1 #define GLM_ENABLE_EXPERIMENTAL
2 #include <glm/gtx/dual_quaternion.hpp>
3 #include <glm/gtc/matrix_transform.hpp>
4 #include <glm/gtc/epsilon.hpp>
5 #include <glm/gtx/euler_angles.hpp>
6 #include <glm/vector_relational.hpp>
7 #if GLM_HAS_TRIVIAL_QUERIES
8 # include <type_traits>
9 #endif
10
myrand()11 int myrand()
12 {
13 static int holdrand = 1;
14 return (((holdrand = holdrand * 214013L + 2531011L) >> 16) & 0x7fff);
15 }
16
myfrand()17 float myfrand() // returns values from -1 to 1 inclusive
18 {
19 return float(double(myrand()) / double( 0x7ffff )) * 2.0f - 1.0f;
20 }
21
test_dquat_type()22 int test_dquat_type()
23 {
24 glm::dvec3 vA;
25 glm::dquat dqA,dqB;
26 glm::ddualquat C(dqA,dqB);
27 glm::ddualquat B(dqA);
28 glm::ddualquat D(dqA,vA);
29 return 0;
30 }
31
test_scalars()32 int test_scalars()
33 {
34 float const Epsilon = 0.0001f;
35
36 int Error(0);
37
38 glm::quat src_q1 = glm::quat(1.0f,2.0f,3.0f,4.0f);
39 glm::quat src_q2 = glm::quat(5.0f,6.0f,7.0f,8.0f);
40 glm::dualquat src1(src_q1,src_q2);
41
42 {
43 glm::dualquat dst1 = src1 * 2.0f;
44 glm::dualquat dst2 = 2.0f * src1;
45 glm::dualquat dst3 = src1;
46 dst3 *= 2.0f;
47 glm::dualquat dstCmp(src_q1 * 2.0f,src_q2 * 2.0f);
48 Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
49 Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
50 Error += glm::all(glm::epsilonEqual(dst3.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst3.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
51 }
52
53 {
54 glm::dualquat dst1 = src1 / 2.0f;
55 glm::dualquat dst2 = src1;
56 dst2 /= 2.0f;
57 glm::dualquat dstCmp(src_q1 / 2.0f,src_q2 / 2.0f);
58 Error += glm::all(glm::epsilonEqual(dst1.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst1.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
59 Error += glm::all(glm::epsilonEqual(dst2.real,dstCmp.real, Epsilon)) && glm::all(glm::epsilonEqual(dst2.dual,dstCmp.dual, Epsilon)) ? 0 : 1;
60 }
61 return Error;
62 }
63
test_inverse()64 int test_inverse()
65 {
66 int Error(0);
67
68 float const Epsilon = 0.0001f;
69
70 glm::dualquat dqid;
71 glm::mat4x4 mid(1.0f);
72
73 for (int j = 0; j < 100; ++j)
74 {
75 glm::mat4x4 rot = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
76 glm::vec3 vt = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
77
78 glm::mat4x4 m = glm::translate(mid, vt) * rot;
79
80 glm::quat qr = glm::quat_cast(m);
81
82 glm::dualquat dq(qr);
83
84 glm::dualquat invdq = glm::inverse(dq);
85
86 glm::dualquat r1 = invdq * dq;
87 glm::dualquat r2 = dq * invdq;
88
89 Error += glm::all(glm::epsilonEqual(r1.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r1.dual, dqid.dual, Epsilon)) ? 0 : 1;
90 Error += glm::all(glm::epsilonEqual(r2.real, dqid.real, Epsilon)) && glm::all(glm::epsilonEqual(r2.dual, dqid.dual, Epsilon)) ? 0 : 1;
91
92 // testing commutative property
93 glm::dualquat r ( glm::quat( myfrand() * glm::pi<float>() * 2.0f, myfrand(), myfrand(), myfrand() ),
94 glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f) );
95 glm::dualquat riq = (r * invdq) * dq;
96 glm::dualquat rqi = (r * dq) * invdq;
97
98 Error += glm::all(glm::epsilonEqual(riq.real, rqi.real, Epsilon)) && glm::all(glm::epsilonEqual(riq.dual, rqi.dual, Epsilon)) ? 0 : 1;
99 }
100
101 return Error;
102 }
103
test_mul()104 int test_mul()
105 {
106 int Error(0);
107
108 float const Epsilon = 0.0001f;
