public static bool AssertSimilar(FbxVector4 euler, FbxQuaternion actual,
double tolerance = 1e-10, bool nothrow = false)
{
var expected = new FbxQuaternion();
expected.ComposeSphericalXYZ(euler);
return(AssertSimilar(expected, actual, tolerance, nothrow));
}
/// <summary>
/// Check that two vectors are similar, interpreting them as XYZ euler angles,
/// ignoring W.
///
/// Pass 'nothrow' as true if you want a bool yes/no. By default we
/// throw an NUnit exception if the vectors don't match.
/// </summary>
public static bool AssertSimilarEuler(FbxVector4 expected, FbxVector4 actual,
double tolerance = 1e-10, bool nothrow = false)
{
if (expected == actual)
{
return(true);
}
var q1 = new FbxQuaternion(); q1.ComposeSphericalXYZ(expected);
var q2 = new FbxQuaternion(); q2.ComposeSphericalXYZ(actual);
// Check if the quaternions match.
if (FbxQuaternionTest.AssertSimilar(q1, q2, System.Math.Sqrt(tolerance), nothrow: true))
{
return(true);
}
if (!nothrow)
{
Assert.AreEqual(expected, actual, "Quaternions don't match: " + q1 + " versus " + q2);
}
return(false);
}
public void BasicTests()
{
base.TestElementAccessAndDispose(new FbxMatrix());
FbxMatrix mx;
// make sure the constructors compile and don't crash
mx = new FbxMatrix();
mx = new FbxMatrix(new FbxMatrix());
mx = new FbxMatrix(new FbxAMatrix());
mx = new FbxMatrix(new FbxVector4(), new FbxVector4(), new FbxVector4(1, 1, 1));
mx = new FbxMatrix(new FbxVector4(), new FbxQuaternion(), new FbxVector4(1, 1, 1));
mx = new FbxMatrix(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15);
/* Check the values we typed in match up. */
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
Assert.AreEqual(x + 4 * y, mx.Get(y, x));
}
}
Assert.AreEqual(new FbxVector4(4, 5, 6, 7), mx.GetRow(1));
Assert.AreEqual(new FbxVector4(1, 5, 9, 13), mx.GetColumn(1));
/* Check that set and get work (silly transpose operation). */
FbxMatrix mx2 = new FbxMatrix();
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
mx2.Set(y, x, y + 4 * x);
Assert.AreEqual(mx.Get(x, y), mx2.Get(y, x));
}
}
/* normal transpose operation */
Assert.AreEqual(mx, mx2.Transpose());
// Test SetIdentity
Assert.IsFalse(AssertIsIdentity(mx, nothrow: true));
AssertIsIdentity(mx, 15); // squint very, very, very hard
mx.SetIdentity();
AssertIsIdentity(mx);
// Test getting the elements from a matrix built by TRS
var translate = new FbxVector4(1, 2, 3);
var rotate = new FbxVector4(0, 90, 0);
var scale = new FbxVector4(1, 2, .5);
mx = new FbxMatrix(translate, rotate, scale);
FbxVector4 t, r, s, shear;
double sign;
mx.GetElements(out t, out r, out shear, out s, out sign);
Assert.AreEqual(1, sign);
FbxVector4Test.AssertSimilarXYZ(translate, t);
FbxVector4Test.AssertSimilarEuler(rotate, r);
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(), shear);
FbxVector4Test.AssertSimilarXYZ(scale, s);
FbxQuaternion q = new FbxQuaternion();
mx.GetElements(out r, q, out shear, out s, out sign);
Assert.AreEqual(1, sign);
FbxVector4Test.AssertSimilarXYZ(translate, t);
FbxQuaternionTest.AssertSimilar(rotate, q);
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(), shear);
FbxVector4Test.AssertSimilarXYZ(scale, s);
// Try SetTRS and SetTQS with the same arguments.
