Merge commit '06c70e275a07b3e7036954b56975b786eb5e4675'
This commit is contained in:
Pascal Serrarens
commit
5bd10442b6
@ -21,7 +21,7 @@ unit-test-job:
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- cmake --build .
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- export GTEST_OUTPUT="xml:report.xml"
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- ls -la
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- "./VectorAlgebraTest"
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- "./LinearAlgebraTest"
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artifacts:
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when: always
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reports:
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@ -6,10 +6,9 @@
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#include "FloatSingle.h"
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#include <math.h>
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const float Rad2Deg = 57.29578F;
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const float Deg2Rad = 0.0174532924F;
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/*
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const float Angle::Rad2Deg = 57.29578F;
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const float Angle::Deg2Rad = 0.0174532924F;
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float Angle::Normalize(float angle) {
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if (!isfinite(angle))
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return angle;
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@ -20,106 +19,301 @@ float Angle::Normalize(float angle) {
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angle -= 360;
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return angle;
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}
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float Angle::Clamp(float angle, float min, float max) {
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float normalizedAngle = Normalize(angle);
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float r = Float::Clamp(normalizedAngle, min, max);
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return r;
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}
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float Angle::Difference(float a, float b) {
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float r = Normalize(b - a);
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return r;
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}
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float Angle::MoveTowards(float fromAngle, float toAngle, float maxAngle) {
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float d = toAngle - fromAngle;
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float sign = signbit(d) ? -1 : 1;
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d = sign * Float::Clamp(fabs(d), 0, maxAngle);
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return fromAngle + d;
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}
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float Angle::CosineRuleSide(float a, float b, float gamma) {
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float a2 = a * a;
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float b2 = b * b;
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float d = a2 + b2 - 2 * a * b * cos(gamma * Angle::Deg2Rad);
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// Catch edge cases where float inacuracies lead tot nans
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if (d < 0)
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return 0;
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float c = sqrtf(d);
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return c;
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}
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float Angle::CosineRuleAngle(float a, float b, float c) {
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float a2 = a * a;
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float b2 = b * b;
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float c2 = c * c;
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float d = (a2 + b2 - c2) / (2 * a * b);
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// Catch edge cases where float inacuracies lead tot nans
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if (d >= 1)
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return 0;
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if (d <= -1)
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return 180;
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float gamma = acos(d) * Angle::Rad2Deg;
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return gamma;
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}
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float Angle::SineRuleAngle(float a, float beta, float b) {
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float alpha = asin(a * sin(beta * Angle::Deg2Rad) / b);
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return alpha;
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}
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*/
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//----------------------
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template <> Angle2<float> Angle2<float>::pi = 3.1415927410125732421875F;
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template <typename T> AngleOf<T>::AngleOf() : value(0) {}
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template <> Angle2<float> Angle2<float>::Rad2Deg = 360.0f / (pi * 2);
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template <> Angle2<float> Angle2<float>::Deg2Rad = (pi * 2) / 360.0f;
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template <typename T> const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
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// template <typename T>
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// const AngleOf<T> AngleOf<T>::deg90 = AngleOf<T>::Degrees(90);
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// template <typename T>
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// const AngleOf<T> AngleOf<T>::deg180 = AngleOf<T>::Degrees(180);
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template <> Angle2<float> Angle2<float>::Normalize(Angle2<float> angle) {
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float angleValue = angle;
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//===== AngleSingle, AngleOf<float>
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template <> AngleOf<float> AngleOf<float>::Degrees(float degrees) {
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if (isfinite(degrees)) {
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while (degrees < -180)
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degrees += 360;
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while (degrees >= 180)
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degrees -= 360;
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}
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return Binary(degrees);
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}
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template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
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if (isfinite(radians)) {
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while (radians <= -pi)
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radians += 2 * pi;
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while (radians > pi)
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radians -= 2 * pi;
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}
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return Binary(radians * Rad2Deg);
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}
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template <> float AngleOf<float>::InDegrees() const { return this->value; }
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template <> float AngleOf<float>::InRadians() const {
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return this->value * Deg2Rad;
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}
