move vector math out of libui
created a new header-only static libmath lib
Test: built & ran
Bug: n/a
Change-Id: Ic63ef5f54d9a0de07a9ab9e4d67be01ab6169fc0
diff --git a/libs/math/tests/quat_test.cpp b/libs/math/tests/quat_test.cpp
new file mode 100644
index 0000000..c20771e
--- /dev/null
+++ b/libs/math/tests/quat_test.cpp
@@ -0,0 +1,301 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "QuatTest"
+
+#include <math.h>
+#include <stdlib.h>
+
+#include <random>
+#include <functional>
+
+#include <math/quat.h>
+#include <math/mat4.h>
+#include <math/vec3.h>
+#include <math/vec4.h>
+
+#include <gtest/gtest.h>
+
+namespace android {
+
+class QuatTest : public testing::Test {
+protected:
+};
+
+TEST_F(QuatTest, Basics) {
+ quatd q;
+ double4& v(q.xyzw);
+
+ EXPECT_EQ(sizeof(quatd), sizeof(double)*4);
+ EXPECT_EQ(reinterpret_cast<void*>(&q), reinterpret_cast<void*>(&v));
+}
+
+TEST_F(QuatTest, Constructors) {
+ quatd q0;
+ EXPECT_EQ(q0.x, 0);
+ EXPECT_EQ(q0.y, 0);
+ EXPECT_EQ(q0.z, 0);
+ EXPECT_EQ(q0.w, 0);
+
+ quatd q1(1);
+ EXPECT_EQ(q1.x, 0);
+ EXPECT_EQ(q1.y, 0);
+ EXPECT_EQ(q1.z, 0);
+ EXPECT_EQ(q1.w, 1);
+
+ quatd q2(1, 2, 3, 4);
+ EXPECT_EQ(q2.x, 2);
+ EXPECT_EQ(q2.y, 3);
+ EXPECT_EQ(q2.z, 4);
+ EXPECT_EQ(q2.w, 1);
+
+ quatd q3(q2);
+ EXPECT_EQ(q3.x, 2);
+ EXPECT_EQ(q3.y, 3);
+ EXPECT_EQ(q3.z, 4);
+ EXPECT_EQ(q3.w, 1);
+
+ quatd q4(q3.xyz, 42);
+ EXPECT_EQ(q4.x, 2);
+ EXPECT_EQ(q4.y, 3);
+ EXPECT_EQ(q4.z, 4);
+ EXPECT_EQ(q4.w, 42);
+
+ quatd q5(double3(q2.xy, 42), 24);
+ EXPECT_EQ(q5.x, 2);
+ EXPECT_EQ(q5.y, 3);
+ EXPECT_EQ(q5.z, 42);
+ EXPECT_EQ(q5.w, 24);
+
+ quatd q6;
+ q6 = 12;
+ EXPECT_EQ(q6.x, 0);
+ EXPECT_EQ(q6.y, 0);
+ EXPECT_EQ(q6.z, 0);
+ EXPECT_EQ(q6.w, 12);
+
+ quatd q7 = 1 + 2_id + 3_jd + 4_kd;
+ EXPECT_EQ(q7.x, 2);
+ EXPECT_EQ(q7.y, 3);
+ EXPECT_EQ(q7.z, 4);
+ EXPECT_EQ(q7.w, 1);
+
+ quatf qf(2);
+ EXPECT_EQ(qf.x, 0);
+ EXPECT_EQ(qf.y, 0);
+ EXPECT_EQ(qf.z, 0);
+ EXPECT_EQ(qf.w, 2);
+}
+
+TEST_F(QuatTest, Access) {
+ quatd q0(1, 2, 3, 4);
+ q0.x = 10;
+ q0.y = 20;
+ q0.z = 30;
+ q0.w = 40;
+ EXPECT_EQ(q0.x, 10);
+ EXPECT_EQ(q0.y, 20);
+ EXPECT_EQ(q0.z, 30);
+ EXPECT_EQ(q0.w, 40);
+
+ q0[0] = 100;
+ q0[1] = 200;
+ q0[2] = 300;
