public void MultiplyOperator()
{
Pose p1 = new Pose(new Vector3(1, 2, 3), Quaternion.CreateRotationY(0.3f));
Pose p2 = new Pose(new Vector3(-4, 5, -6), Quaternion.CreateRotationZ(-0.1f));
Assert.IsTrue(Vector4.AreNumericallyEqual(
p1.ToMatrix() * p2.ToMatrix() * new Vector4(1, 2, 3, 1),
p1 * p2 * new Vector4(1, 2, 3, 1)));
}
public void InterpolationTest()
{
var traits = Vector4Traits.Instance;
var value0 = new Vector4(1, 2, 3, 1);
var value1 = new Vector4(-4, 5, -6, 5);
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)value0, (Vector4)traits.Interpolate(value0, value1, 0.0f)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)value1, (Vector4)traits.Interpolate(value0, value1, 1.0f)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(0.25f * value0 + 0.75f * value1), (Vector4)traits.Interpolate(value0, value1, 0.75f)));
}
public void TestIsZero()
{
Vector4 nonZero = new Vector4(0.001f, 0.001f, 0.0f, 0.001f);
Assert.IsFalse(Vector4.AreNumericallyEqual(nonZero, Vector4.Zero));
Vector4 zero = new Vector4(0.0000001f, 0.0000001f, 0.0f, 0.0000001f);
Assert.IsTrue(Vector4.AreNumericallyEqual(zero, Vector4.Zero));
}
public void AreEqualWithEpsilon()
{
float epsilon = 0.001f;
Vector4 u = new Vector4(1.0f, 2.0f, 3.0f, 4.0f);
Vector4 v = new Vector4(1.002f, 2.002f, 3.002f, 4.002f);
Vector4 w = new Vector4(1.0001f, 2.0001f, 3.0001f, 4.0001f);
Assert.IsTrue(Vector4.AreNumericallyEqual(u, u, epsilon));
Assert.IsFalse(Vector4.AreNumericallyEqual(u, v, epsilon));
Assert.IsTrue(Vector4.AreNumericallyEqual(u, w, epsilon));
}
public void MultiplyTest()
{
var traits = Vector4Traits.Instance;
var value = new Vector4(-1, -2, 3, 1);
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)Vector4.Zero, (Vector4)traits.Multiply(value, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)value, (Vector4)traits.Multiply(value, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(value + value), (Vector4)traits.Multiply(value, 2)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(value + value + value), (Vector4)traits.Multiply(value, 3)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(-value), (Vector4)traits.Multiply(value, -1)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(-value - value), (Vector4)traits.Multiply(value, -2)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(-value - value - value), (Vector4)traits.Multiply(value, -3)));
}
public void MultiplyVector4()
{
var a = new SrtTransform(new Vector3(1, 2, 7), new Quaternion(1, 2, 3, 4).Normalized, new Vector3(4, -5, 6));
var v = new Vector4(7, 9, -12, -2);
var result1 = a * v;
var result2 = a.ToMatrix() * v;
Assert.IsTrue(Vector4.AreNumericallyEqual(result1, result2));
result1 = SrtTransform.Multiply(a, v);
result2 = a.ToMatrix() * v;
Assert.IsTrue(Vector4.AreNumericallyEqual(result1, result2));
}
public void AnimateFromBy()
{
var animation = new Vector4FromToByAnimation();
animation.From = new Vector4(0.2f, 2.0f, 20.0f, 200.0f);
animation.To = null;
animation.By = new Vector4(1.0f, 10.0f, 100.0f, 1000.0f);
Assert.AreEqual(new Vector4(0.2f, 2.0f, 20.0f, 200.0f), animation.GetValue(TimeSpan.FromSeconds(0.0), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(0.7f, 7.0f, 70.0f, 700.0f), animation.GetValue(TimeSpan.FromSeconds(0.5), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f))));
Assert.AreEqual(new Vector4(1.2f, 12.0f, 120.0f, 1200.0f), animation.GetValue(TimeSpan.FromSeconds(1.0), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f)));
animation.By = new Vector4(-0.1f, -1.0f, -10.0f, -100.0f);
Assert.AreEqual(new Vector4(0.2f, 2.0f, 20.0f, 200.0f), animation.GetValue(TimeSpan.FromSeconds(0.0), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f)));
Assert.AreEqual(new Vector4(0.15f, 1.5f, 15.0f, 150.0f), animation.GetValue(TimeSpan.FromSeconds(0.5), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f)));
Assert.AreEqual(new Vector4(0.1f, 1.0f, 10.0f, 100.0f), animation.GetValue(TimeSpan.FromSeconds(1.0), new Vector4(0.0f, 0.0f, 0.0f, 0.0f), new Vector4(1.0f, 10.0f, 100.0f, 1000.0f)));
}
public void FromByTest()
{
// IAnimationValueTraits<T> is used in a from-by animation to a add a relative offset to
// the start value.
