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Impl. UnitTest for LogMap, fix LogMapAxis
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Stephen Seo 2024-06-18 13:20:07 +09:00
parent ab046fe22e
commit 267ae3ecf6
2 changed files with 34 additions and 2 deletions
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2
src/sc_sacd.cpp
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@ -853,6 +853,6 @@ float SC_SACD_LogMap_Angle(SC_SACD_Mat3 mat3) {
} }
SC_SACD_Vec3 SC_SACD_LogMap_Axis(SC_SACD_Mat3 mat3, float angle) { SC_SACD_Vec3 SC_SACD_LogMap_Axis(SC_SACD_Mat3 mat3, float angle) {
return SC_SACD_Vec3{mat3.y2 - mat3.z1, mat3.z0 - mat3.x2, mat3.x1 - mat3.y0} * return SC_SACD_Vec3{mat3.z1 - mat3.y2, mat3.x2 - mat3.z0, mat3.y0 - mat3.x1} *
(1.0F / (2.0F * std::sin(angle))); (1.0F / (2.0F * std::sin(angle)));
} }

34
src/test.cpp
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@ -949,7 +949,39 @@ int main() {
// Test rotation matrix to axis-angle. // Test rotation matrix to axis-angle.
{ {
// TODO: implement rotating Vec3 with axis-angle so that this can be tested. // X-axis.
float angle = std::numbers::pi_v<float> / 2.0F;
SC_SACD_Mat3 rot_mat = SC_SACD_Rotation_Mat3_XAxis(angle);
float derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
SC_SACD_Vec3 derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 1.0F);
CHECK_FLOAT(derived_axis.y, 0.0F);
CHECK_FLOAT(derived_axis.z, 0.0F);
// Y-axis.
rot_mat = SC_SACD_Rotation_Mat3_YAxis(angle);
derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 0.0F);
CHECK_FLOAT(derived_axis.y, 1.0F);
CHECK_FLOAT(derived_axis.z, 0.0F);
// Z-axis.
rot_mat = SC_SACD_Rotation_Mat3_ZAxis(angle);
derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 0.0F);
CHECK_FLOAT(derived_axis.y, 0.0F);
CHECK_FLOAT(derived_axis.z, 1.0F);
} }
std::cout << "Checks checked: " << checks_checked << '\n' std::cout << "Checks checked: " << checks_checked << '\n'