/**
* @brief 行列を設定
* @param m2 EMatrix43をセットする
*/
public void setMatrix(LDMatrix43 m2)
{
for (int i = 11; i >= 0; --i)
{
this.m[i] = m2.m[i];
}
}
//------ EMatrix43.cpp ------
public void identityTest()
{
LDMatrix43 actual = new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
//ld_float delta = 0.00001f;
// 単位行列に初期化できているかテスト
expected.m11 = 1.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m14 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 1.0f;
expected.m23 = 0.0f;
expected.m24 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 1.0f;
expected.m34 = 0.0f;
actual.identity();
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
}
/**
* @brief 逆行列を取得する
* @param *ret EMatrix43をセットする
*/
public void getInverse(out LDMatrix43 ret)
{
ld_float _det = getDeterminant();
// 得意行列の場合は行列式は 0 で、逆行列は存在しない
Debug.Assert(Math.Abs(_det) > 0.000001f);
ld_float oneOverDet = 1.0f / _det;
ret = new LDMatrix43();
ret.m11 = (m22 * m33 - m23 * m32) * oneOverDet;
ret.m12 = (m13 * m32 - m12 * m33) * oneOverDet;
ret.m13 = (m12 * m23 - m13 * m22) * oneOverDet;
ret.m21 = (m23 * m31 - m21 * m33) * oneOverDet;
ret.m22 = (m11 * m33 - m13 * m31) * oneOverDet;
ret.m23 = (m13 * m21 - m11 * m23) * oneOverDet;
ret.m31 = (m21 * m32 - m22 * m31) * oneOverDet;
ret.m32 = (m12 * m31 - m11 * m32) * oneOverDet;
ret.m33 = (m11 * m22 - m12 * m21) * oneOverDet;
ret.tx = -(tx * ret.m11 + ty * ret.m21 + tz * ret.m31);
ret.ty = -(tx * ret.m12 + ty * ret.m22 + tz * ret.m32);
ret.tz = -(tx * ret.m13 + ty * ret.m23 + tz * ret.m33);
}
//------ 演算 -------
/**
* @brief 受け取った２つの行列の掛け算を行う(指定の行列 m2 を右から掛け、dstに設定する)
* @param b EMatrix43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 mult(LDMatrix43 b, LDMatrix43 dst)
{
Debug.Assert(this != dst);
if (this == dst)
{
mult_safe(this.m, b.m, dst.m);
}
else
{
mult_fast(this.m, b.m, dst.m);
}
}
public void fromQuaterionTest()
{
LDQuat quat = new LDQuat(0.0f, 0.0f, 0.0f, 0.0f);
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, quat = 0.0 (ゼロ)
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 単位行列, quat 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;
ld_float xx = 2.0f * quat.x;
ld_float yy = 2.0f * quat.y;
ld_float zz = 2.0f * quat.z;
ld_float ww = -2.0f * quat.w;
expected.m11 = 1.0f - yy * quat.y - zz * quat.z;
expected.m12 = xx * quat.y + ww * quat.z;
expected.m13 = xx * quat.z - ww * quat.y;
expected.m21 = xx * quat.y - ww * quat.z;
expected.m22 = 1.0f - xx * quat.x - zz * quat.z;
expected.m23 = yy * quat.z + ww * quat.x;
expected.m31 = xx * quat.z + ww * quat.y;
expected.m32 = yy * quat.z - ww * quat.x;
expected.m33 = 1.0f - xx * quat.x - yy * quat.y;
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
public void fromQuaterionTest()
{
LDQuat quat=new LDQuat(0.0f, 0.0f, 0.0f, 0.0f );
LDMatrix43 expected=new LDMatrix43();
LDMatrix43 actual=new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, quat = 0.0 (ゼロ)
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 単位行列, quat 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;
ld_float xx = 2.0f * quat.x;
ld_float yy = 2.0f * quat.y;
ld_float zz = 2.0f * quat.z;
ld_float ww = -2.0f * quat.w;
expected.m11 = 1.0f - yy * quat.y - zz * quat.z;
expected.m12 = xx * quat.y + ww * quat.z;
expected.m13 = xx * quat.z - ww * quat.y;
expected.m21 = xx * quat.y - ww * quat.z;
expected.m22 = 1.0f - xx * quat.x - zz * quat.z;
expected.m23 = yy * quat.z + ww * quat.x;
expected.m31 = xx * quat.z + ww * quat.y;
expected.m32 = yy * quat.z - ww * quat.x;