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//===== Angle16, AngleOf<signed short>
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template <>
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AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
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// map float [-180..180) to integer [-32768..32767]
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signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
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return Binary(value);
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}
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template <>
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AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
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if (!isfinite(radians))
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return AngleOf<signed short>::zero;
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// map float [-PI..PI) to integer [-32768..32767]
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signed short value = (signed short)roundf(radians / pi * 32768.0F);
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return Binary(value);
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}
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template <> float AngleOf<signed short>::InDegrees() const {
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float degrees = this->value / 65536.0f * 360.0f;
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return degrees;
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}
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template <> float AngleOf<signed short>::InRadians() const {
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float radians = this->value / 65536.0f * (2 * pi);
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return radians;
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}
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//===== Angle8, AngleOf<signed char>
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template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
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// map float [-180..180) to integer [-128..127)
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signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
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return Binary(value);
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}
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template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
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if (!isfinite(radians))
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return AngleOf<signed char>::zero;
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// map float [-pi..pi) to integer [-128..127)
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signed char value = (signed char)roundf(radians / pi * 128.0f);
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return Binary(value);
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}
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template <> float AngleOf<signed char>::InDegrees() const {
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float degrees = this->value / 256.0f * 360.0f;
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return degrees;
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}
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template <> float AngleOf<signed char>::InRadians() const {
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float radians = this->value / 128.0f * pi;
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return radians;
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}
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//===== Generic
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template <typename T> AngleOf<T> AngleOf<T>::Binary(T rawValue) {
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AngleOf<T> angle = AngleOf<T>();
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angle.SetBinary(rawValue);
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return angle;
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}
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template <typename T> T AngleOf<T>::GetBinary() const { return this->value; }
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template <typename T> void AngleOf<T>::SetBinary(T rawValue) {
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this->value = rawValue;
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}
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template <typename T>
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bool AngleOf<T>::operator==(const AngleOf<T> angle) const {
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return this->value == angle.value;
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}
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template <typename T> bool AngleOf<T>::operator>(AngleOf<T> angle) const {
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return this->value > angle.value;
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}
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template <typename T> bool AngleOf<T>::operator>=(AngleOf<T> angle) const {
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return this->value >= angle.value;
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}
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template <typename T> bool AngleOf<T>::operator<(AngleOf<T> angle) const {
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return this->value < angle.value;
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}
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template <typename T> bool AngleOf<T>::operator<=(AngleOf<T> angle) const {
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return this->value <= angle.value;
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}
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template <typename T>
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signed int Passer::LinearAlgebra::AngleOf<T>::Sign(AngleOf<T> angle) {
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if (angle.value < 0)
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return -1;
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if (angle.value > 0)
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return 1;
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return 0;
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}
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template <typename T>
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AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Abs(AngleOf<T> angle) {
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if (Sign(angle) < 0)
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return -angle;
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else
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return angle;
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}
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template <typename T> AngleOf<T> AngleOf<T>::operator-() const {
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AngleOf<T> angle = Binary(-this->value);
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return angle;
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}
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template <>
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AngleOf<float> AngleOf<float>::operator-(const AngleOf<float> &angle) const {
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AngleOf<float> r = Binary(this->value - angle.value);
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r = Normalize(r);
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return r;
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}
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template <typename T>
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AngleOf<T> AngleOf<T>::operator-(const AngleOf<T> &angle) const {
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AngleOf<T> r = Binary(this->value - angle.value);
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return r;
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}
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template <>
