//====================================================
// 非メンバ関数のテスト
//====================================================
public void crossProductTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected.zero();
actual = LDVector3.crossProduct(vector1, vector2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 1.0, y = 2.0, z = 3.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 1.0f;
vector2.y = 2.0f;
vector2.z = 3.0f;
expected.x = vector1.y * vector2.z - vector1.z * vector2.y;
expected.y = vector1.z * vector2.x - vector1.x * vector2.z;
expected.z = vector1.x * vector2.y - vector1.y * vector2.x;
actual = LDVector3.crossProduct(vector1, vector2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
/**
* @brief 最小弧クォータニオン 二点を結ぶ最小の弧を描く。(v1,v2が単位ベクトルであることがわかっている場合は useNormalizeを false にすると計算量が多少減る)
* @param &v1 EVector3をセットする
* @param &v2 EVector3をセットする
* @param useNormalize 正規化する場合はtrue, そうでない場合はfalseをセットする。(入力無き場合はtrue)
*/
void setToRotationArc(LDVector3 v1, LDVector3 v2, bool useNormalize = true)
{
LDVector3 vv1;
LDVector3 vv2;
LDVector3 tmp1;
LDVector3 tmp2;
if (useNormalize)
{
tmp1 = v1;
tmp1.normalize();
tmp2 = v2;
tmp2.normalize();
vv1 = tmp1;
vv2 = tmp2;
}
else
{
vv1 = v1;
vv2 = v2;
}
LDVector3 c = LDVector3.crossProduct(vv1, vv2);
ld_float d = vv1.dotProduct(vv2);
ld_float s = (ld_float)Math.Sqrt((1 + d) * 2);
this.x = c.x / s;
this.y = c.y / s;
this.z = c.z / s;
this.w = s / 2.0f;
} // not public
} // not public
/**
* @brief 独自の球面線形補間（回転角度を保つ）。y軸90度、z軸90度の回転をSLERPで計算する場合、t が変化した時、軸は最小距離を移動するが、角度は、90度ではなく小さな値となる。この計算を 90度の回転を保って、中心を通る計算についてテスト実装
* @param &q1 クォータニオン(EQuat)をセットする
* @param t 補間位置を表す数値をセットする
* @return 補間結果を返す
*/
LDQuat mySlerp(LDQuat q1, ld_float t)
{
LDQuat q0 = this;
// 範囲外の時は端点を返す
if (t <= 0.0f)
{
return(q0);
}
if (t >= 1.0f)
{
return(q1);
}
LDVector3 n0 = q0.getAxis();
LDVector3 n1 = q1.getAxis();
ld_float a0 = q0.getAngle();
ld_float a1 = q1.getAngle();
//
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
LDQuat ret = new LDQuat();
ret.setToRotateAxis(nt, at);
return(ret);
}
/**
* @brief vector3 ,w を指定して初期化
* @param _v EVector3をセットする
* @param w 初期値をセットする
*/
public LDQuat(LDVector3 _v, ld_float _w)
{
x = _v.x;
y = _v.y;
z = _v.z;
w = _w;
}
public LDPoint transform(LDPoint p)
{
LDVector3 srcVec = new LDVector3(p.x(), p.y(), 0);
LDVector3 dstVec = m_matrix.transform(srcVec);
return(new LDPoint(dstVec.x, dstVec.y));
}
/**
* @brief vector3 ,w を指定して初期化
* @param _v EVector3をセットする
* @param w 初期値をセットする
*/
public LDQuat(LDVector3 _v, ld_float _w)
{
x = _v.x;
y = _v.y;
z = _v.z;
w = _w;
}
public void normalizeTest()
{
LDVector3 vector = new LDVector3();
ld_float expected_x;
ld_float expected_y;
ld_float expected_z;
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected_x = 0.0f;
expected_y = 0.0f;
expected_z = 0.0f;
vector.normalize();
TestUtil.COMPARE(expected_x, vector.x);
TestUtil.COMPARE(expected_y, vector.y);
TestUtil.COMPARE(expected_z, vector.z);
// Input : 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;
expected_x = vector.x / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
expected_y = vector.y / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
expected_z = vector.z / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
vector.normalize();
TestUtil.COMPARE(expected_x, vector.x);
TestUtil.COMPARE(expected_y, vector.y);
TestUtil.COMPARE(expected_z, vector.z);
}
public void dotTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected = 0.0f;
actual = LDVector3.dot(vector1, vector2);