expected.m33 = 1.0f - xx * quat.x - yy * quat.y;
actual.fromQuaterion(quat);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
public void translateTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
actual.translate(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : actual = 単位行列, x = 1.0, y = 2.0, z = 3.0 (任意の値)
expected.m14 = 1.0f;
expected.m24 = 2.0f;
expected.m34 = 3.0f;
actual.translate(1.0f, 2.0f, 3.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m14 = 4.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m24 = 4.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m34 = 4.0f;
expected.m14 = actual.m11 * x + actual.m12 * y + actual.m13 * z + actual.m14;
expected.m24 = actual.m21 * x + actual.m22 * y + actual.m23 * z + actual.m24;
expected.m34 = actual.m31 * x + actual.m32 * y + actual.m33 * z + actual.m34;
actual.translate(x, y, z);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
}
/**
* @brief EMatrix43 * EMatrix43(コピーが発生するので、速度重視の場合は使わない)
* @param m EMatrix43をセットする
* @param p EMatrix43をセットする
* @return EMatrix43 * EMatrix43を返す
*/
public static LDMatrix43 operator *(LDMatrix43 a, LDMatrix43 b)
{
LDMatrix43 r = new LDMatrix43();
// dst[ 0] = a[ 0]*b[ 0] + a[ 4]*b[ 1] + a[ 8]*b[ 2] + a[12]*b[ 3] ;
r.m11 = a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31;
r.m12 = a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32;
r.m13 = a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33;
r.m14 = a.m11 * b.m14 + a.m12 * b.m24 + a.m13 * b.m34 + a.m14;
r.m21 = a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31;
r.m22 = a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32;
r.m23 = a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33;
r.m24 = a.m21 * b.m14 + a.m22 * b.m24 + a.m23 * b.m34 + a.m24;
r.m31 = a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31;
r.m32 = a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32;
r.m33 = a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33;
r.m34 = a.m31 * b.m14 + a.m32 * b.m24 + a.m33 * b.m34 + a.m34;
return(r);//コピーが発生するので、速度重視の場合は使わない
}
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);
}
public void setMatrixTest()
{
LDMatrix43 matrix = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float[] m=new ld_float[12];
// EMatrix43.setMatrix( const ld_float* _m ) のテスト
for (int i = 0; i < 12; ++i)
{
m[i] = 1.0f;
}
actual.setMatrix(m);
expected.m11 = 1.0f;
expected.m12 = 1.0f;
expected.m13 = 1.0f;
expected.m14 = 1.0f;
expected.m21 = 1.0f;
expected.m22 = 1.0f;
expected.m23 = 1.0f;
expected.m24 = 1.0f;
expected.m31 = 1.0f;
expected.m32 = 1.0f;
expected.m33 = 1.0f;
expected.m34 = 1.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// EMatrix43.setMatrix( const EMatrix43 &m2 ) のテスト
for (int i = 0; i < 12; ++i)
{
m[i] = 2.0f;
}
matrix.setMatrix(m);
actual.setMatrix(matrix);
expected.m11 = 2.0f;
expected.m12 = 2.0f;
expected.m13 = 2.0f;
expected.m14 = 2.0f;
expected.m21 = 2.0f;
expected.m22 = 2.0f;
expected.m23 = 2.0f;
expected.m24 = 2.0f;
expected.m31 = 2.0f;
expected.m32 = 2.0f;
expected.m33 = 2.0f;
expected.m34 = 2.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
}
public void scaleTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
expected.m11 = 0.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 0.0f;
expected.m23 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 0.0f;
actual.scale(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
expected.m11 = actual.m11 * x;
expected.m12 = actual.m12 * y;
expected.m13 = actual.m13 * z;
