public void TestAffineTransformIdentity()
{
var asMatrix = new AffineTransform(Matrix4x4.Identity);
var asDecomposed = new AffineTransform(null, null, null);
NumericsAssert.AreEqual(Matrix4x4.Identity, asMatrix.Matrix);
NumericsAssert.AreEqual(Matrix4x4.Identity, asDecomposed.Matrix);
Assert.IsTrue(asMatrix.IsIdentity);
Assert.IsTrue(asDecomposed.IsIdentity);
}
public void TestMatrixNormalization()
{
void testMatrix(Matrix4x4 m, float tolerance = 0)
{
var o = m;
Matrix4x4Factory.NormalizeMatrix(ref m);
NumericsAssert.AreEqual(o, m, tolerance);
Assert.IsTrue(Matrix4x4.Decompose(m, out _, out _, out _));
Assert.IsTrue(Matrix4x4.Invert(m, out _));
}
void testSkewed(Func <Matrix4x4, Matrix4x4> mf, float tolerance = 0)
{
var m = Matrix4x4.Identity;
var o = m = mf(m);
Assert.IsFalse(Matrix4x4.Decompose(m, out _, out _, out _));
Matrix4x4Factory.NormalizeMatrix(ref m);
NumericsAssert.AreEqual(o, m, tolerance);
Assert.IsTrue(Matrix4x4.Decompose(m, out _, out _, out _));
Assert.IsTrue(Matrix4x4.Invert(m, out _));
}
testSkewed(m => { m.M12 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M13 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M21 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M23 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M31 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M32 += 0.34f; return(m); }, 0.34f);
testSkewed(m => { m.M12 += 0.1f; m.M23 -= 0.1f; m.M31 += 0.05f; return(m); }, 0.20f);
// test normalization with uneven scaling
testMatrix(Matrix4x4.CreateScale(0.0001f) * Matrix4x4.CreateFromYawPitchRoll(1, 2, 3), 0.0001f);
testMatrix(Matrix4x4.CreateScale(1000) * Matrix4x4.CreateFromYawPitchRoll(1, 2, 3), 0.0001f);
var SxR = Matrix4x4.CreateScale(5, 1, 1) * Matrix4x4.CreateFromYawPitchRoll(1, 2, 3); // Decomposable
var RxS = Matrix4x4.CreateFromYawPitchRoll(1, 2, 3) * Matrix4x4.CreateScale(5, 1, 1); // Not Decomposable
Assert.IsTrue(Matrix4x4.Decompose(SxR, out _, out _, out _));
testMatrix(SxR, 0.0001f);
Assert.IsFalse(Matrix4x4.Decompose(RxS, out _, out _, out _));
testMatrix(RxS, 100);
}
public void TestAffineTransformMult()
{
var a = Matrix4x4.CreateScale(1, 2, 4) * Matrix4x4.CreateFromYawPitchRoll(1, 2, 3);
var b = Matrix4x4.CreateFromYawPitchRoll(1, 0, 2) * Matrix4x4.CreateTranslation(3, -4, 2);
var r = Matrix4x4.Multiply(a, b);
var aa = new AffineTransform(a);
var bb = new AffineTransform(b);
var rr = AffineTransform.Multiply(aa, bb);
NumericsAssert.AreEqual(r, rr.Matrix, 0.0001f);
}
public void CreateRotationCurve1()
{
// Create a Quaternion curve
var curve = CurveFactory.CreateCurveBuilder <Quaternion>();
curve
.WithPoint(0, Quaternion.Identity);
curve
.WithPoint(1, Quaternion.CreateFromAxisAngle(Vector3.UnitX, 1))
.WithOutgoingTangent(1, Quaternion.CreateFromAxisAngle(Vector3.UnitX, 1));
curve
.WithPoint(2, Quaternion.CreateFromAxisAngle(Vector3.UnitX, 1))
.WithIncomingTangent(2, Quaternion.CreateFromAxisAngle(Vector3.UnitX, -1));
// convert and resample the curve to a linear and cubic curves.
var convertible = curve as IConvertibleCurve <Quaternion>;
Assert.NotNull(convertible);
var linear = convertible.ToLinearCurve().Select(kvp => (kvp.Key, kvp.Value)).CreateSampler();
var spline = convertible.ToSplineCurve().Select(kvp => (kvp.Key, kvp.Value)).CreateSampler();
// check if both curves are roughly the same.
for (float t = 0; t < 2; t += 0.01f)
{
var cc = curve.GetPoint(t);
var ls = linear.GetPoint(t);
var ss = spline.GetPoint(t);
NumericsAssert.AreEqual(cc, ss, 0.05f);
NumericsAssert.AreEqual(cc, ls, 0.05f);
NumericsAssert.AreEqual(ls, ss, 0.05f);
}
// plot the curve.
