public static void OrthoNormalOrientation()
{
// Previous implementation
Func <Trafo3d, Trafo3d> reference = trafo =>
{
var x = trafo.Forward.C0.XYZ.Normalized; // TransformDir(V3f.XAxis)
var y = trafo.Forward.C1.XYZ.Normalized; // TransformDir(V3f.YAxis)
var z = trafo.Forward.C2.XYZ.Normalized; // TransformDir(V3f.ZAxis)
y = z.Cross(x).Normalized;
z = x.Cross(y).Normalized;
return(Trafo3d.FromBasis(x, y, z, V3d.Zero));
};
var rnd = new RandomSystem(1);
TrafoTesting.GenericTest(rnd =>
{
var trafo = TrafoTesting.GetRandomTrafo(rnd);
var res = trafo.GetOrthoNormalOrientation();
var res_ref = reference(trafo);
TrafoTesting.AreEqual(res, res_ref);
});
}
public static void FromEuler()
{
TrafoTesting.GenericTest(rnd =>
{
var euler = rnd.UniformV3dFull() * Constant.PiTimesFour - Constant.PiTimesTwo;
var rot = Rot3d.RotationEuler(euler);
var qx = Rot3d.RotationX(euler.X);
var qy = Rot3d.RotationY(euler.Y);
var qz = Rot3d.RotationZ(euler.Z);
var test = qz * qy * qx;
TrafoTesting.AreEqual(rot, test);
var euler2 = rot.GetEulerAngles();
var rot2 = Rot3d.RotationEuler(euler2);
var rot2M = (M33d)rot2;
var rotM = (M33d)rot;
if (!Fun.ApproximateEquals(rot2M, rotM, 1e-6))
{
Report.Line("FA");
}
Assert.IsTrue(Fun.ApproximateEquals(rot2M, rotM, 1e-6));
});
}
public static void MultiplicationScaleTest()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomRot2(rnd);
var b = TrafoTesting.GetRandomScale2(rnd);
var p = rnd.UniformV2d() * rnd.UniformInt(1000);
{
var trafo = a * b;
var res = trafo.TransformPos(p);
var trafoRef = (M33d)a * (M33d)b;
var resRef = trafoRef.TransformPos(p);
TrafoTesting.AreEqual(res, resRef);
}
{
var trafo = b * a;
var res = trafo.TransformPos(p);
var trafoRef = (M33d)b * (M33d)a;
var resRef = trafoRef.TransformPos(p);
TrafoTesting.AreEqual(res, resRef);
}
});
public static void MultiplicationFull2x3Test()
{
TrafoTesting.GenericTest(rnd =>
{
var m = TrafoTesting.GetRandom2x3(rnd);
var r = TrafoTesting.GetRandomRot2(rnd);
var mr = m * r;
var rm = r * m;
var mr_ref = m * (M33d)r;
var rm_ref = (M23d)r * (M33d)m;
{
var p = rnd.UniformV2d() * rnd.UniformInt(1000);
var res_mr = mr.TransformPos(p);
var res_mr_ref = mr_ref.TransformPos(p);
var res_rm = rm.TransformPos(p);
var res_rm_ref = rm_ref.TransformPos(p);
TrafoTesting.AreEqual(res_mr, res_mr_ref);
TrafoTesting.AreEqual(res_rm, res_rm_ref);
}
});
}
public static void FromM33dAndV3d()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomEuclidean(rnd);
var m = (M33d)a.Rot;
var t = a.Trans;
var restored = Euclidean3d.FromM33dAndV3d(m, t);
TrafoTesting.AreEqual(a, restored);
});
public static void FromM33dAndV3d()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomSimilarity(rnd);
var tmp = (M34d)a;
var m = (M33d)tmp;
var t = tmp.C3;
var restored = Similarity3d.FromM33dAndV3d(m, t);
TrafoTesting.AreEqual(a, restored);
});
public static void DistanceTest()
{
TrafoTesting.GenericTest(rnd =>
{
var delta = (rnd.UniformDouble() - 0.5) * 2.0 * Constant.Pi;
var r1 = TrafoTesting.GetRandomRot2(rnd);
var r2 = new Rot2d(r1.Angle + (delta + Constant.PiTimesTwo * rnd.UniformInt(10)));
var dist = r1.Distance(r2);
TrafoTesting.AreEqual(dist, Fun.Abs(delta));
});
}
public static void MultiplicationAffine3x4Test()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomAffine(rnd);
var b = TrafoTesting.GetRandomAffine(rnd);
var ma = (M34d)a;
var mb = (M34d)b;
var a_x_b = a * b;
var ma_x_mb = Mat.MultiplyAffine(ma, mb);
TrafoTesting.AreEqual((M34d)a_x_b, ma_x_mb);
});
public static void ConsistentWithMatrixScaleTest()
{
TrafoTesting.GenericTest(rnd =>
{
var scale = rnd.UniformV3d() * 10;
var m = M33d.Scale(scale);
var r = new Scale3d(scale);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var res = m.Transform(p);
var res2 = r.Transform(p);
TrafoTesting.AreEqual(res, res2);
});
}
public static void ConsistentWithMatrixShiftTest()
{
TrafoTesting.GenericTest(rnd =>
{
var shift = rnd.UniformV3d() * 10;
var m = M34d.Translation(shift);
var r = new Shift3d(shift);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var res = m.TransformPos(p);