expected.m21 = actual.m21 * x;
expected.m22 = actual.m22 * y;
expected.m23 = actual.m23 * z;
expected.m31 = actual.m31 * x;
expected.m32 = actual.m32 * y;
expected.m33 = actual.m33 * z;
actual.scale(x, y, z);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
/// <summary>
/// 逆行列 未実装
/// </summary>
/// <param name="m">EMatrix43をセットする</param>
/// <returns>逆行列を返す</returns>
public static LDMatrix43 inverse(LDMatrix43 m)
{
throw new NotImplementedException();
}
/**
* @brief EMatrix43 * EMatrix43(コピーが発生するので、速度重視の場合は使わない)
* @param m EMatrix43をセットする
* @param p EMatrix43をセットする
* @return EMatrix43 * EMatrix43を返す
*/
public static LDMatrix43 operator *(LDMatrix43 a, LDMatrix43 b)
{
LDMatrix43 r = new LDMatrix43();
// dst[ 0] = a[ 0]*b[ 0] + a[ 4]*b[ 1] + a[ 8]*b[ 2] + a[12]*b[ 3] ;
r.m11 = a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31;
r.m12 = a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32;
r.m13 = a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33;
r.m14 = a.m11 * b.m14 + a.m12 * b.m24 + a.m13 * b.m34 + a.m14;
r.m21 = a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31;
r.m22 = a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32;
r.m23 = a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33;
r.m24 = a.m21 * b.m14 + a.m22 * b.m24 + a.m23 * b.m34 + a.m24;
r.m31 = a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31;
r.m32 = a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32;
r.m33 = a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33;
r.m34 = a.m31 * b.m14 + a.m32 * b.m24 + a.m33 * b.m34 + a.m34;
return r;//コピーが発生するので、速度重視の場合は使わない
}
/**
* @brief 行列を設定
* @param m2 EMatrix43をセットする
*/
public void setMatrix(LDMatrix43 m2)
{
for (int i = 11; i >= 0; --i)
{
this.m[i] = m2.m[i];
}
}
public void getInverseTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
LDMatrix43 matrix = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float d;
// Input : matrix = 単位行列
d = matrix.getDeterminant();
expected.m11 = (matrix.m22 * matrix.m33 - matrix.m23 * matrix.m32) * d;
expected.m12 = (matrix.m13 * matrix.m32 - matrix.m12 * matrix.m33) * d;
expected.m13 = (matrix.m12 * matrix.m23 - matrix.m13 * matrix.m22) * d;
expected.m21 = (matrix.m23 * matrix.m31 - matrix.m21 * matrix.m33) * d;
expected.m22 = (matrix.m11 * matrix.m33 - matrix.m13 * matrix.m31) * d;
expected.m23 = (matrix.m13 * matrix.m21 - matrix.m11 * matrix.m23) * d;
expected.m31 = (matrix.m21 * matrix.m32 - matrix.m22 * matrix.m31) * d;
expected.m32 = (matrix.m12 * matrix.m31 - matrix.m11 * matrix.m32) * d;
expected.m33 = (matrix.m11 * matrix.m22 - matrix.m12 * matrix.m21) * d;
expected.tx = -(matrix.tx * expected.m11 + matrix.ty * expected.m21 + matrix.tz * expected.m31);
expected.ty = -(matrix.tx * expected.m12 + matrix.ty * expected.m22 + matrix.tz * expected.m32);
expected.tz = -(matrix.tx * expected.m13 + matrix.ty * expected.m23 + matrix.tz * expected.m33);
matrix.getInverse(out actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.tx, actual.tx);
TestUtil.COMPARE(expected.ty, actual.ty);
TestUtil.COMPARE(expected.tz, actual.tz);
/*
* // Input : matrix = 得意行列のケース。assertが起こるためコメントアウト
* 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;
* d = matrix.getDeterminant();
* expected.m11 = (matrix.m22 * matrix.m33 - matrix.m23 * matrix.m32) * d;
* expected.m12 = (matrix.m13 * matrix.m32 - matrix.m12 * matrix.m33) * d;
* expected.m13 = (matrix.m12 * matrix.m23 - matrix.m13 * matrix.m22) * d;
* expected.m21 = (matrix.m23 * matrix.m31 - matrix.m21 * matrix.m33) * d;