TestUtil.COMPARE(expected, actual);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 1.0, y = 2.0, z = 3.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 1.0f;
vector2.y = 2.0f;
vector2.z = 3.0f;
expected = vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z;
actual = LDVector3.dot(vector1, vector2);
TestUtil.COMPARE(expected, actual);
}
public void distanceTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected = 0.0f;
actual = LDVector3.distance(vector1, vector2);
TestUtil.COMPARE(expected, actual);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 4.0, y = 5.0, z = 6.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
ld_float dx = vector1.x - vector2.x;
ld_float dy = vector1.y - vector2.y;
ld_float dz = vector1.z - vector2.z;
expected = (ld_float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
actual = LDVector3.distance(vector1, vector2);
TestUtil.COMPARE(expected, actual);
}
//====================================================
// 非メンバ関数のテスト
//====================================================
public void crossProductTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected.zero();
actual = LDVector3.crossProduct(vector1, vector2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 1.0, y = 2.0, z = 3.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 1.0f;
vector2.y = 2.0f;
vector2.z = 3.0f;
expected.x = vector1.y * vector2.z - vector1.z * vector2.y;
expected.y = vector1.z * vector2.x - vector1.x * vector2.z;
expected.z = vector1.x * vector2.y - vector1.y * vector2.x;
actual = LDVector3.crossProduct(vector1, vector2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public float transform(float p)
{
LDVector3 srcVec = new LDVector3(p, 0, 0);
LDVector3 dstVec = m_matrix.transform(srcVec);
return(dstVec.x);
}
//------ ベクトルの変換 -------
/**
* @brief 変換を行う
* @param p EVector3をセットする
* @return 変換行列を返す
*/
public LDVector3 transform(LDVector3 p)
{
return(new LDVector3(
m11 * p.x + m12 * p.y + m13 * p.z + m14,
m21 * p.x + m22 * p.y + m13 * p.z + m24,
m31 * p.y + m32 * p.y + m13 * p.z + m34
));
}
/**
* @brief ２つの点の距離を取得する
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ２つの点の距離を返す
*/
public static ld_float distance(LDVector3 v1, LDVector3 v2)
{
ld_float dx = v1.x - v2.x;
ld_float dy = v1.y - v2.y;
ld_float dz = v1.z - v2.z;
return((ld_float)Math.Sqrt(dx * dx + dy * dy + dz * dz));
}
/**
* @brief 変換を行う
* @param p EVector3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 transform(LDVector3 p, LDVector3 dst)
{
//p == dst の場合も考慮し、退避して計算する
ld_float x = m11 * p.x + m12 * p.y + m13 * p.z + m14;
ld_float y = m21 * p.x + m22 * p.y + m13 * p.z + m24;
dst.z = m31 * p.y + m32 * p.y + m13 * p.z + m34;
dst.x = x;
dst.y = y;
}
public void setToRotateAxis(LDVector3 axis, ld_float theta)
{
Debug.Assert(Math.Abs(axis.length() - 1.0f) < 0.01f);
ld_float theta_over2 = theta * 0.5f;
ld_float sinQ_over2 = (ld_float)Math.Sin(theta_over2);
w = (ld_float)Math.Cos(theta_over2);
x = axis.x * sinQ_over2;
y = axis.y * sinQ_over2;
z = axis.z * sinQ_over2;
}
public void getAxisTest()
{
LDQuat quat = new LDQuat(0.0f, 0.0f, 0.0f, 0.0f);
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0, w = 0.0 (ゼロクォータニオン)
expected.zero();
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : x = 0.0, y = 0.0, z = 0.0, w = 1.0 (単位クォータニオン)
quat.x = 0.0f;
quat.y = 0.0f;
quat.z = 0.0f;
quat.w = 1.0f;
expected.x = 1.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : 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;
expected.x = quat.x * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
expected.y = quat.y * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