using (var X = new FbxMatrix()) {
X.SetTRS(translate, rotate, scale);
X.GetElements(out r, q, out shear, out s, out sign);
Assert.AreEqual(1, sign);
FbxVector4Test.AssertSimilarXYZ(translate, t);
FbxQuaternionTest.AssertSimilar(rotate, q);
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(), shear);
FbxVector4Test.AssertSimilarXYZ(scale, s);
}
using (var X = new FbxMatrix()) {
FbxQuaternion qRotate = new FbxQuaternion();
qRotate.ComposeSphericalXYZ(rotate);
X.SetTQS(translate, q, scale);
X.GetElements(out r, q, out shear, out s, out sign);
Assert.AreEqual(1, sign);
FbxVector4Test.AssertSimilarXYZ(translate, t);
FbxQuaternionTest.AssertSimilar(rotate, q);
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(), shear);
FbxVector4Test.AssertSimilarXYZ(scale, s);
// While we're at it, transform a vertex.
// Verify also that w turns out normalized.
var v = new FbxVector4(1, 2, 3, 4);
var v2 = X.MultNormalize(v);
FbxVector4Test.AssertSimilarXYZW(new FbxVector4(2.5, 6, 2, 1), v2);
// While we're at it, test that we can invert the matrix.
// This matrix is invertible (since it's an affine transformation),
// and the inversion turns out to be exact.
AssertIsIdentity(X.Inverse() * X);
using (var inv = new FbxMatrix(
0, 0, 2, 0,
0, 0.5, 0, 0,
-1, 0, 0, 0,
3, -1, -2, 1)) {
Assert.AreEqual(inv, X.Inverse());
}
}
// Test set column + set row
mx = new FbxMatrix();
mx.SetColumn(1, new FbxVector4(1, 2, 3, 4));
mx.SetRow(2, new FbxVector4(5, 6, 7, 8));
//check that the column is what we expect
Assert.AreEqual(1, mx.Get(0, 1));
Assert.AreEqual(2, mx.Get(1, 1));
Assert.AreEqual(6, mx.Get(2, 1)); // this value got changed by SetRow
Assert.AreEqual(4, mx.Get(3, 1));
// check that the row is what we expect
Assert.AreEqual(new FbxDouble4(5, 6, 7, 8), mx [2]);
// Test operators on two matrices.
using (var a = new FbxMatrix(
0, 1, 2, 3,
4, 5, 6, 7,
8, 9, 10, 11,
12, 13, 14, 15)) {
using (var b = new FbxMatrix(
15, 14, 13, 12,
11, 10, 9, 8,
7, 6, 5, 4,
3, 2, 1, 0)) {
using (var sum = new FbxMatrix(
15, 15, 15, 15,
15, 15, 15, 15,
15, 15, 15, 15,
15, 15, 15, 15)) {
Assert.AreEqual(sum, a + b);
}
using (var diff = new FbxMatrix(
-15, -13, -11, -9,
-7, -5, -3, -1,
1, 3, 5, 7,
9, 11, 13, 15)) {
Assert.AreEqual(diff, a - b);
}
using (var prod = new FbxMatrix(
304, 358, 412, 466,
208, 246, 284, 322,
112, 134, 156, 178,
16, 22, 28, 34)) {
Assert.AreEqual(prod, a * b);
}
using (var neg = new FbxMatrix(
0, -1, -2, -3,
-4, -5, -6, -7,
-8, -9, -10, -11,
-12, -13, -14, -15)) {
Assert.AreEqual(neg, -a);
}
}
}
var eyePosition = new FbxVector4(1, 2, 3);
var eyeDirection = new FbxVector4(-1, -1, -1);
var eyeUp = new FbxVector4(0, 1, 0);
using (mx = new FbxMatrix()) {
mx.SetLookToRH(eyePosition, eyeDirection, eyeUp);
AssertSimilar(new FbxMatrix(
0.707, -0.408, 0.577, 0,
0, 0.816, 0.577, 0,
-0.707, -0.408, 0.577, 0,
1.414, 0, -3.464, 1), mx, 1e-2);
mx.SetLookToLH(eyePosition, eyeDirection, eyeUp);
AssertSimilar(new FbxMatrix(
-0.707, -0.408, -0.577, 0,
0, 0.816, -0.577, 0,
0.707, -0.408, -0.577, 0,
-1.414, 0, 3.464, 1), mx, 1e-2);
mx.SetLookAtRH(eyePosition, eyeDirection, eyeUp);
AssertSimilar(new FbxMatrix(
0.894, -0.249, 0.371, 0,
0, 0.834, 0.557, 0,
-0.447, -0.498, 0.742, 0,
0.447, 0.083, -3.713, 1), mx, 1e-2);
mx.SetLookAtLH(eyePosition, eyeDirection, eyeUp);
AssertSimilar(new FbxMatrix(
-0.894, -0.249, -0.371, 0,
0, 0.834, -0.557, 0,
0.447, -0.498, -0.742, 0,
-0.447, 0.083, 3.713, 1), mx, 1e-2);
}
}
Key [] ComputeKeys(UnityEngine.Quaternion restRotation, FbxNode node)
{
// Get the source pivot pre-rotation if any, so we can
// remove it from the animation we get from Unity.