* expected.m22 = (matrix.m11 * matrix.m33 - matrix.m13 * matrix.m31) * d;
* expected.m23 = (matrix.m13 * matrix.m21 - matrix.m11 * matrix.m23) * d;
* expected.m31 = (matrix.m21 * matrix.m32 - matrix.m22 * matrix.m31) * d;
* expected.m32 = (matrix.m12 * matrix.m31 - matrix.m11 * matrix.m32) * d;
* expected.m33 = (matrix.m11 * matrix.m22 - matrix.m12 * matrix.m21) * d;
* expected.tx =-(matrix.tx * expected.m11 + matrix.ty * expected.m21 + matrix.tz * expected.m31);
* expected.ty =-(matrix.tx * expected.m12 + matrix.ty * expected.m22 + matrix.tz * expected.m32);
* expected.tz =-(matrix.tx * expected.m13 + matrix.ty * expected.m23 + matrix.tz * expected.m33);
* matrix.getInverse(&actual);
* TestUtil.COMPARE(expected.m11, actual.m11);
* TestUtil.COMPARE(expected.m12, actual.m12);
* TestUtil.COMPARE(expected.m13, actual.m13);
* TestUtil.COMPARE(expected.m21, actual.m21);
* TestUtil.COMPARE(expected.m22, actual.m22);
* TestUtil.COMPARE(expected.m23, actual.m23);
* TestUtil.COMPARE(expected.m31, actual.m31);
* TestUtil.COMPARE(expected.m32, actual.m32);
* TestUtil.COMPARE(expected.m33, actual.m33);
* TestUtil.COMPARE(expected.tx, actual.tx);
* TestUtil.COMPARE(expected.ty, actual.ty);
* TestUtil.COMPARE(expected.tz, actual.tz);
*/
}
public void setMatrixTest()
{
LDMatrix43 matrix = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float[] m = new ld_float[12];
// EMatrix43.setMatrix( const ld_float* _m ) のテスト
for (int i = 0; i < 12; ++i)
{
m[i] = 1.0f;
}
actual.setMatrix(m);
expected.m11 = 1.0f;
expected.m12 = 1.0f;
expected.m13 = 1.0f;
expected.m14 = 1.0f;
expected.m21 = 1.0f;
expected.m22 = 1.0f;
expected.m23 = 1.0f;
expected.m24 = 1.0f;
expected.m31 = 1.0f;
expected.m32 = 1.0f;
expected.m33 = 1.0f;
expected.m34 = 1.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// EMatrix43.setMatrix( const EMatrix43 &m2 ) のテスト
for (int i = 0; i < 12; ++i)
{
m[i] = 2.0f;
}
matrix.setMatrix(m);
actual.setMatrix(matrix);
expected.m11 = 2.0f;
expected.m12 = 2.0f;
expected.m13 = 2.0f;
expected.m14 = 2.0f;
expected.m21 = 2.0f;
expected.m22 = 2.0f;
expected.m23 = 2.0f;
expected.m24 = 2.0f;
expected.m31 = 2.0f;
expected.m32 = 2.0f;
expected.m33 = 2.0f;
expected.m34 = 2.0f;
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
}
/// <summary>
/// 行列式 未実装
/// </summary>
/// <param name="m">EMatrix43をセットする</param>
/// <returns>行列式を返す</returns>
public static ld_float det(LDMatrix43 m)
{
throw new NotImplementedException();
}
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);
}
public void rotateZTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float tmp;
ld_float theta;
// Input : actual = 単位行列, theta = 0.0 (ゼロ)
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(0.0f) + expected.m12 * (float)Math.Sin(0.0f);
expected.m12 = tmp * -(float)Math.Sin(0.0f) + expected.m12 * (float)Math.Cos(0.0f);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(0.0f) + expected.m22 * (float)Math.Sin(0.0f);
expected.m22 = tmp * -(float)Math.Sin(0.0f) + expected.m22 * (float)Math.Cos(0.0f);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m32 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
actual.rotateZ(0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 任意の値, theta = PI/4.0f; (任意の値)
theta = LDMathUtil.PI / 4.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
expected.m11 = 1.0f;
expected.m12 = 2.0f;
expected.m13 = 3.0f;
expected.m21 = 1.0f;
expected.m22 = 2.0f;
expected.m23 = 3.0f;
expected.m31 = 1.0f;
expected.m32 = 2.0f;
expected.m33 = 3.0f;