expected.z = quat.z * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public void getAxisTest()
{
LDQuat quat = new LDQuat(0.0f, 0.0f, 0.0f, 0.0f);
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0, w = 0.0 (ゼロクォータニオン)
expected.zero();
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : x = 0.0, y = 0.0, z = 0.0, w = 1.0 (単位クォータニオン)
quat.x = 0.0f;
quat.y = 0.0f;
quat.z = 0.0f;
quat.w = 1.0f;
expected.x = 1.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : 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;
expected.x = quat.x * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
expected.y = quat.y * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
expected.z = quat.z * 1.0f / (float)Math.Sqrt(1.0f - quat.w * quat.w);
actual = quat.getAxis();
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public void blendTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
ld_float t1;
ld_float t2;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}
// vector2{x = 0.0, y = 0.0, z = 0.0}, t1 = 0.0, t2 = 0.0 (ゼロベクトル)
vector1.zero();
vector2.zero();
t1 = 0.0f;
t2 = 0.0f;
expected.zero();
actual = LDVector3.blend(vector1, vector2, t1, t2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}
// vector2{x = 4.0, y = 5.0, z = 6.0}, t1 = 1.0, t2 = 2.0 (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
t1 = 1.0f;
t2 = 2.0f;
expected.x = vector1.x * t1 + vector2.x * t2;
expected.y = vector1.y * t1 + vector2.y * t2;
expected.z = vector1.z * t1 + vector2.z * t2;
actual = LDVector3.blend(vector1, vector2, t1, t2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public void blendTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 actual = new LDVector3();
LDVector3 expected = new LDVector3();
//ld_float delta = 0.00001f;
ld_float t1;
ld_float t2;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}
// vector2{x = 0.0, y = 0.0, z = 0.0}, t1 = 0.0, t2 = 0.0 (ゼロベクトル)
vector1.zero();
vector2.zero();
t1 = 0.0f;
t2 = 0.0f;
expected.zero();
actual = LDVector3.blend(vector1, vector2, t1, t2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}
// vector2{x = 4.0, y = 5.0, z = 6.0}, t1 = 1.0, t2 = 2.0 (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
t1 = 1.0f;
t2 = 2.0f;
expected.x = vector1.x * t1 + vector2.x * t2;
expected.y = vector1.y * t1 + vector2.y * t2;
expected.z = vector1.z * t1 + vector2.z * t2;
actual = LDVector3.blend(vector1, vector2, t1, t2);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
public void lengthTest()
{
LDVector3 vector = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected = 0.0f;
actual = vector.length();
TestUtil.COMPARE(expected, actual);
// Input : 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;
expected = (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
actual = vector.length();
TestUtil.COMPARE(expected, actual);
// 非メンバ関数lengthのテスト
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected = 0.0f;
actual = LDVector3.length(vector);
TestUtil.COMPARE(expected, actual);
// Input : 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;
expected = (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
actual = LDVector3.length(vector);
TestUtil.COMPARE(expected, actual);
}
//------ EQuat.h ------
public void setToRotateAxisTest()
{
LDVector3 vector = new LDVector3();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float theta;
// Input : vector{x = 1.0, y = 0.0, z = 0.0}, theta = 0.0 (単位ベクトル)
vector.x = 1.0f;
vector.y = 0.0f;
vector.z = 0.0f;
vector.normalize();