109
110 glm::mat4x4 mid(1.0f);
111
112 for (int j = 0; j < 100; ++j)
113 {
114 // generate random rotations and translations and compare transformed by matrix and dualquats random points
115 glm::vec3 vt1 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
116 glm::vec3 vt2 = glm::vec3(myfrand() * 10.0f, myfrand() * 10.0f, myfrand() * 10.0f);
117
118 glm::mat4x4 rot1 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
119 glm::mat4x4 rot2 = glm::yawPitchRoll(myfrand() * 360.0f, myfrand() * 360.0f, myfrand() * 360.0f);
120 glm::mat4x4 m1 = glm::translate(mid, vt1) * rot1;
121 glm::mat4x4 m2 = glm::translate(mid, vt2) * rot2;
122 glm::mat4x4 m3 = m2 * m1;
123 glm::mat4x4 m4 = m1 * m2;
124
125 glm::quat qrot1 = glm::quat_cast(rot1);
126 glm::quat qrot2 = glm::quat_cast(rot2);
127
128 glm::dualquat dq1 = glm::dualquat(qrot1,vt1);
129 glm::dualquat dq2 = glm::dualquat(qrot2,vt2);
130 glm::dualquat dq3 = dq2 * dq1;
131 glm::dualquat dq4 = dq1 * dq2;
132
133 for (int i = 0; i < 100; ++i)
134 {
135 glm::vec4 src_pt = glm::vec4(myfrand() * 4.0f, myfrand() * 5.0f, myfrand() * 3.0f,1.0f);
136 // test both multiplication orders
137 glm::vec4 dst_pt_m3 = m3 * src_pt;
138 glm::vec4 dst_pt_dq3 = dq3 * src_pt;
139
140 glm::vec4 dst_pt_m3_i = glm::inverse(m3) * src_pt;
141 glm::vec4 dst_pt_dq3_i = src_pt * dq3;
142
143 glm::vec4 dst_pt_m4 = m4 * src_pt;
144 glm::vec4 dst_pt_dq4 = dq4 * src_pt;
145
146 glm::vec4 dst_pt_m4_i = glm::inverse(m4) * src_pt;
147 glm::vec4 dst_pt_dq4_i = src_pt * dq4;
148
149 Error += glm::all(glm::epsilonEqual(dst_pt_m3, dst_pt_dq3, Epsilon)) ? 0 : 1;
150 Error += glm::all(glm::epsilonEqual(dst_pt_m4, dst_pt_dq4, Epsilon)) ? 0 : 1;
151 Error += glm::all(glm::epsilonEqual(dst_pt_m3_i, dst_pt_dq3_i, Epsilon)) ? 0 : 1;
152 Error += glm::all(glm::epsilonEqual(dst_pt_m4_i, dst_pt_dq4_i, Epsilon)) ? 0 : 1;
153 }
154 }
155
156 return Error;
157 }
158
test_dual_quat_ctr()159 int test_dual_quat_ctr()
160 {
161 int Error(0);
162
163 # if GLM_HAS_TRIVIAL_QUERIES
164 // Error += std::is_trivially_default_constructible<glm::dualquat>::value ? 0 : 1;
165 // Error += std::is_trivially_default_constructible<glm::ddualquat>::value ? 0 : 1;
166 // Error += std::is_trivially_copy_assignable<glm::dualquat>::value ? 0 : 1;
167 // Error += std::is_trivially_copy_assignable<glm::ddualquat>::value ? 0 : 1;
168 Error += std::is_trivially_copyable<glm::dualquat>::value ? 0 : 1;
169 Error += std::is_trivially_copyable<glm::ddualquat>::value ? 0 : 1;
170
171 Error += std::is_copy_constructible<glm::dualquat>::value ? 0 : 1;
172 Error += std::is_copy_constructible<glm::ddualquat>::value ? 0 : 1;
173 # endif
174
175 return Error;
176 }
177
test_size()178 int test_size()
179 {
180 int Error = 0;
181
182 Error += 32 == sizeof(glm::dualquat) ? 0 : 1;
183 Error += 64 == sizeof(glm::ddualquat) ? 0 : 1;
184 Error += glm::dualquat().length() == 2 ? 0 : 1;
185 Error += glm::ddualquat().length() == 2 ? 0 : 1;
186 Error += glm::dualquat::length() == 2 ? 0 : 1;
187 Error += glm::ddualquat::length() == 2 ? 0 : 1;
188
189 return Error;
190 }
191
main()192 int main()
193 {
194 int Error = 0;
195
196 Error += test_dual_quat_ctr();
197 Error += test_dquat_type();
198 Error += test_scalars();
199 Error += test_inverse();
200 Error += test_mul();
201 Error += test_size();
202
203 return Error;
204 }
205