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AngleOf<float> AngleOf<float>::operator+(const AngleOf<float> &angle) const {
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AngleOf<float> r = Binary(this->value + angle.value);
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r = Normalize(r);
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return r;
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}
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template <typename T>
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AngleOf<T> AngleOf<T>::operator+(const AngleOf<T> &angle) const {
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AngleOf<T> r = Binary(this->value + angle.value);
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return r;
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}
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template <>
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AngleOf<float> AngleOf<float>::operator+=(const AngleOf<float> &angle) {
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this->value += angle.value;
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this->Normalize();
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return *this;
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}
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template <typename T>
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AngleOf<T> AngleOf<T>::operator+=(const AngleOf<T> &angle) {
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this->value += angle.value;
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return *this;
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}
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// This defintion is not matching the declaration in the header file somehow
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// template <typename T>
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// AngleOf<T> operator*(const AngleOf<T> &angle, float factor) {
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// return AngleOf::Degrees((float)angle.InDegrees() * factor);
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// }
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// This defintion is not matching the declaration in the header file somehow
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// template <typename T>
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// AngleOf<T> operator*(float factor, const AngleOf<T> &angle) {
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// return AngleOf::Degrees((float)factor * angle.InDegrees());
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// }
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template <typename T> void AngleOf<T>::Normalize() {
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float angleValue = this->InDegrees();
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if (!isfinite(angleValue))
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return angleValue;
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return;
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while (angleValue <= -180)
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angleValue += 360;
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while (angleValue > 180)
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angleValue -= 360;
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return angleValue;
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*this = AngleOf::Degrees(angleValue);
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}
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template <>
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Angle2<float> Angle2<float>::Clamp(Angle2<float> angle, Angle2<float> min,
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Angle2<float> max) {
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float normalizedAngle = Normalize(angle);
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float r = Float::Clamp(normalizedAngle, min, max);
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return r;
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template <typename T> AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
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float angleValue = angle.InDegrees();
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if (!isfinite(angleValue))
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return angle;
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while (angleValue <= -180)
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angleValue += 360;
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while (angleValue > 180)
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angleValue -= 360;
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return AngleOf::Degrees(angleValue);
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}
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// template <typename T>
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// Angle2<T> Angle2<T>::Difference(Angle2<T> a, Angle2<T> b) {
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// Angle2<T> r = Normalize(b - a);
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// return r;
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// }
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template <typename T>
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AngleOf<T> AngleOf<T>::Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max) {
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float r = Float::Clamp(angle.InDegrees(), min.InDegrees(), max.InDegrees());
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return AngleOf<T>::Degrees(r);
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}
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template <typename T>
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AngleOf<T> AngleOf<T>::MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
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float maxDegrees) {
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maxDegrees = fmaxf(0, maxDegrees); // filter out negative distances
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AngleOf<T> d = toAngle - fromAngle;
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float dDegrees = Abs(d).InDegrees();
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d = AngleOf<T>::Degrees(Float::Clamp(dDegrees, 0, maxDegrees));
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if (Sign(d) < 0)
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d = -d;
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template <>
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Angle2<float> Angle2<float>::MoveTowards(Angle2<float> fromAngle,
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Angle2<float> toAngle,
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Angle2<float> maxAngle) {
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float d = toAngle - fromAngle;
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float sign = signbit(d) ? -1 : 1;
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d = sign * Float::Clamp(fabs(d), 0, maxAngle);
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return fromAngle + d;
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}
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template <>
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Angle2<float> Angle2<float>::CosineRuleSide(float a, float b,
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Angle2<float> gamma) {
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template <typename T> float AngleOf<T>::Cos(AngleOf<T> angle) {
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return cosf(angle.InRadians());
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}
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template <typename T> float AngleOf<T>::Sin(AngleOf<T> angle) {
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return sinf(angle.InRadians());
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}
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template <typename T> float AngleOf<T>::Tan(AngleOf<T> angle) {
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return tanf(angle.InRadians());
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}