var traits = Vector4Traits.Instance;
var from = new Vector4(-1, -2, 3, 1);
var by = new Vector4(4, -5, 6, 1);
var to = traits.Add(from, by);
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(by + from), (Vector4)to));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)from, (Vector4)traits.Add(to, traits.Inverse(by))));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)by, (Vector4)traits.Add(traits.Inverse(from), to)));
}
public void AreEqual()
{
float originalEpsilon = Numeric.EpsilonF;
Numeric.EpsilonF = 1e-8f;
Vector4 u = new Vector4(1.0f, 2.0f, 3.0f, 4.0f);
Vector4 v = new Vector4(1.000001f, 2.000001f, 3.000001f, 4.000001f);
Vector4 w = new Vector4(1.00000001f, 2.00000001f, 3.00000001f, 4.00000001f);
Assert.IsTrue(Vector4.AreNumericallyEqual(u, u));
Assert.IsFalse(Vector4.AreNumericallyEqual(u, v));
Assert.IsTrue(Vector4.AreNumericallyEqual(u, w));
Numeric.EpsilonF = originalEpsilon;
}
public void Test1()
{
Pose p = Pose.Identity;
Assert.AreEqual(Matrix.Identity, p.ToMatrix());
Assert.AreEqual(Matrix.Identity, p.Orientation);
Assert.AreEqual(Vector3.Zero, p.Position);
p.Position = new Vector3(1, 2, 3);
p.Orientation = Matrix.CreateRotation(new Vector3(3, -4, 9), 0.49f);
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldDirection(Vector3.UnitX), 0), p * new Vector4(1, 0, 0, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldDirection(Vector3.UnitY), 0), p * new Vector4(0, 1, 0, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldDirection(Vector3.UnitZ), 0), p * new Vector4(0, 0, 1, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldPosition(Vector3.UnitX), 1), p * new Vector4(1, 0, 0, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldPosition(Vector3.UnitY), 1), p * new Vector4(0, 1, 0, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToWorldPosition(Vector3.UnitZ), 1), p * new Vector4(0, 0, 1, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalDirection(Vector3.UnitX), 0), p.Inverse * new Vector4(1, 0, 0, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalDirection(Vector3.UnitY), 0), p.Inverse * new Vector4(0, 1, 0, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalDirection(Vector3.UnitZ), 0), p.Inverse * new Vector4(0, 0, 1, 0)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalPosition(Vector3.UnitX), 1), p.Inverse * new Vector4(1, 0, 0, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalPosition(Vector3.UnitY), 1), p.Inverse * new Vector4(0, 1, 0, 1)));
Assert.IsTrue(Vector4.AreNumericallyEqual(new Vector4(p.ToLocalPosition(Vector3.UnitZ), 1), p.Inverse * new Vector4(0, 0, 1, 1)));
Pose p2 = Pose.FromMatrix(new Matrix(p.Orientation, Vector3.Zero));
Assert.IsTrue(Matrix.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.IsTrue(Vector3.AreNumericallyEqual(p2.Position, Vector3.Zero));
Matrix m = p2;
m.SetColumn(3, new Vector4(p.Position, 1));
p2 = Pose.FromMatrix(m);
Assert.IsTrue(Matrix.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.AreEqual(p.Position, p2.Position);
//Assert.IsTrue(Vector3.AreNumericallyEqual(p.Position, p2.Position));
// Test other constructors.