var res2 = r.Transform(p);
TrafoTesting.AreEqual(res, res2);
});
}
public static void ConsistentWithMatrixRotationTest()
{
TrafoTesting.GenericTest(rnd =>
{
var angle = rnd.UniformDouble() * Constant.PiTimesTwo;
var m = M22d.Rotation(angle);
var r = new Rot2d(angle);
var p = rnd.UniformV2d() * rnd.UniformInt(1000);
var res = m.Transform(p);
var res2 = r.Transform(p);
TrafoTesting.AreEqual(res, res2);
});
}
public static void ConsistentWithMatrixRotationAndShiftTest()
=> TrafoTesting.GenericTest(rnd =>
{
var trans = rnd.UniformV3d() * 10;
var axis = rnd.UniformV3dDirection();
var angle = rnd.UniformDouble() * Constant.PiTimesTwo;
var m = M44d.Translation(trans) * M44d.Rotation(axis, angle);
var e = new Euclidean3d(Rot3d.Rotation(axis, angle), trans);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var res = m.TransformPos(p);
var res2 = e.TransformPos(p);
TrafoTesting.AreEqual(res, res2);
});
public static void InverseTest()
=> TrafoTesting.GenericTest(rnd =>
{
var t = TrafoTesting.GetRandomTrafo(rnd, false);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = t.Forward.TransformPos(p);
// Inverse property
var res = t.Inverse.Forward.TransformPos(q);
// Backward
var res2 = t.Backward.TransformPos(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
/// <summary>
/// Tests multiplication of T trafos with their M matrix representations.
/// </summary>
public static void GenericMatrixMultiplicationTest <T, M, M2>(
Func <RandomSystem, T> frnd,
Func <T, V3d, V3d> trafoTransform,
Func <M, V3d, V3d> matrixTransform,
Func <M2, V3d, V3d> matrixTransform2,
Func <T, V3d, V3d> trafoMul,
Func <M, V3d, V3d> matrixMul,
Func <M2, V3d, V3d> matrixMul2,
bool squareMatrix = true)
=> GenericTest(rnd =>
{
dynamic a = frnd(rnd);
dynamic b = frnd(rnd);
dynamic ma = (M)a;
dynamic mb = (M)b;
var a_x_b = a * b;
var ma_x_b = ma * b;
var a_x_mb = a * mb;
var ma_x_mb = (squareMatrix) ? ma * mb : null;
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
{
var res = trafoTransform(a_x_b, p);
var res2 = matrixTransform2(ma_x_b, p);
var res3 = matrixTransform2(a_x_mb, p);
var res4 = squareMatrix ? matrixTransform(ma_x_mb, p) : res3;
TrafoTesting.AreEqual(res, res2);
TrafoTesting.AreEqual(res, res3);
TrafoTesting.AreEqual(res, res4);
}
{
var res = trafoMul(a_x_b, p);
var res2 = matrixMul2(ma_x_b, p);
var res3 = matrixMul2(a_x_mb, p);
var res4 = squareMatrix ? matrixMul(ma_x_mb, p) : res3;
TrafoTesting.AreEqual(res, res2);
TrafoTesting.AreEqual(res, res3);
TrafoTesting.AreEqual(res, res4);
}
});
public static void InverseTest()
=> TrafoTesting.GenericTest(rnd =>
{
var s = TrafoTesting.GetRandomSimilarity(rnd);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = s.TransformPos(p);
// Inverse property
var res = s.Inverse.TransformPos(q);
// Invert method
Similarity.Invert(ref s);
var res2 = s.TransformPos(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
public static void InverseTest()
=> TrafoTesting.GenericTest(rnd =>
{
var e = TrafoTesting.GetRandomEuclidean(rnd);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = e.TransformPos(p);
// Inverse property
var res = e.Inverse.TransformPos(q);
// Invert method
Euclidean.Invert(ref e);
var res2 = e.TransformPos(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
public static void InverseTest()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomAffine(rnd);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = a.TransformPos(p);
// Inverse property
var res = a.Inverse.TransformPos(q);
// Invert method
Affine.Invert(ref a);
var res2 = a.TransformPos(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
public static void InverseTest()
{
TrafoTesting.GenericTest(rnd =>
{
var r = TrafoTesting.GetRandomRot2(rnd);
var p = rnd.UniformV2d() * rnd.UniformInt(1000);
var q = r.Transform(p);
// Inverse property
var res = r.Inverse.Transform(q);
// Invert method
Rot.Invert(ref r);
var res2 = r.Transform(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
}
/// <summary>
/// Tests multiplication of T trafos with random M matrices.