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template <typename T> AngleOf<T> AngleOf<T>::Acos(float f) {
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return AngleOf<T>::Radians(acosf(f));
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}
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template <typename T> AngleOf<T> AngleOf<T>::Asin(float f) {
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return AngleOf<T>::Radians(asinf(f));
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}
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template <typename T> AngleOf<T> AngleOf<T>::Atan(float f) {
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return AngleOf<T>::Radians(atanf(f));
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}
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template <typename T>
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AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Atan2(float y, float x) {
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return AngleOf<T>::Radians(atan2f(y, x));
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}
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// template <>
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// float AngleOf<float>::CosineRuleSide(float a, float b, AngleOf<float> gamma)
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// {
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// float a2 = a * a;
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// float b2 = b * b;
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// float d =
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// a2 + b2 -
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// 2 * a * b * Cos(gamma); // cosf(gamma *
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// Passer::LinearAlgebra::Deg2Rad);
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// // Catch edge cases where float inacuracies lead tot nans
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// if (d < 0)
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// return 0.0f;
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// float c = sqrtf(d);
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// return c;
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// }
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template <typename T>
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float AngleOf<T>::CosineRuleSide(float a, float b, AngleOf<T> gamma) {
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float a2 = a * a;
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float b2 = b * b;
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float d = a2 + b2 - 2 * a * b * cos(gamma * Angle2<float>::Deg2Rad);
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float d =
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a2 + b2 -
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2 * a * b * Cos(gamma); // cosf(gamma * Passer::LinearAlgebra::Deg2Rad);
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// Catch edge cases where float inacuracies lead tot nans
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if (d < 0)
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return 0;
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@ -128,25 +322,54 @@ Angle2<float> Angle2<float>::CosineRuleSide(float a, float b,
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return c;
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}
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template <>
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Angle2<float> Angle2<float>::CosineRuleAngle(float a, float b, float c) {
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// template <>
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// AngleOf<float> AngleOf<float>::CosineRuleAngle(float a, float b, float c) {
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// float a2 = a * a;
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// float b2 = b * b;
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// float c2 = c * c;
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// float d = (a2 + b2 - c2) / (2 * a * b);
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// // Catch edge cases where float inacuracies lead tot nans
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// if (d >= 1)
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// return 0.0f;
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// if (d <= -1)
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// return 180.0f;
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// float gamma = acosf(d) * Rad2Deg;
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// return gamma;
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// }
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template <typename T>
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AngleOf<T> AngleOf<T>::CosineRuleAngle(float a, float b, float c) {
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float a2 = a * a;
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float b2 = b * b;
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float c2 = c * c;
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float d = (a2 + b2 - c2) / (2 * a * b);
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// Catch edge cases where float inacuracies lead tot nans
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if (d >= 1)
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return 0;
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return AngleOf<T>();
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if (d <= -1)
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return 180;
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return AngleOf<T>::Degrees(180);
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float gamma = acos(d) * Angle::Rad2Deg;
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// float gamma = acosf(d) * Rad2Deg;
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AngleOf<T> gamma = Acos(d);
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return gamma;
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}
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template <>
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Angle2<float> Angle2<float>::SineRuleAngle(float a, Angle2<float> beta,
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float b) {
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float alpha = asin(a * sin(beta * Angle::Deg2Rad) / b);
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// template <>
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// AngleOf<float> AngleOf<float>::SineRuleAngle(float a,
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// AngleOf<float> beta,
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// float b) {
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// float deg2rad = Deg2Rad;
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// float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
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// return alpha;
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// }
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template <typename T>
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AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
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// float deg2rad = Deg2Rad;
|
||||
// float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
|
||||
AngleOf<T> alpha = Asin(a * Sin(beta) / b);
|
||||
return alpha;
|
||||
}
|
||||
}
|
||||
|
||||
template class AngleOf<float>;
|
||||
template class AngleOf<signed char>;
|
||||
template class AngleOf<signed short>;
|
||||
@ -5,51 +5,222 @@
|
||||
#ifndef ANGLE_H
|
||||
#define ANGLE_H
|
||||
|
||||
template <typename T> class Angle2 {
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
static float pi = 3.1415927410125732421875F;
|
||||
|
||||
static float Rad2Deg = 360.0f / (pi * 2);
|
||||
static float Deg2Rad = (pi * 2) / 360.0f;
|
||||
|
||||
/// @brief An angle in various representations.
|
||||
/// @tparam T The internal type used for the representation of the angle.
|
||||
/// The angle is internally limited to (-180..180] degrees or (-PI...PI]
|
||||
/// radians. When an angle exceeds this range, it is normalized to a value
|
||||
/// within the range.