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(theta) + expected.m12 * (float)Math.Sin(theta);
expected.m12 = tmp * -(float)Math.Sin(theta) + expected.m12 * (float)Math.Cos(theta);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(theta) + expected.m22 * (float)Math.Sin(theta);
expected.m22 = tmp * -(float)Math.Sin(theta) + expected.m22 * (float)Math.Cos(theta);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(theta) + expected.m32 * (float)Math.Sin(theta);
expected.m32 = tmp * -(float)Math.Sin(theta) + expected.m32 * (float)Math.Cos(theta);
actual.rotateZ(theta);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
public void scaleTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
expected.m11 = 0.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 0.0f;
expected.m23 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 0.0f;
actual.scale(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
expected.m11 = actual.m11 * x;
expected.m12 = actual.m12 * y;
expected.m13 = actual.m13 * z;
expected.m21 = actual.m21 * x;
expected.m22 = actual.m22 * y;
expected.m23 = actual.m23 * z;
expected.m31 = actual.m31 * x;
expected.m32 = actual.m32 * y;
expected.m33 = actual.m33 * z;
actual.scale(x, y, z);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
/// <summary>
/// 逆行列 未実装
/// </summary>
/// <param name="m">EMatrix43をセットする</param>
/// <returns>逆行列を返す</returns>
public static LDMatrix43 inverse(LDMatrix43 m)
{
throw new NotImplementedException();
}
public void getInverseTest()
{
LDMatrix43 expected=new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
LDMatrix43 matrix = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float d;
// Input : matrix = 単位行列
d = matrix.getDeterminant();
expected.m11 = (matrix.m22 * matrix.m33 - matrix.m23 * matrix.m32) * d;
expected.m12 = (matrix.m13 * matrix.m32 - matrix.m12 * matrix.m33) * d;
expected.m13 = (matrix.m12 * matrix.m23 - matrix.m13 * matrix.m22) * d;
expected.m21 = (matrix.m23 * matrix.m31 - matrix.m21 * matrix.m33) * d;
expected.m22 = (matrix.m11 * matrix.m33 - matrix.m13 * matrix.m31) * d;
expected.m23 = (matrix.m13 * matrix.m21 - matrix.m11 * matrix.m23) * d;
expected.m31 = (matrix.m21 * matrix.m32 - matrix.m22 * matrix.m31) * d;
expected.m32 = (matrix.m12 * matrix.m31 - matrix.m11 * matrix.m32) * d;
expected.m33 = (matrix.m11 * matrix.m22 - matrix.m12 * matrix.m21) * d;
expected.tx = -(matrix.tx * expected.m11 + matrix.ty * expected.m21 + matrix.tz * expected.m31);
expected.ty = -(matrix.tx * expected.m12 + matrix.ty * expected.m22 + matrix.tz * expected.m32);
expected.tz = -(matrix.tx * expected.m13 + matrix.ty * expected.m23 + matrix.tz * expected.m33);
matrix.getInverse(out actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.tx, actual.tx);
TestUtil.COMPARE(expected.ty, actual.ty);
TestUtil.COMPARE(expected.tz, actual.tz);
/*
// Input : matrix = 得意行列のケース。assertが起こるためコメントアウト
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;
d = matrix.getDeterminant();
expected.m11 = (matrix.m22 * matrix.m33 - matrix.m23 * matrix.m32) * d;
expected.m12 = (matrix.m13 * matrix.m32 - matrix.m12 * matrix.m33) * d;
expected.m13 = (matrix.m12 * matrix.m23 - matrix.m13 * matrix.m22) * d;
expected.m21 = (matrix.m23 * matrix.m31 - matrix.m21 * matrix.m33) * d;
expected.m22 = (matrix.m11 * matrix.m33 - matrix.m13 * matrix.m31) * d;
expected.m23 = (matrix.m13 * matrix.m21 - matrix.m11 * matrix.m23) * d;
expected.m31 = (matrix.m21 * matrix.m32 - matrix.m22 * matrix.m31) * d;