convertible
.ToLinearCurve()
.Select(kvp => new Vector2(kvp.Key, kvp.Value.W))
.ToPointSeries()
.WithLineType(Plotting.LineType.Continuous)
.AttachToCurrentTest("plot.png");
}
public void CreateTranslationCurve1()
{
// Create a Vector3 curve
var curve = CurveFactory.CreateCurveBuilder <Vector3>();
curve
.WithPoint(0, 0, 0, 0);
curve
.WithPoint(1, 1, 1, 1)
.WithOutgoingTangent(1, 0, 4, 0);
curve
.WithPoint(2, 2, 1, 1)
.WithIncomingTangent(2, 0, -4, 0);
// convert and resample the curve to a linear and cubic curves.
var convertible = curve as IConvertibleCurve <Vector3>;
Assert.NotNull(convertible);
var linear = convertible.ToLinearCurve().Select(kvp => (kvp.Key, kvp.Value)).CreateSampler();
var spline = convertible.ToSplineCurve().Select(kvp => (kvp.Key, kvp.Value)).CreateSampler();
// check if both curves are roughly the same.
for (float t = 0; t < 2; t += 0.01f)
{
var cc = curve.GetPoint(t);
var ls = linear.GetPoint(t);
var ss = spline.GetPoint(t);
NumericsAssert.AreEqual(cc, ls, 0.002f);
NumericsAssert.AreEqual(cc, ss, 0.002f);
NumericsAssert.AreEqual(ls, ss, 0.002f);
}
// plot the curve.
convertible
.ToLinearCurve()
.Select(kvp => new Vector2(kvp.Value.X, kvp.Value.Y))
.ToPointSeries()
.WithLineType(Plotting.LineType.Continuous)
.AttachToCurrentTest("plot.png");
}
public void CalculateInverseBindMatrix(float mx, float my, float mz, float jx, float jy, float jz)
{
var model = Matrix4x4.CreateFromYawPitchRoll(mx, my, mz);
var joint = Matrix4x4.CreateFromYawPitchRoll(jx, jy, jz);
joint.Translation = new Vector3(jx, jy, jz);
var invBindMatrix = SkinTransform.CalculateInverseBinding(model, joint);
Matrix4x4.Invert(model, out Matrix4x4 xform);
Matrix4x4.Invert(joint * xform, out Matrix4x4 result);
NumericsAssert.AreEqual(result, invBindMatrix, 0.000001f);
Matrix4x4.Invert(joint, out Matrix4x4 invJoint);
result = model * invJoint;
NumericsAssert.AreEqual(result, invBindMatrix, 0.000001f);
}
public void TestFloatingArrayEncoding2()
{
var v1 = new Vector4(0.1f, 0.2f, 0.6f, 0.8f);
var v2 = new Vector4(1, 2, 3, 4);
var bytes = new Byte[256];
var v4n = new Vector4Array(bytes, 0, 5, 8, Schema2.EncodingType.UNSIGNED_BYTE, true);
var v4u = new Vector4Array(bytes, 4, 5, 8, Schema2.EncodingType.UNSIGNED_BYTE, false);
v4n[1] = v1;
NumericsAssert.AreEqual(v4n[1], v1, 0.1f);
v4u[1] = v2;
NumericsAssert.AreEqual(v4u[1], v2);
}
public void CreateMeshInSanitizedMode()
{
var mesh = VERTEX2.CreateCompatibleMesh();
mesh.VertexPreprocessor.SetSanitizerPreprocessors();
var prim = mesh.UsePrimitive(Materials.MaterialBuilder.CreateDefault(), 1);
var p = new VertexPositionNormal(Vector3.UnitX, new Vector3(float.NaN));
var m = new VertexColor1Texture1(Vector4.One * 7, new Vector2(float.NaN));
var s = new VertexJoints4((0, 2), (1, 7), (2, 6), (3, 5));
var v1Idx = prim.AddPoint(new VERTEX2(p, m, s));
var v1Bis = prim.Vertices[v1Idx];
NumericsAssert.AreEqual(v1Bis.Geometry.Position, Vector3.UnitX);
NumericsAssert.AreEqual(v1Bis.Geometry.Normal, Vector3.UnitX);
NumericsAssert.AreEqual(v1Bis.Material.Color, Vector4.One);
NumericsAssert.AreEqual(v1Bis.Material.TexCoord, Vector2.Zero);
NumericsAssert.AreEqual(v1Bis.Skinning.Joints, new Vector4(1, 2, 3, 0));