theta = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual.setToRotateAxis(vector, theta);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector{x = 1.0, y = 2.0, z = 3.0}, theta = EUC_PI_OVER_2 (任意の値)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
vector.normalize();
theta = LDMathUtil.PI_OVER_2;
expected.x = vector.x * (float)Math.Sin(theta * 0.5f);
expected.y = vector.y * (float)Math.Sin(theta * 0.5f);
expected.z = vector.z * (float)Math.Sin(theta * 0.5f);
expected.w = (float)Math.Cos(theta * 0.5f);
actual.setToRotateAxis(vector, theta);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
public void transformTest()
{
LDVector3 vector = new LDVector3();
LDVector3 expected = new LDVector3();
LDVector3 actual = new LDVector3();
LDMatrix43 matrix = new LDMatrix43();
//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, out vector);
TestUtil.COMPARE(expected.x, vector.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
}
/**
* @brief ２つのベクトルをブレンドする
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @param t1 v1にかけるスカラー値t1をセットする
* @param t2 v2にかけるスカラー値t2をセットする
* @return ブレンドしたベクトルを返す
*/
public static LDVector3 blend(LDVector3 v1, LDVector3 v2, ld_float t1, ld_float t2)
{
return(new LDVector3(v1.x * t1 + v2.x * t2, v1.y * t1 + v2.y * t2, v1.z * t1 + v2.z * t2));
}
/**
* @brief 最小弧クォータニオン 二点を結ぶ最小の弧を描く。(v1,v2が単位ベクトルであることがわかっている場合は useNormalizeを false にすると計算量が多少減る)
* @param &v1 EVector3をセットする
* @param &v2 EVector3をセットする
* @param useNormalize 正規化する場合はtrue, そうでない場合はfalseをセットする。(入力無き場合はtrue)
*/
public void setToRotationArc(LDVector3 v1, LDVector3 v2, bool useNormalize = true)
{
LDVector3 vv1;
LDVector3 vv2;
LDVector3 tmp1;
LDVector3 tmp2;
if (useNormalize)
{
tmp1 = v1;
tmp1.normalize();
tmp2 = v2;
tmp2.normalize();
vv1 = tmp1;
vv2 = tmp2;
}
else
{
vv1 = v1;
vv2 = v2;
}
LDVector3 c = LDVector3.crossProduct(vv1, vv2);
ld_float d = vv1.dotProduct(vv2);
ld_float s = (ld_float)Math.Sqrt((1 + d) * 2);
this.x = c.x / s;
this.y = c.y / s;
this.z = c.z / s;
this.w = s / 2.0f;
}
public float transform(float p)
{
LDVector3 srcVec = new LDVector3(p,0, 0);
LDVector3 dstVec = m_matrix.transform(srcVec);
return dstVec.x;
}
/**
* @brief ベクトルの内積
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ベクトルの内積を返す
*/
public static ld_float dot(LDVector3 v1, LDVector3 v2)
{
return(v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);
}
/// <summary>
/// TODO:要実装 LDFUZZY_COMPARE
/// </summary>
public void setToRotationArcTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 vector3 = new LDVector3();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float d;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2 {x = 0.0, y = 0.0, z = 0.0}, useNormalize = false
// actual {x = 0.0, y = 0.0, z = 0.0, w = 0.0}
// useNormalize = false, (ゼロベクトル)
vector1.zero();
vector2.zero();
actual.x = 0.0f;
actual.y = 0.0f;
actual.z = 0.0f;
actual.w = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = (float)Math.Sqrt(2.0f) / 2.0f;
actual.setToRotationArc(vector1, vector2, false);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
//LDFUZZY_COMPARE(expected.w, actual.w, TEST_TOLERANCE);
// QVERIFY(qFuzzyCompare(expected.w, actual.w));
// TestUtil.COMPARE(expected.w, actual.w);//極小誤差によりFalse
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2 {x = 0.0, y = 0.0, z = 0.0}, useNormalize = true
// actual {x = 0.0, y = 0.0, z = 0.0, w = 0.0}
// useNormalize = true, (ゼロベクトル)
vector1.zero();
vector2.zero();
actual.x = 0.0f;
actual.y = 0.0f;
actual.z = 0.0f;
actual.w = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = (float)Math.Sqrt(2.0f) / 2.0f;
actual.setToRotationArc(vector1, vector2, true);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
