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 AngleBetweenDouble()
{
var rnd = new RandomSystem(1);
A.SetByIndex(i => rnd.UniformV3dDirection());
angles.SetByIndex(i => rnd.UniformDouble() * (double)Constant.Pi);
B.SetByIndex(i =>
{
V3d v;
do
{
v = rnd.UniformV3dDirection();
}while (v.Dot(A[i]).IsTiny());
V3d axis = v.Cross(A[i]).Normalized;
return(M44d.Rotation(axis, angles[i]).TransformDir(A[i]));
});
}
/// <summary>
/// Build a geometry transformation from the given parameters as specified in Transform
/// http://gun.teipir.gr/VRML-amgem/spec/part1/nodesRef.html#Transform
/// </summary>
public static Trafo3d BuildVrmlGeometryTrafo(V3d center, V4d rotation, V3d scale, V4d scaleOrientation, V3d translation)
{
// create composite trafo (naming taken from vrml97 spec)
M44d C = M44d.Translation(center), Ci = M44d.Translation(-center);
M44d SR = M44d.Rotation(scaleOrientation.XYZ, scaleOrientation.W),
SRi = M44d.Rotation(scaleOrientation.XYZ, -scaleOrientation.W);
M44d T = M44d.Translation(translation), Ti = M44d.Translation(-translation);
//if (m_aveCompatibilityMode) r.W = -r.W;
M44d R = M44d.Rotation(rotation.XYZ, rotation.W),
Ri = M44d.Rotation(rotation.XYZ, -rotation.W);
// in case some axis scales by 0 the best thing for the inverse scale is also 0
var si = new V3d(scale.X.IsTiny() ? 0 : 1 / scale.X,
scale.Y.IsTiny() ? 0 : 1 / scale.Y,
scale.Z.IsTiny() ? 0 : 1 / scale.Z);
M44d S = M44d.Scale(scale), Si = M44d.Scale(si);
return(new Trafo3d(
T * C * R * SR * S * SRi * Ci,
C * SR * Si * SRi * Ri * Ci * Ti));
}
public void MatrixInverseTest(int rounds, int count,
bool doLuM = true, bool doLuV = true, bool doLu2 = true,
bool doGj2 = false,
bool doQrI = true, bool doQr2 = true)
{
bool doMul = true;
double luEpsilon = 1e-5;
double qrEpsilon = 4e-5;
Test.Begin("matrix inverse tests");
Report.Line("epsilon for lu tests: {0:e0}", luEpsilon);
Report.Line("epsilon for qr tests: {0:e0}", qrEpsilon);
bool showWorst = true;
bool showTypes = true;
var rnd = new RandomSystem(19680713);
var tc = 4;
var typeStatsOpt = Stats <M44d> .ComputeCountMaxMean;
Stats <M44d>[] luiTypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] lumTypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] luvTypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] lu2TypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] gj2TypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] qriTypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
Stats <M44d>[] qr2TypeStats = new Stats <M44d> [tc].Set(typeStatsOpt);
string[] typenames = new string[] { "Rotation", "Scale", "Translation", "Mixed" };
var histoStatsOpt = StatsOptions.MaxMean;
var luiHistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var lumHistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var luvHistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var lu2HistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var gj2HistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var qriHistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
var qr2HistoStats = new HistogramAndStats <M44d>(-16, 0, 16, histoStatsOpt);
M44d[] mats = new M44d[count];
M44d[] luis = new M44d[count];
M44d[] lums = new M44d[count];
M44d[] luvs = new M44d[count];
M44d[] lu2s = new M44d[count];
M44d[] gj2s = new M44d[count];
M44d[] qris = new M44d[count];
M44d[] qr2s = new M44d[count];
int[] types = new int[count].SetByIndex(i => - 1);
bool failedLuM = false, failedLuV = false, failedLu2 = false;
bool failedQr2 = false;
var chainStats = new Stats <bool>(StatsOptions.MaxMean);
for (int j = 0; j < rounds; j++)
{
using (Report.JobTimed("creating {0} matrices round {1} of {2}", count, j + 1, rounds))
for (int i = 0; i < count; i++)
{
M44d mat = M44d.Identity;
var chainLength = 0;
do
{
int type = rnd.UniformInt(3);
if (types[i] == -1)
{
types[i] = type;
}
else if (types[i] != type)
{
types[i] = 3; //mixed type
}
switch (type)
{
case 0:
V3d axis = V3d.Zero;
double squaredLength = 0.0;
do
{