NumericsAssert.AreEqual(v1Bis.Skinning.Weights, new Vector4(7, 6, 5, 2) / (7f + 6f + 5f + 2f));
}
public void TestAffineTransformMult()
{
var s_a = new Vector3(1, 2, 4);
var r_a = Quaternion.CreateFromYawPitchRoll(1, 2, 3);
var t_a = Vector3.Zero;
var s_b = new Vector3(1, 1, 1);
var r_b = Quaternion.CreateFromYawPitchRoll(1, 0, 2);
var t_b = new Vector3(3, -4, 2);
var mat_a = Matrix4x4.CreateScale(s_a) * Matrix4x4.CreateFromQuaternion(r_a) * Matrix4x4.CreateTranslation(t_a);
var mat_b = Matrix4x4.CreateScale(s_b) * Matrix4x4.CreateFromQuaternion(r_b) * Matrix4x4.CreateTranslation(t_b);
var mat_ab = Matrix4x4.Multiply(mat_a, mat_b);
var mat_ba = Matrix4x4.Multiply(mat_b, mat_a);
var srt_a = new AffineTransform(s_a, r_a, t_a);
var srt_b = new AffineTransform(s_b, r_b, t_b);
var srt_ab = AffineTransform.Multiply(srt_a, srt_b);
var srt_ba = AffineTransform.Multiply(srt_b, srt_a);
NumericsAssert.AreEqual(mat_ab, srt_ab.Matrix, 0.0001f);
NumericsAssert.AreEqual(mat_ba, srt_ba.Matrix, 0.0001f);
}
public void TestRoundTrip(string path)
{
TestContext.CurrentContext.AttachGltfValidatorLinks();
path = TestFiles
.GetSampleModelsPaths()
.FirstOrDefault(item => item.Contains(path));
var srcModel = Schema2.ModelRoot.Load(path, Validation.ValidationMode.TryFix);
Assert.NotNull(srcModel);
// perform roundtrip
var srcScene = Toolkit.ToSceneBuilder(srcModel.DefaultScene);
var rowModel = srcScene.ToGltf2();
var settings = SceneBuilderSchema2Settings.Default;
settings.UseStridedBuffers = false;
var colModel = srcScene.ToGltf2(settings);
var rowScene = Toolkit.ToSceneBuilder(rowModel.DefaultScene);
var colScene = Toolkit.ToSceneBuilder(colModel.DefaultScene);
// compare files
var srcTris = srcModel.DefaultScene.EvaluateTriangles().ToList();
var rowTris = rowModel.DefaultScene.EvaluateTriangles().ToList();
var colTris = colModel.DefaultScene.EvaluateTriangles().ToList();
Assert.AreEqual(srcTris.Count, rowTris.Count);
Assert.AreEqual(srcTris.Count, colTris.Count);
var srcRep = Reporting.ModelReport.CreateReportFrom(srcModel);
var rowRep = Reporting.ModelReport.CreateReportFrom(rowModel);
var colRep = Reporting.ModelReport.CreateReportFrom(colModel);
Assert.AreEqual(srcRep.NumTriangles, rowRep.NumTriangles);
NumericsAssert.AreEqual(srcRep.Bounds.Min, rowRep.Bounds.Min, 0.0001f);
NumericsAssert.AreEqual(srcRep.Bounds.Max, rowRep.Bounds.Max, 0.0001f);
// save file
path = System.IO.Path.GetFileNameWithoutExtension(path);
srcModel.AttachToCurrentTest(path + "_src" + ".plotly");
srcModel.AttachToCurrentTest(path + "_src" + ".glb");
rowModel.AttachToCurrentTest(path + "_row" + ".glb");
colModel.AttachToCurrentTest(path + "_col" + ".glb");
srcModel.AttachToCurrentTest(path + "_src" + ".gltf");
rowModel.AttachToCurrentTest(path + "_row" + ".gltf");
colModel.AttachToCurrentTest(path + "_col" + ".gltf");
srcModel.AttachToCurrentTest(path + "_src" + ".obj");
rowModel.AttachToCurrentTest(path + "_row" + ".obj");
colModel.AttachToCurrentTest(path + "_col" + ".obj");
if (srcModel.LogicalAnimations.Count > 0)
{
srcModel.AttachToCurrentTest(path + "_src_at01" + ".obj", srcModel.LogicalAnimations[0], 0.1f);
if (rowModel.LogicalAnimations.Count > 0)
{
rowModel.AttachToCurrentTest(path + "_row_at01" + ".obj", rowModel.LogicalAnimations[0], 0.1f);
}
}
}