|
||||
template <typename T> class AngleOf {
|
||||
public:
|
||||
Angle2(){};
|
||||
Angle2(T v) : value(v) {}
|
||||
operator T() { return value; }
|
||||
/// @brief Create a new angle with a zero value
|
||||
AngleOf<T>();
|
||||
|
||||
static Angle2<T> Rad2Deg;
|
||||
static Angle2<T> Deg2Rad;
|
||||
/// @brief An zero value angle
|
||||
const static AngleOf<T> zero;
|
||||
// const static AngleOf<T> deg90;
|
||||
// const static AngleOf<T> deg180;
|
||||
|
||||
static Angle2<T> pi;
|
||||
/// @brief Creates an angle in degrees
|
||||
/// @param degrees the angle in degrees
|
||||
/// @return The angle value
|
||||
static AngleOf<T> Degrees(float degrees);
|
||||
/// @brief Short-hand Deg alias for the Degrees function
|
||||
constexpr static auto Deg = Degrees;
|
||||
/// @brief Creates an angle in radians
|
||||
/// @param radians the angle in radians
|
||||
/// @return The angle value
|
||||
static AngleOf<T> Radians(float radians);
|
||||
/// @brief Short-hand Rad alias for the Radians function
|
||||
constexpr static auto Rad = Radians;
|
||||
/// @brief Creates an angle from a raw value
|
||||
/// @param rawValue the raw value to use for the angle
|
||||
/// @return The the angle
|
||||
static AngleOf<T> Binary(T rawValue);
|
||||
|
||||
static Angle2<T> Normalize(Angle2<T> angle);
|
||||
static Angle2<T> Clamp(Angle2<T> angle, Angle2<T> min, Angle2<T> max);
|
||||
static Angle2<T> Difference(Angle2<T> a, Angle2<T> b) {
|
||||
Angle2<T> r = Normalize(b - a);
|
||||
return r;
|
||||
};
|
||||
static Angle2<T> MoveTowards(Angle2<T> fromAngle, Angle2<T> toAngle,
|
||||
Angle2<T> maxAngle);
|
||||
/// @brief Get the angle value in degrees
|
||||
/// @return The angle value in degrees
|
||||
float InDegrees() const;
|
||||
/// @brief Get the angle value in radians
|
||||
/// @return The angle value in radians
|
||||
float InRadians() const;
|
||||
|
||||
static Angle2<T> CosineRuleSide(float a, float b, Angle2<T> gamma);
|
||||
static Angle2<T> CosineRuleAngle(float a, float b, float c);
|
||||
/// @brief Get the raw value for the angle
|
||||
/// @return The raw value
|
||||
T GetBinary() const;
|
||||
/// @brief Set the raw value of the angle
|
||||
/// @param rawValue The raw value
|
||||
void SetBinary(T rawValue);
|
||||
|
||||
static Angle2<T> SineRuleAngle(float a, Angle2<T> beta, float c);
|
||||
/// @brief Tests whether this angle is equal to the given angle
|
||||
/// @param angle The angle to compare to
|
||||
/// @return True when the angles are equal, False otherwise
|
||||
/// @note The equality is determine within the limits of precision of the raw
|
||||
/// type T
|
||||
bool operator==(const AngleOf<T> angle) const;
|
||||
/// @brief Tests if this angle is greater than the given angle
|
||||
/// @param angle The given angle
|
||||
/// @return True when this angle is greater than the given angle, False
|
||||
/// otherwise
|
||||
bool operator>(AngleOf<T> angle) const;
|
||||
/// @brief Tests if this angle is greater than or equal to the given angle
|
||||
/// @param angle The given angle
|
||||
/// @return True when this angle is greater than or equal to the given angle.
|
||||
/// False otherwise.
|
||||
bool operator>=(AngleOf<T> angle) const;
|
||||
/// @brief Tests if this angle is less than the given angle
|
||||
/// @param angle The given angle
|
||||
/// @return True when this angle is less than the given angle. False
|
||||
/// otherwise.
|
||||
bool operator<(AngleOf<T> angle) const;
|
||||
/// @brief Tests if this angle is less than or equal to the given angle
|
||||
/// @param angle The given angle
|
||||
/// @return True when this angle is less than or equal to the given angle.
|
||||
/// False otherwise.
