2015-05-29 08:18:23 -07:00
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/* EINA - EFL data type library
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* Copyright (C) 2015 Cedric Bail
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library;
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* if not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include <math.h>
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#include <float.h>
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#include <limits.h>
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#include "eina_suite.h"
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#include "Eina.h"
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#define FLOAT_CMP(a, b) (fabs(a - b) <= DBL_MIN)
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static inline Eina_Bool
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eina_quaternion_cmp(const Eina_Quaternion *a, const Eina_Quaternion *b)
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{
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if (FLOAT_CMP(a->x, b->x) &&
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FLOAT_CMP(a->y, b->y) &&
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FLOAT_CMP(a->z, b->z) &&
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FLOAT_CMP(a->w, b->w))
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return EINA_TRUE;
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return EINA_FALSE;
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}
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static inline Eina_Bool
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eina_matrix3_cmp(const Eina_Matrix3 *a, const Eina_Matrix3 *b)
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{
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if (FLOAT_CMP(a->xx, b->xx) &&
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FLOAT_CMP(a->xy, b->xy) &&
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FLOAT_CMP(a->xz, b->xz) &&
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FLOAT_CMP(a->yx, b->yx) &&
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FLOAT_CMP(a->yy, b->yy) &&
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FLOAT_CMP(a->yz, b->yz) &&
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FLOAT_CMP(a->zx, b->zx) &&
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FLOAT_CMP(a->zy, b->zy) &&
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FLOAT_CMP(a->zz, b->zz))
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return EINA_TRUE;
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return EINA_FALSE;
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}
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START_TEST(eina_test_quaternion_norm)
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{
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static const Eina_Quaternion q = { 1, 3, 4, 5 };
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2015-07-03 17:30:40 -07:00
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double result = eina_quaternion_norm(&q);
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2015-05-29 08:18:23 -07:00
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eina_init();
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2015-07-03 17:30:40 -07:00
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fail_if(!FLOAT_CMP(result, sqrt(51)));
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2015-05-29 08:18:23 -07:00
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eina_shutdown();
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}
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END_TEST
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START_TEST(eina_test_quaternion_conjugate)
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{
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static const Eina_Quaternion q1 = { 1, -1, -1, 3 }, q2 = { 1, 3, 4, 3 };
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2015-06-29 05:24:21 -07:00
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static const Eina_Quaternion r1 = { -1, 1, 1, 3 }, r2 = { -1, -3, -4, 3 };
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2015-05-29 08:18:23 -07:00
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Eina_Quaternion t1, t2;
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eina_init();
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eina_quaternion_conjugate(&t1, &q1);
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eina_quaternion_conjugate(&t2, &q2);
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fail_if(!eina_quaternion_cmp(&t1, &r1));
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fail_if(!eina_quaternion_cmp(&t2, &r2));
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eina_shutdown();
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}
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END_TEST
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START_TEST(eina_test_quaternion_matrix)
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{
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Eina_Quaternion q = { 7, 9, 5, 1 };
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Eina_Matrix3 m = {
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2015-06-29 05:24:21 -07:00
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-211, 136, 52,
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116, -147, 104,
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88, 76, -259
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2015-05-29 08:18:23 -07:00
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};
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Eina_Matrix3 tm;
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eina_init();
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eina_quaternion_rotation_matrix3_get(&tm, &q);
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fail_if(!eina_matrix3_cmp(&tm, &m));
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eina_shutdown();
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}
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END_TEST
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START_TEST(eina_test_quaternion_op)
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{
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Eina_Quaternion q = { 7, 9, 5, 1 };
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Eina_Quaternion z = { 0, 0, 0, 0 };
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Eina_Quaternion neg, r;
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eina_init();
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eina_quaternion_negative(&neg, &q);
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eina_quaternion_add(&r, &q, &neg);
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fail_if(!eina_quaternion_cmp(&z, &r));
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eina_shutdown();
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}
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END_TEST
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void
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eina_test_quaternion(TCase *tc)
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{
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tcase_add_test(tc, eina_test_quaternion_norm);
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tcase_add_test(tc, eina_test_quaternion_conjugate);
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tcase_add_test(tc, eina_test_quaternion_matrix);
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tcase_add_test(tc, eina_test_quaternion_op);
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}
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