/// </summary>
public static void GenericFullMatrixMultiplicationTest <T, M, MAugmented>(
Func <RandomSystem, T> frnd,
Func <RandomSystem, M> frndMatrix,
Func <M, V3d, V3d> matrixTransform,
Func <M, V3d, V3d> matrixMul)
=> GenericTest(rnd =>
{
dynamic m = frndMatrix(rnd);
dynamic t = frnd(rnd);
dynamic maugm = (MAugmented)m;
dynamic maugt = (MAugmented)t;
dynamic mt = (M)t;
var m_x_t = m * t;
var t_x_m = t * m;
var m_x_t_ref = m * maugt;
var t_x_m_ref = mt * maugm;
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
{
var res_mt = matrixTransform(m_x_t, p);
var res_mt_ref = matrixTransform(m_x_t_ref, p);
var res_tm = matrixTransform(t_x_m, p);
var res_tm_ref = matrixTransform(t_x_m_ref, p);
TrafoTesting.AreEqual(res_mt, res_mt_ref);
TrafoTesting.AreEqual(res_tm, res_tm_ref);
}
{
var res_mt = matrixMul(m_x_t, p);
var res_mt_ref = matrixMul(m_x_t_ref, p);
var res_tm = matrixMul(t_x_m, p);
var res_tm_ref = matrixMul(t_x_m_ref, p);
TrafoTesting.AreEqual(res_mt, res_mt_ref);
TrafoTesting.AreEqual(res_tm, res_tm_ref);
}
});
public static void Multiplication2x3Test()
{
TrafoTesting.GenericTest(rnd =>
{
var r1 = TrafoTesting.GetRandomRot2(rnd);
var r2 = TrafoTesting.GetRandomRot2(rnd);
var r = r1 * r2;
var rm = (M23d)r1 * r2;
var mr = r1 * (M23d)r2;
{
var p = rnd.UniformV2d() * rnd.UniformInt(1000);
var res = r.Transform(p);
var res2 = rm.TransformPos(p);
var res3 = mr.TransformPos(p);
TrafoTesting.AreEqual(res, res2);
TrafoTesting.AreEqual(res, res3);
}
});
}
public static void RotationXYZ()
{
TrafoTesting.GenericTest(rnd =>
{
var angle = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
var rotX1 = Rot3d.RotationX(angle);
var rotX2 = Rot3d.Rotation(V3d.XAxis, angle);
TrafoTesting.AreEqual(rotX1, rotX2);
var rotY1 = Rot3d.RotationY(angle);
var rotY2 = Rot3d.Rotation(V3d.YAxis, angle);
TrafoTesting.AreEqual(rotY1, rotY2);
var rotZ1 = Rot3d.RotationZ(angle);
var rotZ2 = Rot3d.Rotation(V3d.ZAxis, angle);
TrafoTesting.AreEqual(rotZ1, rotZ2);
});
}
public static void InverseTest()
{
TrafoTesting.GenericTest(rnd =>
{
var s = TrafoTesting.GetRandomShift3(rnd);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = s.Transform(p);
// Inverse property
var res = s.Inverse.Transform(q);
// InvTransform
var res2 = s.InvTransform(q);
// Invert method
Shift.Invert(ref s);
var res3 = s.Transform(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
TrafoTesting.AreEqual(p, res3);
});
}