|
||||
bool operator<=(AngleOf<T> angle) const;
|
||||
|
||||
/// @brief Returns the sign of the angle
|
||||
/// @param angle The angle
|
||||
/// @return -1 when the angle is negative, 1 when it is positive and 0
|
||||
/// otherwise.
|
||||
static signed int Sign(AngleOf<T> angle);
|
||||
/// @brief Returns the magnitude of the angle
|
||||
/// @param angle The angle
|
||||
/// @return The positive magitude of the angle.
|
||||
/// Negative values are negated to get a positive result
|
||||
static AngleOf<T> Abs(AngleOf<T> angle);
|
||||
|
||||
/// @brief Negate the angle
|
||||
/// @return The negated angle
|
||||
AngleOf<T> operator-() const;
|
||||
/// @brief Substract another angle from this angle
|
||||
/// @param angle The angle to subtract from this angle
|
||||
/// @return The result of the subtraction
|
||||
AngleOf<T> operator-(const AngleOf<T> &angle) const;
|
||||
/// @brief Add another angle from this angle
|
||||
/// @param angle The angle to add to this angle
|
||||
/// @return The result of the addition
|
||||
AngleOf<T> operator+(const AngleOf<T> &angle) const;
|
||||
/// @brief Add another angle to this angle
|
||||
/// @param angle The angle to add to this angle
|
||||
/// @return The result of the addition
|
||||
AngleOf<T> operator+=(const AngleOf<T> &angle);
|
||||
|
||||
/// @brief Mutliplies the angle
|
||||
/// @param angle The angle to multiply
|
||||
/// @param factor The factor by which the angle is multiplied
|
||||
/// @return The multiplied angle
|
||||
friend AngleOf<T> operator*(const AngleOf<T> &angle, float factor) {
|
||||
return AngleOf::Degrees((float)angle.InDegrees() * factor);
|
||||
}
|
||||
/// @brief Multiplies the angle
|
||||
/// @param factor The factor by which the angle is multiplies
|
||||
/// @param angle The angle to multiply
|
||||
/// @return The multiplied angle
|
||||
friend AngleOf<T> operator*(float factor, const AngleOf<T> &angle) {
|
||||
return AngleOf::Degrees((float)factor * angle.InDegrees());
|
||||
}
|
||||
|
||||
/// @brief Normalizes the angle to (-180..180] or (-PI..PI]
|
||||
/// Should not be needed but available in case it is.
|
||||
void Normalize();
|
||||
/// @brief Normalizes the angle to (-180..180] or (-PI..PI]
|
||||
/// @param angle The angle to normalize
|
||||
/// @return The normalized angle;
|
||||
static AngleOf<T> Normalize(AngleOf<T> angle);
|
||||
/// @brief Clamps the angle value between the two given angles
|
||||
/// @param angle The angle to clamp
|
||||
/// @param min The minimum angle
|
||||
/// @param max The maximum angle
|
||||
/// @return The clamped value
|
||||
/// @remark When the min value is greater than the max value, angle is
|
||||
/// returned unclamped.