var fbxPreRotationEuler = node.GetRotationActive() ? node.GetPreRotation(FbxNode.EPivotSet.eSourcePivot)
: new FbxVector4();
var fbxPreRotationInverse = new FbxQuaternion();
fbxPreRotationInverse.ComposeSphericalXYZ(fbxPreRotationEuler);
fbxPreRotationInverse.Inverse();
// If we're only animating along certain coords for some
// reason, we'll need to fill in the other coords with the
// rest-pose value.
var lclQuaternion = new FbxQuaternion(restRotation.x, restRotation.y, restRotation.z, restRotation.w);
// Find when we have keys set.
var keyTimes = new HashSet <float>();
if (x != null)
{
foreach (var key in x.keys)
{
keyTimes.Add(key.time);
}
}
if (y != null)
{
foreach (var key in y.keys)
{
keyTimes.Add(key.time);
}
}
if (z != null)
{
foreach (var key in z.keys)
{
keyTimes.Add(key.time);
}
}
if (w != null)
{
foreach (var key in w.keys)
{
keyTimes.Add(key.time);
}
}
// Convert to the Key type.
var keys = new Key[keyTimes.Count];
int i = 0;
foreach (var seconds in keyTimes)
{
// The final animation, including the effect of pre-rotation.
// If we have no curve, assume the node has the correct rotation right now.
// We need to evaluate since we might only have keys in one of the axes.
var fbxFinalAnimation = new FbxQuaternion(
(x == null) ? lclQuaternion[0] : x.Evaluate(seconds),
(y == null) ? lclQuaternion[1] : y.Evaluate(seconds),
(z == null) ? lclQuaternion[2] : z.Evaluate(seconds),
(w == null) ? lclQuaternion[3] : w.Evaluate(seconds));
// Cancel out the pre-rotation. Order matters. FBX reads left-to-right.
// When we run animation we will apply:
// pre-rotation
// then pre-rotation inverse
// then animation.
var fbxAnimation = fbxPreRotationInverse * fbxFinalAnimation;
// Store the key so we can sort them later.
Key key;
key.time = FbxTime.FromSecondDouble(seconds);
key.euler = fbxAnimation.DecomposeSphericalXYZ();
keys[i++] = key;
}
// Sort the keys by time
System.Array.Sort(keys, (Key a, Key b) => a.time.CompareTo(b.time));
return(keys);
}
public void BasicTests()
{
FbxQuaternion u, v;
// make sure the no-arg constructor doesn't crash
new FbxQuaternion();
// test dispose
using (new FbxQuaternion()) { }
DisposeTester.TestDispose(new FbxQuaternion());
// Test other constructors
v = new FbxQuaternion(0.1, 0.2, 0.3, 0.4);
u = new FbxQuaternion(v);
Assert.AreEqual(v, u);
u[0] = 0.5;
Assert.AreEqual(0.5, u[0]);
Assert.AreEqual(0.1, v[0]); // check that setting u doesn't set v
// axis-angle constructor and setter
v = new FbxQuaternion(new FbxVector4(1, 2, 3), 90);
u = new FbxQuaternion();
u.SetAxisAngle(new FbxVector4(1, 2, 3), 90);
Assert.AreEqual(u, v);
// euler
v = new FbxQuaternion();
v.ComposeSphericalXYZ(new FbxVector4(20, 30, 40));
var euler = v.DecomposeSphericalXYZ();
Assert.That(euler.X, Is.InRange(19.99, 20.01));
Assert.That(euler.Y, Is.InRange(29.99, 30.01));