//LDFUZZY_COMPARE(expected.w, actual.w, TEST_TOLERANCE);
// TestUtil.COMPARE(expected.w, actual.w);//極小誤差によりFalse
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2 {x = 4.0, y = 5.0, z = 6.0}, useNormalize = false
// actual {x = 1.0, y = 2.0, z = 3.0, w = 0.5}
// useNormalize = false, (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
actual.x = 1.0f;
actual.y = 2.0f;
actual.z = 3.0f;
actual.w = 0.5f;
vector3 = LDVector3.crossProduct(vector1, vector2);
d = vector1.dotProduct(vector2);
expected.x = vector3.x / (float)Math.Sqrt((1 + d) * 2);
expected.y = vector3.y / (float)Math.Sqrt((1 + d) * 2);
expected.z = vector3.z / (float)Math.Sqrt((1 + d) * 2);
expected.w = (float)Math.Sqrt((1 + d) * 2) / 2.0f;
actual.setToRotationArc(vector1, vector2, false);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2 {x = 4.0, y = 5.0, z = 6.0}, useNormalize = true
// actual {x = 1.0, y = 2.0, z = 3.0, w = 0.5}
// useNormalize = true, (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
actual.x = 1.0f;
actual.y = 2.0f;
actual.z = 3.0f;
actual.w = 0.5f;
vector1.normalize();
vector2.normalize();
vector3 = LDVector3.crossProduct(vector1, vector2);
d = vector1.dotProduct(vector2);
expected.x = vector3.x / (float)Math.Sqrt((1 + d) * 2);
expected.y = vector3.y / (float)Math.Sqrt((1 + d) * 2);
expected.z = vector3.z / (float)Math.Sqrt((1 + d) * 2);
expected.w = (float)Math.Sqrt((1 + d) * 2) / 2.0f;
actual.setToRotationArc(vector1, vector2, true);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
/**
* @brief ベクトルの内積
* @param v2 EVector3をセットする
* @return ベクトルの内積を返す
*/
public ld_float dotProduct(LDVector3 v2)
{
return this.x * v2.x + this.y * v2.y + this.z * v2.z;
}
//====================================================
// 非メンバ関数
//====================================================
/**
* @brief ベクトルの長さ
* @param v EVector3をセットする
* @return ベクトルの長さを返す
*/
public static ld_float length(LDVector3 v)
{
return((ld_float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z));
}
/// <summary>
/// TODO:要実装 LDFUZZY_COMPARE
/// </summary>
public void setToRotationArcTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
LDVector3 vector3 = new LDVector3();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float d;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2 {x = 0.0, y = 0.0, z = 0.0}, useNormalize = false
// actual {x = 0.0, y = 0.0, z = 0.0, w = 0.0}
// useNormalize = false, (ゼロベクトル)
vector1.zero();
vector2.zero();
actual.x = 0.0f;
actual.y = 0.0f;
actual.z = 0.0f;
actual.w = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = (float)Math.Sqrt(2.0f) / 2.0f;
actual.setToRotationArc(vector1, vector2, false);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
//LDFUZZY_COMPARE(expected.w, actual.w, TEST_TOLERANCE);
// QVERIFY(qFuzzyCompare(expected.w, actual.w));
// TestUtil.COMPARE(expected.w, actual.w);//極小誤差によりFalse
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2 {x = 0.0, y = 0.0, z = 0.0}, useNormalize = true
// actual {x = 0.0, y = 0.0, z = 0.0, w = 0.0}
// useNormalize = true, (ゼロベクトル)
vector1.zero();
vector2.zero();
actual.x = 0.0f;
actual.y = 0.0f;
actual.z = 0.0f;
actual.w = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = (float)Math.Sqrt(2.0f) / 2.0f;
actual.setToRotationArc(vector1, vector2, true);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
//LDFUZZY_COMPARE(expected.w, actual.w, TEST_TOLERANCE);
// TestUtil.COMPARE(expected.w, actual.w);//極小誤差によりFalse
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2 {x = 4.0, y = 5.0, z = 6.0}, useNormalize = false
// actual {x = 1.0, y = 2.0, z = 3.0, w = 0.5}