expected.m32 = (matrix.m12 * matrix.m31 - matrix.m11 * matrix.m32) * d;
expected.m33 = (matrix.m11 * matrix.m22 - matrix.m12 * matrix.m21) * d;
expected.tx =-(matrix.tx * expected.m11 + matrix.ty * expected.m21 + matrix.tz * expected.m31);
expected.ty =-(matrix.tx * expected.m12 + matrix.ty * expected.m22 + matrix.tz * expected.m32);
expected.tz =-(matrix.tx * expected.m13 + matrix.ty * expected.m23 + matrix.tz * expected.m33);
matrix.getInverse(&actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.tx, actual.tx);
TestUtil.COMPARE(expected.ty, actual.ty);
TestUtil.COMPARE(expected.tz, actual.tz);
*/
}
public void translateTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : actual = 単位行列, x = 0.0, y = 0.0, z = 0.0 (ゼロ)
actual.translate(0.0f, 0.0f, 0.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : actual = 単位行列, x = 1.0, y = 2.0, z = 3.0 (任意の値)
expected.m14 = 1.0f;
expected.m24 = 2.0f;
expected.m34 = 3.0f;
actual.translate(1.0f, 2.0f, 3.0f);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : actual = 任意の値, x = 1.0, y = 2.0, z = 3.0 (任意の値)
ld_float x = 1.0f;
ld_float y = 2.0f;
ld_float z = 3.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m14 = 4.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m24 = 4.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
actual.m34 = 4.0f;
expected.m14 = actual.m11 * x + actual.m12 * y + actual.m13 * z + actual.m14;
expected.m24 = actual.m21 * x + actual.m22 * y + actual.m23 * z + actual.m24;
expected.m34 = actual.m31 * x + actual.m32 * y + actual.m33 * z + actual.m34;
actual.translate(x, y, z);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m34, actual.m34);
}
//------ EMatrix43.cpp ------
public void identityTest()
{
LDMatrix43 actual=new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
//ld_float delta = 0.00001f;
// 単位行列に初期化できているかテスト
expected.m11 = 1.0f;
expected.m12 = 0.0f;
expected.m13 = 0.0f;
expected.m14 = 0.0f;
expected.m21 = 0.0f;
expected.m22 = 1.0f;
expected.m23 = 0.0f;
expected.m24 = 0.0f;
expected.m31 = 0.0f;
expected.m32 = 0.0f;
expected.m33 = 1.0f;
expected.m34 = 0.0f;
actual.identity();
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
}
//------ 演算 -------
/**
* @brief 受け取った２つの行列の掛け算を行う(指定の行列 m2 を右から掛け、dstに設定する)
* @param b EMatrix43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 mult(LDMatrix43 b, LDMatrix43 dst)
{
Debug.Assert(this != dst);
if (this == dst)
{
mult_safe(this.m, b.m, dst.m);
}
else
{
mult_fast(this.m, b.m, dst.m);
}
}
public void multTest()
{
LDMatrix43 matrix1 = new LDMatrix43();
LDMatrix43 matrix2 = new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : matrix1 = 単位行列, matrix2 = 単位行列 (mult_fastのテスト)
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : matrix1, matrix2 = 任意の値 (mult_fastのテスト)
matrix1.m11 = 1.0f;
matrix1.m12 = 2.0f;
matrix1.m13 = 3.0f;
matrix1.m14 = 4.0f;
matrix1.m21 = 1.0f;
matrix1.m22 = 2.0f;
matrix1.m23 = 3.0f;
matrix1.m24 = 4.0f;
matrix1.m31 = 1.0f;
matrix1.m32 = 2.0f;
matrix1.m33 = 3.0f;
matrix1.m34 = 4.0f;
matrix2.m11 = 1.0f;
matrix2.m12 = 2.0f;
matrix2.m13 = 3.0f;
matrix2.m14 = 4.0f;
matrix2.m21 = 1.0f;
matrix2.m22 = 2.0f;
matrix2.m23 = 3.0f;
matrix2.m24 = 4.0f;
matrix2.m31 = 1.0f;
matrix2.m32 = 2.0f;
matrix2.m33 = 3.0f;
matrix2.m34 = 4.0f;
expected.m[0] = matrix1.m[0] * matrix2.m[0] + matrix1.m[4] * matrix2.m[1] +
matrix1.m[8] * matrix2.m[1];
expected.m[1] = matrix1.m[1] * matrix2.m[0] + matrix1.m[5] * matrix2.m[1] +
matrix1.m[9] * matrix2.m[2];
expected.m[2] = matrix1.m[2] * matrix2.m[0] + matrix1.m[6] * matrix2.m[1] +