Assert.That(euler.Z, Is.InRange(39.99, 40.01));
Assert.AreEqual(0, euler.W);
v = new FbxQuaternion(0.1, 0.2, 0.3);
Assert.AreEqual(0.1, v[0]);
Assert.AreEqual(0.2, v[1]);
Assert.AreEqual(0.3, v[2]);
Assert.AreEqual(1, v[3]); // w is assumed to be a homogenous coordinate
v.Set(0.9, 0.8, 0.7, 0.6);
Assert.AreEqual(0.9, v[0]);
Assert.AreEqual(0.8, v[1]);
Assert.AreEqual(0.7, v[2]);
Assert.AreEqual(0.6, v[3]);
v.Set(0.9, 0.8, 0.7);
Assert.AreEqual(0.9, v[0]);
Assert.AreEqual(0.8, v[1]);
Assert.AreEqual(0.7, v[2]);
v.SetAt(1, 2);
Assert.AreEqual(2, v.GetAt(1));
// Test operator[]
v = new FbxQuaternion();
v[0] = 0.1;
Assert.AreEqual(0.1, v[0]);
v[1] = 0.2;
Assert.AreEqual(0.2, v[1]);
v[2] = 0.3;
Assert.AreEqual(0.3, v[2]);
v[3] = 0.4;
Assert.AreEqual(0.4, v[3]);
v.SetAt(3, 0.5);
Assert.AreEqual(0.5, v.GetAt(3));
Assert.That(() => v[-1], Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v[4], Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v.GetAt(-1), Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v.GetAt(4), Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v[-1] = 0.5, Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v[4] = 0.5, Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v.SetAt(-1, 0.5), Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
Assert.That(() => v.SetAt(4, 0.5), Throws.Exception.TypeOf <System.ArgumentOutOfRangeException>());
// Test W/X/Y/Z
v.X = 0.1;
Assert.AreEqual(0.1, v.X);
v.Y = 0.2;
Assert.AreEqual(0.2, v.Y);
v.Z = 0.3;
Assert.AreEqual(0.3, v.Z);
v.W = 0.4;
Assert.AreEqual(0.4, v.W);
// call the multiply/divide/add/sub operators, make sure they're vaguely sane
u = new FbxQuaternion(v);
v = v * v;
Assert.AreNotEqual(0, u.Compare(v, 1e-15)); // test compare can return false
v = v * 9;
v = 9 * v;
v = v + 5;
v = v - 5; // undo v + 5
v = v + u;
v = v - u; // undo v + u
v = v / 81; // undo 9 * (v * 9)
v = v / u; // undo v*v
Assert.AreEqual(0, u.Compare(v)); // u and v are the same up to rounding
Assert.AreEqual(u * u, u.Product(u));
// unary negate and dot product
Assert.AreEqual(0, (-u).Compare(-v));
Assert.AreEqual(-0.3, v.DotProduct(-v), 1e-6);
Assert.AreEqual(System.Math.Sqrt(0.3), v.Length(), 1e-6);
v.Normalize();
Assert.AreEqual(1, v.DotProduct(v), 1e-6);
// various others where we assume that FBX works, just test that they don't crash
v.Conjugate();
v.Inverse();
v.Slerp(u, 0.5);
}
public void BasicTests()
{
base.TestElementAccessAndDispose(new FbxAMatrix());
// make sure the constructors compile and don't crash
new FbxAMatrix();
new FbxAMatrix(new FbxAMatrix());
var mx = new FbxAMatrix(new FbxVector4(), new FbxVector4(), new FbxVector4(1, 1, 1));
// check that the matrix is the id matrix
Assert.IsTrue(mx.IsIdentity());
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
Assert.AreEqual(x == y ? 1 : 0, mx.Get(y, x));
}
}
// Test that all the operations work.