// useNormalize = false, (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
actual.x = 1.0f;
actual.y = 2.0f;
actual.z = 3.0f;
actual.w = 0.5f;
vector3 = LDVector3.crossProduct(vector1, vector2);
d = vector1.dotProduct(vector2);
expected.x = vector3.x / (float)Math.Sqrt((1 + d) * 2);
expected.y = vector3.y / (float)Math.Sqrt((1 + d) * 2);
expected.z = vector3.z / (float)Math.Sqrt((1 + d) * 2);
expected.w = (float)Math.Sqrt((1 + d) * 2) / 2.0f;
actual.setToRotationArc(vector1, vector2, false);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2 {x = 4.0, y = 5.0, z = 6.0}, useNormalize = true
// actual {x = 1.0, y = 2.0, z = 3.0, w = 0.5}
// useNormalize = true, (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
actual.x = 1.0f;
actual.y = 2.0f;
actual.z = 3.0f;
actual.w = 0.5f;
vector1.normalize();
vector2.normalize();
vector3 = LDVector3.crossProduct(vector1, vector2);
d = vector1.dotProduct(vector2);
expected.x = vector3.x / (float)Math.Sqrt((1 + d) * 2);
expected.y = vector3.y / (float)Math.Sqrt((1 + d) * 2);
expected.z = vector3.z / (float)Math.Sqrt((1 + d) * 2);
expected.w = (float)Math.Sqrt((1 + d) * 2) / 2.0f;
actual.setToRotationArc(vector1, vector2, true);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
public void mySlerpTest()
{
LDQuat quat1 = new LDQuat();
LDQuat quat2 = new LDQuat();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float t;
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 0.0
// 範囲外t <= 0.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 0.0f;
expected.x = 4.0f;
expected.y = 5.0f;
expected.z = 6.0f;
expected.w = 0.2f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 1.0
// 範囲外t >= 1.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 1.0f;
expected.x = 1.0f;
expected.y = 2.0f;
expected.z = 3.0f;
expected.w = 0.1f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 0.49, y = 0.5, z = 0.5, w = 0.5}, quat2{x = 0.5, y = 0.49, z = 0.5, w = 0.5}, t = 0.5
// cosOmega <= 0.9999fのケース
quat1.x = 0.49f;
quat1.y = 0.5f;
quat1.z = 0.5f;
quat1.w = 0.5f;
quat2.x = 0.5f;
quat2.y = 0.49f;
quat2.z = 0.5f;
quat2.w = 0.5f;
t = 0.5f;
LDVector3 n0 = quat2.getAxis();
LDVector3 n1 = quat1.getAxis();
ld_float a0 = quat2.getAngle();
ld_float a1 = quat1.getAngle();
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
expected.setToRotateAxis(nt, at);
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
public void lengthTest()
{
LDVector3 vector = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected = 0.0f;
actual = vector.length();
TestUtil.COMPARE(expected, actual);
// Input : 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;
expected = (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
actual = vector.length();
TestUtil.COMPARE(expected, actual);
// 非メンバ関数lengthのテスト
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected = 0.0f;
actual = LDVector3.length(vector);
TestUtil.COMPARE(expected, actual);
// Input : 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;
expected = (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
actual = LDVector3.length(vector);
TestUtil.COMPARE(expected, actual);
}
public void dotTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected = 0.0f;
actual = LDVector3.dot(vector1, vector2);
TestUtil.COMPARE(expected, actual);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 1.0, y = 2.0, z = 3.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 1.0f;
vector2.y = 2.0f;
vector2.z = 3.0f;
expected = vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z;
actual = LDVector3.dot(vector1, vector2);
TestUtil.COMPARE(expected, actual);