matrix1.m[10] * matrix2.m[2];
expected.m[4] = matrix1.m[0] * matrix2.m[4] + matrix1.m[4] * matrix2.m[5] +
matrix1.m[8] * matrix2.m[6];
expected.m[5] = matrix1.m[1] * matrix2.m[4] + matrix1.m[5] * matrix2.m[5] +
matrix1.m[9] * matrix2.m[6];
expected.m[6] = matrix1.m[2] * matrix2.m[4] + matrix1.m[6] * matrix2.m[5] +
matrix1.m[10] * matrix2.m[6];
expected.m[8] = matrix1.m[0] * matrix2.m[8] + matrix1.m[4] * matrix2.m[9] +
matrix1.m[8] * matrix2.m[10];
expected.m[9] = matrix1.m[1] * matrix2.m[8] + matrix1.m[5] * matrix2.m[9] +
matrix1.m[9] * matrix2.m[10];
expected.m[10] = matrix1.m[2] * matrix2.m[8] + matrix1.m[6] * matrix2.m[9] +
matrix1.m[10] * matrix2.m[10];
//expected.m[12]= matrix1.m[0] * matrix2.m[12]+ matrix1.m[4] * matrix2.m[13] +
// matrix1.m[8] * matrix2.m[14]+ matrix1.m[12];
//expected.m[13]= matrix1.m[1] * matrix2.m[12]+ matrix1.m[5] * matrix2.m[13] +
// matrix1.m[9] * matrix2.m[14]+ matrix1.m[13];
//expected.m[14]= matrix1.m[2] * matrix2.m[12]+ matrix1.m[6] * matrix2.m[13] +
// matrix1.m[10]* matrix2.m[14]+ matrix1.m[14];
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : matrix1, matrix2 = 任意の値 (mult_safeのテスト) <- assertのため分岐できず
//matrix1.mult(matrix2, &matrix1);
}
/// <summary>
/// 行列式 未実装
/// </summary>
/// <param name="m">EMatrix43をセットする</param>
/// <returns>行列式を返す</returns>
public static ld_float det(LDMatrix43 m)
{
throw new NotImplementedException();
}
public void rotateZTest()
{
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
ld_float tmp;
ld_float theta;
// Input : actual = 単位行列, theta = 0.0 (ゼロ)
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(0.0f) + expected.m12 * (float)Math.Sin(0.0f);
expected.m12 = tmp * -(float)Math.Sin(0.0f) + expected.m12 * (float)Math.Cos(0.0f);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(0.0f) + expected.m22 * (float)Math.Sin(0.0f);
expected.m22 = tmp * -(float)Math.Sin(0.0f) + expected.m22 * (float)Math.Cos(0.0f);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(0.0f) + expected.m32 * (float)Math.Sin(0.0f);
expected.m32 = tmp * -(float)Math.Sin(0.0f) + expected.m32 * (float)Math.Cos(0.0f);
actual.rotateZ(0.0f);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
// Input : actual = 任意の値, theta = PI/4.0f; (任意の値)
theta = LDMathUtil.PI / 4.0f;
actual.m11 = 1.0f;
actual.m12 = 2.0f;
actual.m13 = 3.0f;
actual.m21 = 1.0f;
actual.m22 = 2.0f;
actual.m23 = 3.0f;
actual.m31 = 1.0f;
actual.m32 = 2.0f;
actual.m33 = 3.0f;
expected.m11 = 1.0f;
expected.m12 = 2.0f;
expected.m13 = 3.0f;
expected.m21 = 1.0f;
expected.m22 = 2.0f;
expected.m23 = 3.0f;
expected.m31 = 1.0f;
expected.m32 = 2.0f;
expected.m33 = 3.0f;
tmp = expected.m11;
expected.m11 = tmp * (float)Math.Cos(theta) + expected.m12 * (float)Math.Sin(theta);
expected.m12 = tmp * -(float)Math.Sin(theta) + expected.m12 * (float)Math.Cos(theta);
tmp = expected.m21;
expected.m21 = tmp * (float)Math.Cos(theta) + expected.m22 * (float)Math.Sin(theta);
expected.m22 = tmp * -(float)Math.Sin(theta) + expected.m22 * (float)Math.Cos(theta);
tmp = expected.m31;
expected.m31 = tmp * (float)Math.Cos(theta) + expected.m32 * (float)Math.Sin(theta);
expected.m32 = tmp * -(float)Math.Sin(theta) + expected.m32 * (float)Math.Cos(theta);
actual.rotateZ(theta);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
}
/**
* @brief 逆行列を取得する
* @param *ret EMatrix43をセットする
*/
public void getInverse(out LDMatrix43 ret)
{
ld_float _det = getDeterminant();
// 得意行列の場合は行列式は 0 で、逆行列は存在しない
Debug.Assert(Math.Abs(_det) > 0.000001f);