+ q0[3] = 400;
+ EXPECT_EQ(q0.x, 100);
+ EXPECT_EQ(q0.y, 200);
+ EXPECT_EQ(q0.z, 300);
+ EXPECT_EQ(q0.w, 400);
+
+ q0.xyz = double3(1, 2, 3);
+ EXPECT_EQ(q0.x, 1);
+ EXPECT_EQ(q0.y, 2);
+ EXPECT_EQ(q0.z, 3);
+ EXPECT_EQ(q0.w, 400);
+}
+
+TEST_F(QuatTest, UnaryOps) {
+ quatd q0(1, 2, 3, 4);
+
+ q0 += 1;
+ EXPECT_EQ(q0.x, 2);
+ EXPECT_EQ(q0.y, 3);
+ EXPECT_EQ(q0.z, 4);
+ EXPECT_EQ(q0.w, 2);
+
+ q0 -= 1;
+ EXPECT_EQ(q0.x, 2);
+ EXPECT_EQ(q0.y, 3);
+ EXPECT_EQ(q0.z, 4);
+ EXPECT_EQ(q0.w, 1);
+
+ q0 *= 2;
+ EXPECT_EQ(q0.x, 4);
+ EXPECT_EQ(q0.y, 6);
+ EXPECT_EQ(q0.z, 8);
+ EXPECT_EQ(q0.w, 2);
+
+ q0 /= 2;
+ EXPECT_EQ(q0.x, 2);
+ EXPECT_EQ(q0.y, 3);
+ EXPECT_EQ(q0.z, 4);
+ EXPECT_EQ(q0.w, 1);
+
+ quatd q1(10, 20, 30, 40);
+
+ q0 += q1;
+ EXPECT_EQ(q0.x, 22);
+ EXPECT_EQ(q0.y, 33);
+ EXPECT_EQ(q0.z, 44);
+ EXPECT_EQ(q0.w, 11);
+
+ q0 -= q1;
+ EXPECT_EQ(q0.x, 2);
+ EXPECT_EQ(q0.y, 3);
+ EXPECT_EQ(q0.z, 4);
+ EXPECT_EQ(q0.w, 1);
+
+ q1 = -q1;
+ EXPECT_EQ(q1.x, -20);
+ EXPECT_EQ(q1.y, -30);
+ EXPECT_EQ(q1.z, -40);
+ EXPECT_EQ(q1.w, -10);
+
+ // TODO(mathias): multiplies
+}
+
+TEST_F(QuatTest, ComparisonOps) {
+ quatd q0(1, 2, 3, 4);
+ quatd q1(10, 20, 30, 40);
+
+ EXPECT_TRUE(q0 == q0);
+ EXPECT_TRUE(q0 != q1);
+ EXPECT_FALSE(q0 != q0);
+ EXPECT_FALSE(q0 == q1);
+}
+
+TEST_F(QuatTest, ArithmeticOps) {
+ quatd q0(1, 2, 3, 4);
+ quatd q1(10, 20, 30, 40);
+
+ quatd q2(q0 + q1);
+ EXPECT_EQ(q2.x, 22);
+ EXPECT_EQ(q2.y, 33);
+ EXPECT_EQ(q2.z, 44);
+ EXPECT_EQ(q2.w, 11);
+
+ q0 = q1 * 2;
+ EXPECT_EQ(q0.x, 40);
+ EXPECT_EQ(q0.y, 60);
+ EXPECT_EQ(q0.z, 80);
+ EXPECT_EQ(q0.w, 20);
+
+ q0 = 2 * q1;
+ EXPECT_EQ(q0.x, 40);
+ EXPECT_EQ(q0.y, 60);
+ EXPECT_EQ(q0.z, 80);
+ EXPECT_EQ(q0.w, 20);
+
+ quatf qf(2);
+ q0 = q1 * qf;
+ EXPECT_EQ(q0.x, 40);
+ EXPECT_EQ(q0.y, 60);
+ EXPECT_EQ(q0.z, 80);
+ EXPECT_EQ(q0.w, 20);
+
+ EXPECT_EQ(1_id * 1_id, quat(-1));
+ EXPECT_EQ(1_jd * 1_jd, quat(-1));
+ EXPECT_EQ(1_kd * 1_kd, quat(-1));
+ EXPECT_EQ(1_id * 1_jd * 1_kd, quat(-1));
+}
+
+TEST_F(QuatTest, ArithmeticFunc) {
+ quatd q(1, 2, 3, 4);
+ quatd qc(conj(q));
+ __attribute__((unused)) quatd qi(inverse(q));
+ quatd qn(normalize(q));
+
+ EXPECT_EQ(qc.x, -2);
+ EXPECT_EQ(qc.y, -3);
