(vector);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : matrix = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値) (p == dstの場合)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
matrix.m11 = 1.0f;
matrix.m12 = 2.0f;
matrix.m13 = 3.0f;
matrix.m14 = 4.0f;
matrix.m21 = 1.0f;
matrix.m22 = 2.0f;
matrix.m23 = 3.0f;
matrix.m24 = 4.0f;
matrix.m31 = 1.0f;
matrix.m32 = 2.0f;
matrix.m33 = 3.0f;
matrix.m34 = 4.0f;
expected.x = matrix.m11 * vector.x + matrix.m12 * vector.y + matrix.m13 * vector.z + matrix.m14;
expected.y = matrix.m21 * vector.x + matrix.m22 * vector.y + matrix.m13 * vector.z + matrix.m24;
expected.z = matrix.m31 * vector.y + matrix.m32 * vector.y + matrix.m13 * vector.z + matrix.m34;
matrix.transform(vector, vector);
TestUtil.COMPARE(expected.x, vector.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public void setMatrixTest()
{
LDMatrix44 matrix=new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
//ld_float delta = 0.00001f;
ld_float[] m=new ld_float[16];
// EMatrix44.setMatrix( const ld_float* _m ) のテスト
for (int i = 0; i < 16; ++i)
{
m[i] = 1.0f;
}
actual.setMatrix(m);
expected.m11 = 1.0f;
expected.m12 = 1.0f;
expected.m13 = 1.0f;
expected.m14 = 1.0f;
expected.m21 = 1.0f;
expected.m22 = 1.0f;
expected.m23 = 1.0f;
expected.m24 = 1.0f;
expected.m31 = 1.0f;
expected.m32 = 1.0f;
expected.m33 = 1.0f;
expected.m34 = 1.0f;
expected.m41 = 1.0f;
expected.m42 = 1.0f;
expected.m43 = 1.0f;
expected.m44 = 1.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// EMatrix43.setMatrix( const EMatrix43 &m2 ) のテスト
for (int i = 0; i < 16; ++i)
{
m[i] = 2.0f;
}
matrix.setMatrix(m);
actual.setMatrix(matrix);
expected.m11 = 2.0f;
expected.m12 = 2.0f;
expected.m13 = 2.0f;
expected.m14 = 2.0f;
expected.m21 = 2.0f;
expected.m22 = 2.0f;
expected.m23 = 2.0f;
expected.m24 = 2.0f;
expected.m31 = 2.0f;
expected.m32 = 2.0f;
expected.m33 = 2.0f;
expected.m34 = 2.0f;
expected.m41 = 2.0f;
expected.m42 = 2.0f;
expected.m43 = 2.0f;
expected.m44 = 2.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
}
public void rotateZTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
ld_float tmp;
ld_float theta;
// Input : actual = 単位行列, theta = 0.0 (ゼロ)
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(0.0f) + expected.m12 * (float)Math.Sin(0.0f);
expected.m12 = tmp * -(float)Math.Sin(0.0f) + expected.m12 * (float)Math.Cos(0.0f);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(0.0f) + expected.m22 * (float)Math.Sin(0.0f);
expected.m22 = tmp * -(float)Math.Sin(0.0f) + expected.m22 * (float)Math.Cos(0.0f);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m32 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
tmp = expected.m41;
expected.m41 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m42 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
actual.rotateZ(0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 任意の値, theta = PI/4.0f; (任意の値)
theta = LDMathUtil.PI / 4.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
expected.m11 = 1.0f;
expected.m12 = 2.0f;
expected.m13 = 3.0f;
expected.m21 = 1.0f;
expected.m22 = 2.0f;
expected.m23 = 3.0f;