Assert.AreEqual(Vector3.Zero, new Pose(Quaternion.CreateRotationX(0.3f)).Position);
Assert.AreEqual(Matrix.CreateRotationX(0.3f), new Pose(Matrix.CreateRotationX(0.3f)).Orientation);
Assert.AreEqual(new Vector3(1, 2, 3), new Pose(new Vector3(1, 2, 3)).Position);
Assert.AreEqual(Matrix.Identity, new Pose(new Vector3(1, 2, 3)).Orientation);
}
public void ViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix.Identity, cameraInstance.View);
Assert.AreEqual(Matrix.Identity, cameraInstance.ViewInverse);
Vector3 position = new Vector3(1, 2, 3);
Vector3 target = new Vector3(2, 5, 4);
Vector3 upVector = new Vector3(1, 1, 1);
Matrix view = Matrix.CreateLookAt(position, target, upVector);
cameraInstance.View = view;
Assert.AreEqual(view, cameraInstance.View);
Assert.AreEqual(view.Inverse, cameraInstance.ViewInverse);
Vector3 originOfCamera = cameraInstance.PoseWorld.Position;
originOfCamera = cameraInstance.View.TransformPosition(originOfCamera);
Assert.IsTrue(Vector3.AreNumericallyEqual(Vector3.Zero, originOfCamera));
Vector4 positionView = new Vector4(0, 0, -1, 1);
Vector4 positionView2;
// Transform a point from view space to world space.
Vector4 positionWorld = cameraInstance.PoseWorld * positionView;
Vector4 positionWorld2 = cameraInstance.ViewInverse * positionView;
Assert.IsTrue(Vector4.AreNumericallyEqual(positionWorld, positionWorld2));
// Transform a point from world space to view space.
positionView = cameraInstance.PoseWorld.Inverse * positionWorld;
positionView2 = cameraInstance.View * positionWorld;
Assert.IsTrue(Vector4.AreNumericallyEqual(positionView, positionView2));
cameraInstance.View = Matrix.Identity;
Assert.AreEqual(Vector3.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix.Identity, cameraInstance.PoseWorld.Orientation);
}
public void CycleOffsetTest()
{
// IAnimationValueTraits<T> is used in a cyclic animation to a add the cycle offset in
// each iteration.
var traits = Vector4Traits.Instance;
var first = new Vector4(1, 2, 3, 1); // Animation value of first key frame.
var last = new Vector4(-4, 5, -6, 5); // Animation value of last key frame.
var cycleOffset = traits.Add(traits.Inverse(first), last);
// Cycle offset should be the difference between last and first key frame.
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)last, (Vector4)traits.Add(first, cycleOffset)));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)last, (Vector4)(cycleOffset + first)));
// Check multiple cycles (post-loop).
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)last, (Vector4)traits.Add(first, traits.Multiply(cycleOffset, 1))));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(cycleOffset + cycleOffset + last), (Vector4)traits.Add(first, traits.Multiply(cycleOffset, 3))));
// Check multiple cycles (pre-loop).
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)first, (Vector4)traits.Add(last, traits.Multiply(cycleOffset, -1))));
Assert.IsTrue(Vector4.AreNumericallyEqual((Vector4)(first - cycleOffset - cycleOffset), (Vector4)traits.Add(last, traits.Multiply(cycleOffset, -3))));
}