}
public LDPoint transform(LDPoint p)
{
LDVector3 srcVec=new LDVector3(p.x(), p.y(), 0);
LDVector3 dstVec = m_matrix.transform(srcVec);
return new LDPoint(dstVec.x, dstVec.y);
}
/**
* @brief 代入する
* @param v EVector3をセットする
* @return 自身を返す
*/
public void CopyFrom(LDVector3 v)
{
this.x = v.x;
this.y = v.y;
this.z = v.z;
}
/**
* @brief 代入する
* @param v EVector3をセットする
* @return 自身を返す
*/
public void CopyFrom(LDVector3 v)
{
this.x = v.x;
this.y = v.y;
this.z = v.z;
}
/**
* @brief コンストラクタ
* @param v EVector3をセットする
*/
public LDVector3(LDVector3 v)
{
this.x = v.x;
this.y = v.y;
this.z = v.z;
}
/**
* @brief 変換を行う
* @param p EVector3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 transform(LDVector3 p, out LDVector3 dst)
{
//p == dst の場合も考慮し、退避して計算する
ld_float x = m11 * p.x + m12 * p.y + m13 * p.z + m14;
ld_float y = m21 * p.x + m22 * p.y + m13 * p.z + m24;
dst = new LDVector3();
dst.z = m31 * p.y + m32 * p.y + m13 * p.z + m34;
dst.x = x;
dst.y = y;
}
/**
* @brief ベクトルの内積
* @param v2 EVector3をセットする
* @return ベクトルの内積を返す
*/
public ld_float dotProduct(LDVector3 v2)
{
return(this.x * v2.x + this.y * v2.y + this.z * v2.z);
}
/**
* @brief ベクトルの外積
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ベクトルの外積を返す
*/
public static LDVector3 crossProduct(LDVector3 v1, LDVector3 v2)
{
return new LDVector3(v1.y * v2.z - v1.z * v2.y,
v1.z * v2.x - v1.x * v2.z,
v1.x * v2.y - v1.y * v2.x);
}
/**
* @brief ベクトルの外積
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ベクトルの外積を返す
*/
public static LDVector3 crossProduct(LDVector3 v1, LDVector3 v2)
{
return(new LDVector3(v1.y * v2.z - v1.z * v2.y,
v1.z * v2.x - v1.x * v2.z,
v1.x * v2.y - v1.y * v2.x));
}
public void setToRotateAxis(LDVector3 axis, ld_float theta)
{
Debug.Assert(Math.Abs(axis.length() - 1.0f) < 0.01f);
ld_float theta_over2 = theta * 0.5f;
ld_float sinQ_over2 = (ld_float)Math.Sin(theta_over2);
w = (ld_float)Math.Cos(theta_over2);
x = axis.x * sinQ_over2;
y = axis.y * sinQ_over2;
z = axis.z * sinQ_over2;
}
public void normalizeTest()
{
LDVector3 vector = new LDVector3();
ld_float expected_x;
ld_float expected_y;
ld_float expected_z;
//ld_float delta = 0.00001f;
// Input : x = 0.0, y = 0.0, z = 0.0 (ゼロベクトル)
vector.zero();
expected_x = 0.0f;
expected_y = 0.0f;
expected_z = 0.0f;
vector.normalize();
TestUtil.COMPARE(expected_x, vector.x);
TestUtil.COMPARE(expected_y, vector.y);
TestUtil.COMPARE(expected_z, vector.z);
// Input : 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;
expected_x = vector.x / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
expected_y = vector.y / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
expected_z = vector.z / (ld_float)Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
vector.normalize();
TestUtil.COMPARE(expected_x, vector.x);
TestUtil.COMPARE(expected_y, vector.y);
TestUtil.COMPARE(expected_z, vector.z);
}
//------ EQuat.h ------
public void setToRotateAxisTest()
{
LDVector3 vector=new LDVector3();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float theta;
// Input : vector{x = 1.0, y = 0.0, z = 0.0}, theta = 0.0 (単位ベクトル)
vector.x = 1.0f;
vector.y = 0.0f;
vector.z = 0.0f;
vector.normalize();
theta = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
actual.setToRotateAxis(vector, theta);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
// Input : vector{x = 1.0, y = 2.0, z = 3.0}, theta = EUC_PI_OVER_2 (任意の値)
vector.x = 1.0f;
vector.y = 2.0f;
vector.z = 3.0f;
vector.normalize();
theta = LDMathUtil.PI_OVER_2;
expected.x = vector.x * (float)Math.Sin(theta * 0.5f);
expected.y = vector.y * (float)Math.Sin(theta * 0.5f);