expected.m31 = 1.0f;
expected.m32 = 2.0f;
expected.m33 = 3.0f;
expected.m41 = 1.0f;
expected.m42 = 2.0f;
expected.m43 = 3.0f;
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(theta) + expected.m12 * (float)Math.Sin(theta);
expected.m12 = tmp * -(float)Math.Sin(theta) + expected.m12 * (float)Math.Cos(theta);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(theta) + expected.m22 * (float)Math.Sin(theta);
expected.m22 = tmp * -(float)Math.Sin(theta) + expected.m22 * (float)Math.Cos(theta);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(theta) + expected.m32 * (float)Math.Sin(theta);
expected.m32 = tmp * -(float)Math.Sin(theta) + expected.m32 * (float)Math.Cos(theta);
tmp = expected.m41;
expected.m41 = tmp * (float)Math.Cos(theta) + expected.m42 * (float)Math.Sin(theta);
expected.m42 = tmp * -(float)Math.Sin(theta) + expected.m42 * (float)Math.Cos(theta);
actual.rotateZ(theta);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
//------ 演算 -------
/**
* @brief 受け取った２つの行列の掛け算を行う(指定の行列 m2 を右から掛け、dstに設定する)
* @param b EMatrix44をセットする
* @param *dst 変換行列を受け取るポインタをセットする
*/
public void mult(LDMatrix44 b, LDMatrix44 dst, ld_bool omit4thRow = false)
{
Debug.Assert(this != dst);
if (this == dst)
{
mult_safe(this.m, b.m, dst.m, omit4thRow);
}
else
{
mult_fast(this.m, b.m, dst.m, omit4thRow);
}
}
/// <summary>
/// 行列を設定
/// </summary>
/// <param name="m2">EMatrix44をセットする</param>
public void setMatrix(LDMatrix44 m2)
{
for (int i = 0; i < m2.m.Length; i++)
{
this.m[i] = m2.m[i];
}
}
/**
* @brief オブジェクト空間->世界座標への変換行列をオイラー角に変換する(この行列は直交している必要がある)
* @param &m Ematrix44をセットする
*/
void fromObjectToWorldMatrix(LDMatrix44 m)
{
// m23からsin(pitch)を取り出す
ld_float sp = -m.m23;
// ジンバルロックのチェック
if ((ld_float)Math.Abs(sp) > 1.0f - LDMathUtil.GINBAL_TOLERANCE)
{
//真上か真下
pitch = LDMathUtil.PI_OVER_2 * sp;
heading = (ld_float)Math.Atan2(-m.m31, m.m11);
bank = 0.0f;
}
else
{
heading = (ld_float)Math.Atan2(m.m13, m.m33);
pitch = (ld_float)Math.Asin(sp);
bank = (ld_float)Math.Atan2(m.m21, m.m22);
}
/**
* @brief 回転行列をオイラー角に変換する
* @param &m RotationMatrixをセットする
*/
// void fromRotationMatrix( const RotationMatrix &m ) ;
}
/**
* @brief EMatrix44 * EMatrix44(コピーが発生するので、速度重視の場合は使わない)
* @param m EMatrix44をセットする
* @param p EMatrix44をセットする
* @return EMatrix44 * EMatrix44を返す
*/
public static LDMatrix44 operator *(LDMatrix44 a, LDMatrix44 b)
{
LDMatrix44 r = new LDMatrix44();
// dst[ 0] = a[ 0]*b[ 0] + a[ 4]*b[ 1] + a[ 8]*b[ 2] + a[12]*b[ 3] ;
r.m11 = a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31 + a.m14 * b.m41;
r.m12 = a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32 + a.m14 * b.m42;
r.m13 = a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33 + a.m14 * b.m43;
r.m14 = a.m11 * b.m14 + a.m12 * b.m24 + a.m13 * b.m34 + a.m14 * b.m44;
r.m21 = a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31 + a.m24 * b.m41;
r.m22 = a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32 + a.m24 * b.m42;
r.m23 = a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33 + a.m24 * b.m43;
r.m24 = a.m21 * b.m14 + a.m22 * b.m24 + a.m23 * b.m34 + a.m24 * b.m44;