// In particular, test that they don't return the default element
// when they aren't supposed to.
var translate = new FbxVector4(5, 3, 1);
var euler = new FbxVector4(-135, -90, 0);
var scale = new FbxVector4(1, 2, .5);
var quat = new FbxQuaternion();
quat.ComposeSphericalXYZ(euler);
mx = new FbxAMatrix(translate, euler, scale);
Assert.IsFalse(mx.IsIdentity());
Assert.IsTrue(mx.IsIdentity(10)); // squint very, very, very hard
FbxVector4Test.AssertSimilarXYZ(translate, mx.GetT());
FbxVector4Test.AssertSimilarEuler(euler, mx.GetR());
FbxQuaternionTest.AssertSimilar(quat, mx.GetQ());
FbxVector4Test.AssertSimilarXYZ(scale, mx.GetS());
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(0.354, 0.354, 0), mx.GetRow(2), 1e-2);
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(1, 0, 0), mx.GetColumn(2));
mx.SetT(translate * 2);
FbxVector4Test.AssertSimilarXYZ(2 * translate, mx.GetT());
mx.SetR(euler * 2);
FbxVector4Test.AssertSimilarEuler(2 * euler, mx.GetR());
mx.SetQ(quat * 2);
FbxQuaternionTest.AssertSimilar(2 * quat, mx.GetQ());
mx.SetS(scale * 2);
FbxVector4Test.AssertSimilarXYZ(2 * scale, mx.GetS());
mx.SetTRS(translate, euler, scale);
FbxVector4Test.AssertSimilarXYZ(translate, mx.GetT());
mx.SetTQS(2 * translate, 2 * quat, 2 * scale);
FbxVector4Test.AssertSimilarXYZ(2 * translate, mx.GetT());
// Test Inverse.
var mxInv = mx.Inverse();
Assert.AreNotEqual(mx.GetT(), mxInv.GetT());
Assert.IsTrue((mx * mxInv).IsIdentity());
// Test multiplying by a translation. Really we just want to make sure we got a result
// different than doing nothing.
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(17.778175, 2.464466, 4), mx.MultT(new FbxVector4(1, 2, 3)), 1e-5);
// Test multiplying by a rotation.
FbxVector4Test.AssertSimilarEuler(new FbxVector4(-180, 0, 45), mx.MultR(new FbxVector4(0, -90, 0)));
quat.ComposeSphericalXYZ(new FbxVector4(0, -90, 0));
quat = mx.MultQ(quat);
var quatExpected = new FbxQuaternion();
quatExpected.ComposeSphericalXYZ(new FbxVector4(-180, 0, 45));
FbxQuaternionTest.AssertSimilar(quatExpected, quat);
// Test multiplying a scale.
FbxVector4Test.AssertSimilarXYZ(new FbxVector4(4, 6, .5), mx.MultS(new FbxVector4(2, 1.5, .5)));
// Test scaling. Multiply/divide by powers of two so there's no roundoff.
// The scale/rotate is scaled, the translation is cleared to (0,0,0,1).
AssertScaled(mx, mx * 2, 2);
AssertScaled(mx, 2 * mx, 2);
AssertScaled(mx, mx / 2, 0.5);
// Test negating. This is different from scaling by -1.
using (var mxNegated = -mx) {
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
Assert.AreEqual(-mx.Get(x, y), mxNegated.Get(x, y),
string.Format("Index {0} {1}", x, y));
}
}
}
// Test transpose.
using (var mxTranspose = mx.Transpose()) {
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
Assert.AreEqual(mx.Get(y, x), mxTranspose.Get(x, y),
string.Format("Index {0} {1}", x, y));
}
}
}
// Test setting to identity.
mx.SetIdentity();
Assert.IsTrue(mx.IsIdentity());
// Slerp between two rotation matrices.
var q1 = new FbxQuaternion(); q1.ComposeSphericalXYZ(new FbxVector4(0, -90, 0));
var q2 = new FbxQuaternion(); q2.ComposeSphericalXYZ(new FbxVector4(0, 90, 0));
var m1 = new FbxAMatrix(); m1.SetQ(q1);
var m2 = new FbxAMatrix(); m2.SetQ(q2);
var m12 = m1.Slerp(m2, 0.25);
var q12 = new FbxQuaternion(); q12.ComposeSphericalXYZ(new FbxVector4(0, -45, 0));
FbxQuaternionTest.AssertSimilar(q12, m12.GetQ());
}