+ EXPECT_EQ(qc.z, -4);
+ EXPECT_EQ(qc.w, 1);
+
+ EXPECT_EQ(~q, qc);
+ EXPECT_EQ(length(q), length(qc));
+ EXPECT_EQ(sqrt(30), length(q));
+ EXPECT_FLOAT_EQ(1, length(qn));
+ EXPECT_FLOAT_EQ(1, dot(qn, qn));
+
+ quatd qr = quatd::fromAxisAngle(double3(0, 0, 1), M_PI / 2);
+ EXPECT_EQ(mat4d(qr).toQuaternion(), qr);
+ EXPECT_EQ(1_id, mat4d(1_id).toQuaternion());
+ EXPECT_EQ(1_jd, mat4d(1_jd).toQuaternion());
+ EXPECT_EQ(1_kd, mat4d(1_kd).toQuaternion());
+
+
+ EXPECT_EQ(qr, log(exp(qr)));
+
+ quatd qq = qr * qr;
+ quatd q2 = pow(qr, 2);
+ EXPECT_NEAR(qq.x, q2.x, 1e-15);
+ EXPECT_NEAR(qq.y, q2.y, 1e-15);
+ EXPECT_NEAR(qq.z, q2.z, 1e-15);
+ EXPECT_NEAR(qq.w, q2.w, 1e-15);
+
+ quatd qa = quatd::fromAxisAngle(double3(0, 0, 1), 0);
+ quatd qb = quatd::fromAxisAngle(double3(0, 0, 1), M_PI / 2);
+ quatd qs = slerp(qa, qb, 0.5);
+ qr = quatd::fromAxisAngle(double3(0, 0, 1), M_PI / 4);
+ EXPECT_FLOAT_EQ(qr.x, qs.x);
+ EXPECT_FLOAT_EQ(qr.y, qs.y);
+ EXPECT_FLOAT_EQ(qr.z, qs.z);
+ EXPECT_FLOAT_EQ(qr.w, qs.w);
+
+ qs = nlerp(qa, qb, 0.5);
+ EXPECT_FLOAT_EQ(qr.x, qs.x);
+ EXPECT_FLOAT_EQ(qr.y, qs.y);
+ EXPECT_FLOAT_EQ(qr.z, qs.z);
+ EXPECT_FLOAT_EQ(qr.w, qs.w);
+}
+
+TEST_F(QuatTest, MultiplicationExhaustive) {
+ static constexpr double value_eps = double(1000) * std::numeric_limits<double>::epsilon();
+
+ std::default_random_engine generator(171717);
+ std::uniform_real_distribution<double> distribution(-10.0, 10.0);
+ auto rand_gen = std::bind(distribution, generator);
+
+ for (size_t i = 0; i < (1024 * 1024); ++i) {
+ double3 axis_a = normalize(double3(rand_gen(), rand_gen(), rand_gen()));
+ double angle_a = rand_gen();
+ quatd a = quatd::fromAxisAngle(axis_a, angle_a);
+
+ double3 axis_b = normalize(double3(rand_gen(), rand_gen(), rand_gen()));
+ double angle_b = rand_gen();
+ quatd b = quatd::fromAxisAngle(axis_b, angle_b);
+
+ quatd ab = a * b;
+ quatd ab_other(a.w * b.xyz + b.w * a.xyz + cross(a.xyz, b.xyz),
+ (a.w * b.w) - dot(a.xyz, b.xyz));
+
+ ASSERT_NEAR(ab.x, ab_other.x, value_eps);
+ ASSERT_NEAR(ab.y, ab_other.y, value_eps);
+ ASSERT_NEAR(ab.z, ab_other.z, value_eps);
+ ASSERT_NEAR(ab.w, ab_other.w, value_eps);
+ }
+}
+
+}; // namespace android