r.m31 = a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31 + a.m34 * b.m41;
r.m32 = a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32 + a.m34 * b.m42;
r.m33 = a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33 + a.m34 * b.m43;
r.m34 = a.m31 * b.m14 + a.m32 * b.m24 + a.m33 * b.m34 + a.m34 * b.m44;
r.m41 = a.m41 * b.m11 + a.m42 * b.m21 + a.m43 * b.m31 + a.m44 * b.m41;
r.m42 = a.m41 * b.m12 + a.m42 * b.m22 + a.m43 * b.m32 + a.m44 * b.m42;
r.m43 = a.m41 * b.m13 + a.m42 * b.m23 + a.m43 * b.m33 + a.m44 * b.m43;
r.m44 = a.m41 * b.m14 + a.m42 * b.m24 + a.m43 * b.m34 + a.m44 * b.m44;
return r;//コピーが発生するので、速度重視の場合は使わない
}
public void setMatrixTest()
{
LDMatrix44 matrix = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
//ld_float delta = 0.00001f;
ld_float[] m = new ld_float[16];
// EMatrix44.setMatrix( const ld_float* _m ) のテスト
for (int i = 0; i < 16; ++i)
{
m[i] = 1.0f;
}
actual.setMatrix(m);
expected.m11 = 1.0f;
expected.m12 = 1.0f;
expected.m13 = 1.0f;
expected.m14 = 1.0f;
expected.m21 = 1.0f;
expected.m22 = 1.0f;
expected.m23 = 1.0f;
expected.m24 = 1.0f;
expected.m31 = 1.0f;
expected.m32 = 1.0f;
expected.m33 = 1.0f;
expected.m34 = 1.0f;
expected.m41 = 1.0f;
expected.m42 = 1.0f;
expected.m43 = 1.0f;
expected.m44 = 1.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// EMatrix43.setMatrix( const EMatrix43 &m2 ) のテスト
for (int i = 0; i < 16; ++i)
{
m[i] = 2.0f;
}
matrix.setMatrix(m);
actual.setMatrix(matrix);
expected.m11 = 2.0f;
expected.m12 = 2.0f;
expected.m13 = 2.0f;
expected.m14 = 2.0f;
expected.m21 = 2.0f;
expected.m22 = 2.0f;
expected.m23 = 2.0f;
expected.m24 = 2.0f;
expected.m31 = 2.0f;
expected.m32 = 2.0f;
expected.m33 = 2.0f;
expected.m34 = 2.0f;
expected.m41 = 2.0f;
expected.m42 = 2.0f;
expected.m43 = 2.0f;
expected.m44 = 2.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
}
public void scaleTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
expected.m11 = 0.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 0.0f;
expected.m23 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 0.0f;
expected.m41 = 0.0f;
expected.m42 = 0.0f;
expected.m43 = 0.0f;
actual.scale(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
expected.m11 = actual.m11 * x;
expected.m12 = actual.m12 * y;
expected.m13 = actual.m13 * z;
expected.m21 = actual.m21 * x;
expected.m22 = actual.m22 * y;
expected.m23 = actual.m23 * z;
expected.m31 = actual.m31 * x;
expected.m32 = actual.m32 * y;
expected.m33 = actual.m33 * z;
expected.m41 = actual.m41 * x;
expected.m42 = actual.m42 * y;
expected.m43 = actual.m43 * z;
actual.scale(x, y, z);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
}
/**
* @brief 行列式
* @param m EMatrix44をセットする
* @return 行列式を返す
*/
public ld_float det(LDMatrix44 m)
{
throw new NotImplementedException();
}
public void transformTest()
{
LDVector3 vector=new LDVector3();
LDVector3 expected = new LDVector3();
LDVector3 actual = new LDVector3();
LDMatrix44 matrix=new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : matrix = 単位行列, vector = 0.0 (ゼロ)
vector.zero();