ld_float oneOverDet = 1.0f / _det;
ret = new LDMatrix43();
ret.m11 = (m22 * m33 - m23 * m32) * oneOverDet;
ret.m12 = (m13 * m32 - m12 * m33) * oneOverDet;
ret.m13 = (m12 * m23 - m13 * m22) * oneOverDet;
ret.m21 = (m23 * m31 - m21 * m33) * oneOverDet;
ret.m22 = (m11 * m33 - m13 * m31) * oneOverDet;
ret.m23 = (m13 * m21 - m11 * m23) * oneOverDet;
ret.m31 = (m21 * m32 - m22 * m31) * oneOverDet;
ret.m32 = (m12 * m31 - m11 * m32) * oneOverDet;
ret.m33 = (m11 * m22 - m12 * m21) * oneOverDet;
ret.tx = -(tx * ret.m11 + ty * ret.m21 + tz * ret.m31);
ret.ty = -(tx * ret.m12 + ty * ret.m22 + tz * ret.m32);
ret.tz = -(tx * ret.m13 + ty * ret.m23 + tz * ret.m33);
}
public void multTest()
{
LDMatrix43 matrix1 = new LDMatrix43();
LDMatrix43 matrix2 = new LDMatrix43();
LDMatrix43 expected = new LDMatrix43();
LDMatrix43 actual = new LDMatrix43();
//ld_float delta = 0.00001f;
// Input : matrix1 = 単位行列, matrix2 = 単位行列 (mult_fastのテスト)
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : matrix1, matrix2 = 任意の値 (mult_fastのテスト)
matrix1.m11 = 1.0f;
matrix1.m12 = 2.0f;
matrix1.m13 = 3.0f;
matrix1.m14 = 4.0f;
matrix1.m21 = 1.0f;
matrix1.m22 = 2.0f;
matrix1.m23 = 3.0f;
matrix1.m24 = 4.0f;
matrix1.m31 = 1.0f;
matrix1.m32 = 2.0f;
matrix1.m33 = 3.0f;
matrix1.m34 = 4.0f;
matrix2.m11 = 1.0f;
matrix2.m12 = 2.0f;
matrix2.m13 = 3.0f;
matrix2.m14 = 4.0f;
matrix2.m21 = 1.0f;
matrix2.m22 = 2.0f;
matrix2.m23 = 3.0f;
matrix2.m24 = 4.0f;
matrix2.m31 = 1.0f;
matrix2.m32 = 2.0f;
matrix2.m33 = 3.0f;
matrix2.m34 = 4.0f;
expected.m[0] = matrix1.m[0] * matrix2.m[0] + matrix1.m[4] * matrix2.m[1] +
matrix1.m[8] * matrix2.m[1];
expected.m[1] = matrix1.m[1] * matrix2.m[0] + matrix1.m[5] * matrix2.m[1] +
matrix1.m[9] * matrix2.m[2];
expected.m[2] = matrix1.m[2] * matrix2.m[0] + matrix1.m[6] * matrix2.m[1] +
matrix1.m[10] * matrix2.m[2];
expected.m[4] = matrix1.m[0] * matrix2.m[4] + matrix1.m[4] * matrix2.m[5] +
matrix1.m[8] * matrix2.m[6];
expected.m[5] = matrix1.m[1] * matrix2.m[4] + matrix1.m[5] * matrix2.m[5] +
matrix1.m[9] * matrix2.m[6];
expected.m[6] = matrix1.m[2] * matrix2.m[4] + matrix1.m[6] * matrix2.m[5] +
matrix1.m[10] * matrix2.m[6];
expected.m[8] = matrix1.m[0] * matrix2.m[8] + matrix1.m[4] * matrix2.m[9] +
matrix1.m[8] * matrix2.m[10];
expected.m[9] = matrix1.m[1] * matrix2.m[8] + matrix1.m[5] * matrix2.m[9] +
matrix1.m[9] * matrix2.m[10];
expected.m[10] = matrix1.m[2] * matrix2.m[8] + matrix1.m[6] * matrix2.m[9] +
matrix1.m[10] * matrix2.m[10];
//expected.m[12]= matrix1.m[0] * matrix2.m[12]+ matrix1.m[4] * matrix2.m[13] +
// matrix1.m[8] * matrix2.m[14]+ matrix1.m[12];
//expected.m[13]= matrix1.m[1] * matrix2.m[12]+ matrix1.m[5] * matrix2.m[13] +
// matrix1.m[9] * matrix2.m[14]+ matrix1.m[13];
//expected.m[14]= matrix1.m[2] * matrix2.m[12]+ matrix1.m[6] * matrix2.m[13] +
// matrix1.m[10]* matrix2.m[14]+ matrix1.m[14];
matrix1.mult(matrix2, actual);
TestUtil.COMPARE(expected.m11, actual.m11);
TestUtil.COMPARE(expected.m12, actual.m12);
TestUtil.COMPARE(expected.m13, actual.m13);
TestUtil.COMPARE(expected.m14, actual.m14);
TestUtil.COMPARE(expected.m21, actual.m21);
TestUtil.COMPARE(expected.m22, actual.m22);
TestUtil.COMPARE(expected.m23, actual.m23);
TestUtil.COMPARE(expected.m24, actual.m24);
TestUtil.COMPARE(expected.m31, actual.m31);
TestUtil.COMPARE(expected.m32, actual.m32);
TestUtil.COMPARE(expected.m33, actual.m33);
TestUtil.COMPARE(expected.m34, actual.m34);
// Input : matrix1, matrix2 = 任意の値 (mult_safeのテスト) <- assertのため分岐できず
//matrix1.mult(matrix2, &matrix1);
}