axis = new V3d(2 * rnd.UniformDoubleFullClosed() - 1,
2 * rnd.UniformDoubleFullClosed() - 1,
2 * rnd.UniformDoubleFullClosed() - 1);
squaredLength = axis.LengthSquared;
}while (squaredLength == 0);
axis *= 1.0 / Fun.Sqrt(squaredLength);
double alpha = 2 * Constant.Pi * rnd.UniformDoubleFull()
- Constant.Pi;
M44d rot = M44d.Rotation(axis, alpha);
mat = rot * mat;
chainLength++;
break;
case 1:
var s0 = rnd.UniformDouble() < 0.5 ? -4.0 : 4.0;
var s1 = rnd.UniformDouble() < 0.5 ? -4.0 : 4.0;
var s2 = rnd.UniformDouble() < 0.5 ? -4.0 : 4.0;
M44d scale = M44d.Scale(
s0 * (1.0 - rnd.UniformDoubleFull()),
s1 * (1.0 - rnd.UniformDoubleFull()),
s2 * (1.0 - rnd.UniformDoubleFull()));
mat = scale * mat;
chainLength++;
break;
case 2:
M44d shift = M44d.Translation(
32 * rnd.UniformDoubleFullClosed() - 16,
32 * rnd.UniformDoubleFullClosed() - 16,
32 * rnd.UniformDoubleFullClosed() - 16);
mat = shift * mat;
chainLength++;
break;
default:
break;
}
}while (rnd.UniformDouble() > 0.25);
mats[i] = mat;
chainStats.Add(chainLength);
}
if (doQr2)
{
using (Report.JobTimed("qr [,] factorization"))
for (int i = 0; i < count; i++)
{
qr2s[i] = mats[i].QrInverse2();
}
}
if (doQrI)
{
using (Report.JobTimed("qr factorization"))
for (int i = 0; i < count; i++)
{
qris[i] = mats[i].QrInverse();
}
}
if (doGj2)
{
using (Report.JobTimed("gauss jordan"))
for (int i = 0; i < count; i++)
{
gj2s[i] = mats[i].NumericallyInstableGjInverse2();
}
}
if (doLu2)
{
using (Report.JobTimed("lu [,] factorization"))
for (int i = 0; i < count; i++)
{
lu2s[i] = mats[i].LuInverse2();
}
}
if (doLuV)
{
using (Report.JobTimed("lu vector solve factorization"))
for (int i = 0; i < count; i++)
{
luvs[i] = mats[i].LuInverseV();
}
}
if (doLuM)
{
using (Report.JobTimed("lu matrix solve factorization"))
for (int i = 0; i < count; i++)
{
lums[i] = mats[i].LuInverseM();
}
}
using (Report.JobTimed("lu factorization"))
for (int i = 0; i < count; i++)
{
luis[i] = mats[i].LuInverse();
}
Test.Begin("analysis");
for (int i = 0; i < count; i++)
{
M44d luid = mats[i] * luis[i];
double plErr = M44d.DistanceMax(luid, M44d.Identity);
Test.IsTrue(plErr < luEpsilon);
luiHistoStats.AddLog10Hist(plErr, mats[i]);
luiTypeStats[types[i]].Add(plErr);
if (doMul)
{
var m0 = new Matrix <double>((double[])mats[i], 4, 4);
var m1 = new Matrix <double>((double[])luis[i], 4, 4);
var id = m0.Multiply(m1);
double deltaErr = M44d.Distance1(luid, new M44d(id.Data));
Test.IsTrue(deltaErr == 0.0);
}
if (doLuM)
{
M44d msid = mats[i] * lums[i];
double error = M44d.DistanceMax(msid, M44d.Identity);
lumHistoStats.AddLog10Hist(error, mats[i]);
lumTypeStats[types[i]].Add(error);
double deltaErr = M44d.Distance1(luis[i], lums[i]);
if (!Test.IsTrue(deltaErr == 0.0))
{
failedLuM = true;
}
}
if (doLuV)
{
M44d vsid = mats[i] * luvs[i];
double error = M44d.DistanceMax(vsid, M44d.Identity);
luvHistoStats.AddLog10Hist(error, mats[i]);
luvTypeStats[types[i]].Add(error);
double deltaErr = M44d.Distance1(luis[i], luvs[i]);
if (!Test.IsTrue(deltaErr == 0.0))
{
failedLuV = true;
}
}
if (doLu2)
{
M44d a2id = mats[i] * lu2s[i];
double error = M44d.DistanceMax(a2id, M44d.Identity);
lu2HistoStats.AddLog10Hist(error, mats[i]);
lu2TypeStats[types[i]].Add(error);
double deltaErr = M44d.Distance1(luis[i], lu2s[i]);
if (!Test.IsTrue(deltaErr == 0.0))
{
failedLu2 = true;
}
}
if (doGj2)
{
M44d gjid = mats[i] * gj2s[i];
double error = M44d.DistanceMax(gjid, M44d.Identity);
gj2HistoStats.AddLog10Hist(error, mats[i]);
gj2TypeStats[types[i]].Add(error);
}
if (doQrI)
{
M44d qrid = mats[i] * qris[i];
double error = M44d.DistanceMax(qrid, M44d.Identity);
qriHistoStats.AddLog10Hist(error, mats[i]);
qriTypeStats[types[i]].Add(error);
Test.IsTrue(error < qrEpsilon);
}
if (doQr2)
{
M44d qrid = mats[i] * qr2s[i];
double error = M44d.DistanceMax(qrid, M44d.Identity);
qr2HistoStats.AddLog10Hist(error, mats[i]);
qr2TypeStats[types[i]].Add(error);
double deltaErr = M44d.Distance1(qris[i], qr2s[i]);
if (!Test.IsTrue(deltaErr == 0.0))
{
failedQr2 = true;
}
}
}