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual = matrix.transform(vector);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : matrix = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
matrix.m11 = 1.0f;
matrix.m12 = 2.0f;
matrix.m13 = 3.0f;
matrix.m14 = 4.0f;
matrix.m21 = 1.0f;
matrix.m22 = 2.0f;
matrix.m23 = 3.0f;
matrix.m24 = 4.0f;
matrix.m31 = 1.0f;
matrix.m32 = 2.0f;
matrix.m33 = 3.0f;
matrix.m34 = 4.0f;
expected.x = matrix.m11 * vector.x + matrix.m12 * vector.y + matrix.m13 * vector.z + matrix.m14;
expected.y = matrix.m21 * vector.x + matrix.m22 * vector.y + matrix.m13 * vector.z + matrix.m24;
expected.z = matrix.m31 * vector.y + matrix.m32 * vector.y + matrix.m13 * vector.z + matrix.m34;
actual = matrix.transform(vector);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : matrix = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値) (p == dstの場合)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
matrix.m11 = 1.0f;
matrix.m12 = 2.0f;
matrix.m13 = 3.0f;
matrix.m14 = 4.0f;
matrix.m21 = 1.0f;
matrix.m22 = 2.0f;
matrix.m23 = 3.0f;
matrix.m24 = 4.0f;
matrix.m31 = 1.0f;
matrix.m32 = 2.0f;
matrix.m33 = 3.0f;
matrix.m34 = 4.0f;
expected.x = matrix.m11 * vector.x + matrix.m12 * vector.y + matrix.m13 * vector.z + matrix.m14;
expected.y = matrix.m21 * vector.x + matrix.m22 * vector.y + matrix.m13 * vector.z + matrix.m24;
expected.z = matrix.m31 * vector.y + matrix.m32 * vector.y + matrix.m13 * vector.z + matrix.m34;
matrix.transform(vector, vector);
TestUtil.COMPARE(expected.x, vector.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
/**
* @brief 逆行列
* @param m EMatrix44をセットする
* @return 逆行列を返す
*/
public LDMatrix44 inverse(LDMatrix44 m)
{
throw new NotImplementedException();
}
public void translateTest()
{
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
actual.translate(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : actual = 単位行列, x = 1.0, y = 2.0, z = 3.0 (任意の値)
expected.m14 = 1.0f;
expected.m24 = 2.0f;
expected.m34 = 3.0f;
expected.m44 = 1.0f;
actual.translate(1.0f, 2.0f, 3.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m14 = 4.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m24 = 4.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m34 = 4.0f;
actual.m41 = 1.0f;
actual.m42 = 2.0f;
actual.m43 = 3.0f;
actual.m44 = 4.0f;
expected.m14 = actual.m11 * x + actual.m12 * y + actual.m13 * z + actual.m14;
expected.m24 = actual.m21 * x + actual.m22 * y + actual.m23 * z + actual.m24;
expected.m34 = actual.m31 * x + actual.m32 * y + actual.m33 * z + actual.m34;
expected.m44 = actual.m41 * x + actual.m42 * y + actual.m43 * z + actual.m44;
actual.translate(x, y, z);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m44, actual.m44);
}
public void multTest()
{
LDMatrix44 matrix1 = new LDMatrix44();
LDMatrix44 matrix2 = new LDMatrix44();
LDMatrix44 expected = new LDMatrix44();
LDMatrix44 actual = new LDMatrix44();
//ld_float delta = 0.00001f;
// Input : matrix1 = 単位行列, matrix2 = 単位行列 (mult_fastのテスト)
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : matrix1, matrix2 = 任意の値 (mult_fastのテスト)
matrix1.m11 = 1.0f;
matrix1.m12 = 2.0f;
matrix1.m13 = 3.0f;
matrix1.m14 = 4.0f;