expected.z = vector.z * (float)Math.Sin(theta * 0.5f);
expected.w = (float)Math.Cos(theta * 0.5f);
actual.setToRotateAxis(vector, theta);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
/**
* @brief コンストラクタ
* @param v EVector3をセットする
*/
public LDVector3(LDVector3 v)
{
this.x = v.x;
this.y = v.y;
this.z = v.z;
}
/**
* @brief ベクトルの内積
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ベクトルの内積を返す
*/
public static ld_float dot(LDVector3 v1, LDVector3 v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
/**
* @brief 単位ベクトル1 から 単位ベクトル2への回転を表すクォータニオンを返す
* @param unitVec1 EVector3をセットする
* @param unitVec2 EVector3をセットする
* @return クォータニオンを返す
*/
static public LDQuat getRotation(LDVector3 unitVec1, LDVector3 unitVec2)
{
throw new NotImplementedException();
}
//====================================================
// 非メンバ関数
//====================================================
/**
* @brief ベクトルの長さ
* @param v EVector3をセットする
* @return ベクトルの長さを返す
*/
public static ld_float length(LDVector3 v)
{
return (ld_float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
}
/**
* @brief 軸と回転角を指定して、クォータニオンを返す
* @param unitVec EVector3をセットする
* @param radian 回転角[rad]をセットする
* @return クォータニオンを返す
*/
static public LDQuat getRotation(LDVector3 unitVec, float radian)
{
throw new NotImplementedException();
}
/**
* @brief ２つの点の距離を取得する
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @return ２つの点の距離を返す
*/
public static ld_float distance(LDVector3 v1, LDVector3 v2)
{
ld_float dx = v1.x - v2.x;
ld_float dy = v1.y - v2.y;
ld_float dz = v1.z - v2.z;
return (ld_float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public void distanceTest()
{
LDVector3 vector1 = new LDVector3();
LDVector3 vector2 = new LDVector3();
ld_float actual;
ld_float expected;
//ld_float delta = 0.00001f;
// Input : vector1{x = 0.0, y = 0.0, z = 0.0}, vector2{x = 0.0, y = 0.0, z = 0.0} (ゼロベクトル)
vector1.zero();
vector2.zero();
expected = 0.0f;
actual = LDVector3.distance(vector1, vector2);
TestUtil.COMPARE(expected, actual);
// Input : vector1{x = 1.0, y = 2.0, z = 3.0}, vector2{x = 4.0, y = 5.0, z = 6.0} (任意の値)
vector1.x = 1.0f;
vector1.y = 2.0f;
vector1.z = 3.0f;
vector2.x = 4.0f;
vector2.y = 5.0f;
vector2.z = 6.0f;
ld_float dx = vector1.x - vector2.x;
ld_float dy = vector1.y - vector2.y;
ld_float dz = vector1.z - vector2.z;
expected = (ld_float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
actual = LDVector3.distance(vector1, vector2);
TestUtil.COMPARE(expected, actual);
}
/**
* @brief 軸と回転角を指定して、クォータニオンを返す
* @param unitVec EVector3をセットする
* @param radian 回転角[rad]をセットする
* @return クォータニオンを返す
*/
public static LDQuat getRotation(LDVector3 unitVec, float radian)
{
throw new NotImplementedException();
}
//------ ベクトルの変換 -------
/**
* @brief 変換を行う
* @param p EVector3をセットする
* @return 変換行列を返す
*/
public LDVector3 transform(LDVector3 p)
{
return new LDVector3(
m11 * p.x + m12 * p.y + m13 * p.z + m14,
m21 * p.x + m22 * p.y + m13 * p.z + m24,
m31 * p.y + m32 * p.y + m13 * p.z + m34
);
}
/**
* @brief 単位ベクトル1 から 単位ベクトル2への回転を表すクォータニオンを返す
* @param unitVec1 EVector3をセットする
* @param unitVec2 EVector3をセットする
* @return クォータニオンを返す
*/
public static LDQuat getRotation(LDVector3 unitVec1, LDVector3 unitVec2)
{
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 ２つのベクトルをブレンドする
* @param v1 EVector3をセットする
* @param v2 EVector3をセットする
* @param t1 v1にかけるスカラー値t1をセットする
* @param t2 v2にかけるスカラー値t2をセットする
* @return ブレンドしたベクトルを返す
*/
public static LDVector3 blend(LDVector3 v1, LDVector3 v2, ld_float t1, ld_float t2)
{
return new LDVector3(v1.x * t1 + v2.x * t2, v1.y * t1 + v2.y * t2, v1.z * t1 + v2.z * t2);
}