Test.End();
}
Report.Value("matrix chain lengths", chainStats);
Report.Value("lu factorization error", luiHistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("lu " + typenames[ti] + " matrix factorization error",
luiTypeStats[ti]);
}
}
Report.Value("lu factorization log error histogram", luiHistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(luiHistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(luiHistoStats.Stats.MaxData.LuInverse());
using (Report.Job("worst result")) WriteMat(luiHistoStats.Stats.MaxData
* luiHistoStats.Stats.MaxData.LuInverse());
}
if (failedLuM)
{
Report.Value("lu matrix solve factorization error", lumHistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("lu matrix solve " + typenames[ti] + " matrix factorization error",
lumTypeStats[ti]);
}
}
Report.Value("lu matrix solve factorization log error histogram", lumHistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(lumHistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(lumHistoStats.Stats.MaxData.LuInverseM());
using (Report.Job("worst result")) WriteMat(lumHistoStats.Stats.MaxData
* lumHistoStats.Stats.MaxData.LuInverseM());
}
}
if (failedLuV)
{
Report.Value("lu vector solve factorization error", luvHistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("lu vector solve " + typenames[ti] + " matrix factorization error",
luvTypeStats[ti]);
}
}
Report.Value("lu vector solve factorization log error histogram", luvHistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(luvHistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(luvHistoStats.Stats.MaxData.LuInverseV());
using (Report.Job("worst result")) WriteMat(luvHistoStats.Stats.MaxData
* luvHistoStats.Stats.MaxData.LuInverseV());
}
}
if (failedLu2)
{
Report.Value("lu [,] factorization error", lu2HistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("lu [,] " + typenames[ti] + " matrix factorization error",
lu2TypeStats[ti]);
}
}
Report.Value("lu [,] factorization log error histogram", lu2HistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(lu2HistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(lu2HistoStats.Stats.MaxData.LuInverse2());
using (Report.Job("worst result")) WriteMat(lu2HistoStats.Stats.MaxData
* lu2HistoStats.Stats.MaxData.LuInverse2());
}
}
if (doGj2)
{
Report.Value("gauss jordan error", gj2HistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("gj " + typenames[ti] + " matrix factorization error",
gj2TypeStats[ti]);
}
}
Report.Value("gauss jordan log error histogram", gj2HistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(gj2HistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(gj2HistoStats.Stats.MaxData.NumericallyInstableGjInverse2());
using (Report.Job("worst result")) WriteMat(gj2HistoStats.Stats.MaxData
* gj2HistoStats.Stats.MaxData.NumericallyInstableGjInverse2());
}
}
if (doQrI)
{
Report.Value("qr factorization error", qr2HistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("qr " + typenames[ti] + " matrix factorization error",
qriTypeStats[ti]);
}
}
Report.Value("qr factorization log error histogram", qriHistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(qriHistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(qriHistoStats.Stats.MaxData.QrInverse());
using (Report.Job("worst result")) WriteMat(qriHistoStats.Stats.MaxData
* qriHistoStats.Stats.MaxData.QrInverse());
}
}
if (failedQr2)
{
Report.Value("qr [,] factorization error", qr2HistoStats.Stats);
if (showTypes)
{
for (int ti = 0; ti < tc; ti++)
{
Report.Value("qr [,] " + typenames[ti] + " matrix factorization error",
qr2TypeStats[ti]);
}
}
Report.Value("qr [,] factorization log error histogram", qr2HistoStats.Histogram);
if (showWorst)
{
using (Report.Job("worst matrix")) WriteMat(qr2HistoStats.Stats.MaxData);
using (Report.Job("worst inverse")) WriteMat(qr2HistoStats.Stats.MaxData.QrInverse2());
using (Report.Job("worst result")) WriteMat(qr2HistoStats.Stats.MaxData
* qr2HistoStats.Stats.MaxData.QrInverse2());
}
}
Test.End();
}