matrix1.m21 = 1.0f;
matrix1.m22 = 2.0f;
matrix1.m23 = 3.0f;
matrix1.m24 = 4.0f;
matrix1.m31 = 1.0f;
matrix1.m32 = 2.0f;
matrix1.m33 = 3.0f;
matrix1.m34 = 4.0f;
matrix1.m41 = 1.0f;
matrix1.m42 = 2.0f;
matrix1.m43 = 3.0f;
matrix1.m44 = 4.0f;
matrix2.m11 = 1.0f;
matrix2.m12 = 2.0f;
matrix2.m13 = 3.0f;
matrix2.m14 = 4.0f;
matrix2.m21 = 1.0f;
matrix2.m22 = 2.0f;
matrix2.m23 = 3.0f;
matrix2.m24 = 4.0f;
matrix2.m31 = 1.0f;
matrix2.m32 = 2.0f;
matrix2.m33 = 3.0f;
matrix2.m34 = 4.0f;
matrix2.m41 = 1.0f;
matrix2.m42 = 2.0f;
matrix2.m43 = 3.0f;
matrix2.m44 = 4.0f;
expected.m[0] = matrix1.m[0] * matrix2.m[0] + matrix1.m[4] * matrix2.m[1] +
matrix1.m[8] * matrix2.m[2] + matrix1.m[12] * matrix2.m[3];
expected.m[1] = matrix1.m[1] * matrix2.m[0] + matrix1.m[5] * matrix2.m[1] +
matrix1.m[9] * matrix2.m[2] + matrix1.m[13] * matrix2.m[3];
expected.m[2] = matrix1.m[2] * matrix2.m[0] + matrix1.m[6] * matrix2.m[1] +
matrix1.m[10] * matrix2.m[2] + matrix1.m[14] * matrix2.m[3];
expected.m[3] = matrix1.m[3] * matrix2.m[0] + matrix1.m[7] * matrix2.m[1] +
matrix1.m[11] * matrix2.m[2] + matrix1.m[15] * matrix2.m[3];
expected.m[4] = matrix1.m[0] * matrix2.m[4] + matrix1.m[4] * matrix2.m[5] +
matrix1.m[8] * matrix2.m[6] + matrix1.m[12] * matrix2.m[7];
expected.m[5] = matrix1.m[1] * matrix2.m[4] + matrix1.m[5] * matrix2.m[5] +
matrix1.m[9] * matrix2.m[6] + matrix1.m[13] * matrix2.m[7];
expected.m[6] = matrix1.m[2] * matrix2.m[4] + matrix1.m[6] * matrix2.m[5] +
matrix1.m[10] * matrix2.m[6] + matrix1.m[14] * matrix2.m[7];
expected.m[7] = matrix1.m[3] * matrix2.m[4] + matrix1.m[7] * matrix2.m[5] +
matrix1.m[11] * matrix2.m[6] + matrix1.m[15] * matrix2.m[7];
expected.m[8] = matrix1.m[0] * matrix2.m[8] + matrix1.m[4] * matrix2.m[9] +
matrix1.m[8] * matrix2.m[10] + matrix1.m[12] * matrix2.m[11];
expected.m[9] = matrix1.m[1] * matrix2.m[8] + matrix1.m[5] * matrix2.m[9] +
matrix1.m[9] * matrix2.m[10] + matrix1.m[13] * matrix2.m[11];
expected.m[10] = matrix1.m[2] * matrix2.m[8] + matrix1.m[6] * matrix2.m[9] +
matrix1.m[10] * matrix2.m[10] + matrix1.m[14] * matrix2.m[11];
expected.m[11] = matrix1.m[3] * matrix2.m[8] + matrix1.m[7] * matrix2.m[9] +
matrix1.m[11] * matrix2.m[10] + matrix1.m[15] * matrix2.m[11];
expected.m[12] = matrix1.m[0] * matrix2.m[12] + matrix1.m[4] * matrix2.m[13] +
matrix1.m[8] * matrix2.m[14] + matrix1.m[12] * matrix2.m[15];
expected.m[13] = matrix1.m[1] * matrix2.m[12] + matrix1.m[5] * matrix2.m[13] +
matrix1.m[9] * matrix2.m[14] + matrix1.m[13] * matrix2.m[15];
expected.m[14] = matrix1.m[2] * matrix2.m[12] + matrix1.m[6] * matrix2.m[13] +
matrix1.m[10] * matrix2.m[14] + matrix1.m[14] * matrix2.m[15];
expected.m[15] = matrix1.m[3] * matrix2.m[12] + matrix1.m[7] * matrix2.m[13] +
matrix1.m[11] * matrix2.m[14] + matrix1.m[15] * matrix2.m[15];
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
TestUtil.COMPARE(expected.m41, actual.m41);
TestUtil.COMPARE(expected.m42, actual.m42);
TestUtil.COMPARE(expected.m43, actual.m43);
TestUtil.COMPARE(expected.m44, actual.m44);
// Input : matrix1, matrix2 = 任意の値 (mult_safeのテスト) <- assertのため分岐できず
//matrix1.mult(matrix2, &matrix1);
}