|
||||
static AngleOf<T> Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max);
|
||||
// static AngleOf<T> Difference(AngleOf<T> a, AngleOf<T> b) {
|
||||
// AngleOf<T> r = Normalize(b.InDegrees() - a.InDegrees());
|
||||
// return r;
|
||||
// };
|
||||
|
||||
/// @brief Rotates an angle towards another angle with a max distance
|
||||
/// @param fromAngle The angle to start from
|
||||
/// @param toAngle The angle to rotate towards
|
||||
/// @param maxAngle The maximum angle to rotate
|
||||
/// @return The rotated angle
|
||||
static AngleOf<T> MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
|
||||
float maxAngle);
|
||||
|
||||
/// @brief Calculates the cosine of an angle
|
||||
/// @param angle The given angle
|
||||
/// @return The cosine of the angle
|
||||
static float Cos(AngleOf<T> angle);
|
||||
/// @brief Calculates the sine of an angle
|
||||
/// @param angle The given angle
|
||||
/// @return The sine of the angle
|
||||
static float Sin(AngleOf<T> angle);
|
||||
/// @brief Calculates the tangent of an angle
|
||||
/// @param angle The given angle
|
||||
/// @return The tangent of the angle
|
||||
static float Tan(AngleOf<T> angle);
|
||||
|
||||
/// @brief Calculates the arc cosine angle
|
||||
/// @param f The value
|
||||
/// @return The arc cosine for the given value
|
||||
static AngleOf<T> Acos(float f);
|
||||
/// @brief Calculates the arc sine angle
|
||||
/// @param f The value
|
||||
/// @return The arc sine for the given value
|
||||
static AngleOf<T> Asin(float f);
|
||||
/// @brief Calculates the arc tangent angle
|
||||
/// @param f The value
|
||||
/// @return The arc tangent for the given value
|
||||
static AngleOf<T> Atan(float f);
|
||||
/// @brief Calculates the tangent for the given values
|
||||
/// @param y The vertical value
|
||||
/// @param x The horizontal value
|
||||
/// @return The tanget for the given values
|
||||
/// Uses the y and x signs to compute the quadrant
|
||||
static AngleOf<T> Atan2(float y, float x);
|
||||
|
||||
/// @brief Computes the length of a side using the rule of cosines
|
||||
/// @param a The length of side A
|
||||
/// @param b The length of side B
|
||||
/// @param gamma The angle of the corner opposing side C
|
||||
/// @return The length of side C
|
||||
static float CosineRuleSide(float a, float b, AngleOf<T> gamma);
|
||||
/// @brief Computes the angle of a corner using the rule of cosines
|
||||
/// @param a The length of side A
|
||||
/// @param b The length of side B
|
||||
/// @param c The length of side C
|
||||
/// @return The angle of the corner opposing side C
|
||||
static AngleOf<T> CosineRuleAngle(float a, float b, float c);
|
||||
|
||||
/// @brief Computes the angle of a corner using the rule of sines
|
||||
/// @param a The length of side A
|
||||
/// @param beta the angle of the corner opposing side B
|
||||
/// @param c The length of side C
|
||||
/// @return The angle of the corner opposing side A
|
||||
static AngleOf<T> SineRuleAngle(float a, AngleOf<T> beta, float c);
|
||||
|
||||
private:
|
||||
T value;
|
||||
|
||||
AngleOf<T>(T value);
|
||||
};
|
||||
|
||||
using Angle = Angle2<float>;
|
||||
/*
|
||||
class Angle {
|
||||
public:
|
||||
const static float Rad2Deg;
|
||||
const static float Deg2Rad;
|
||||
// using Angle = AngleOf<float>;
|
||||
using AngleSingle = AngleOf<float>;
|
||||
using Angle16 = AngleOf<signed short>;
|
||||
using Angle8 = AngleOf<signed char>;
|
||||
|
||||
static float Normalize(float angle);
|
||||
static float Clamp(float angle, float min, float max);
|
||||
static float Difference(float a, float b);
|
||||
static float MoveTowards(float fromAngle, float toAngle, float maxAngle);
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
static float CosineRuleSide(float a, float b, float gamma);
|
||||
static float CosineRuleAngle(float a, float b, float c);
|
||||
|
||||
static float SineRuleAngle(float a, float beta, float c);
|
||||
};
|
||||
*/
|
||||
#endif
|
||||
53
LinearAlgebra/AngleAxis.cpp
Normal file
53
LinearAlgebra/AngleAxis.cpp
Normal file
@ -0,0 +1,53 @@
|
||||
/*
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#include "AngleAxis.h"
|
||||
|
||||
template <typename T>
|
||||
AngleAxisOf<T>::AngleAxisOf() {
|
||||
this->angle = 0.0F;
|
||||
this->axis = DirectionOf<T>();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleAxisOf<T>::AngleAxisOf(float angle, DirectionOf<T> axis) {
|
||||
this->angle = angle;
|
||||
this->axis = axis;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleAxisOf<T>::AngleAxisOf(float angle, Vector3 axis) {
|
||||
this->angle = angle;
|
||||
this->axis = DirectionOf<T>::FromVector3(axis);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleAxisOf<T>::AngleAxisOf(Quaternion q) {
|
||||
float angle;
|
||||
Vector3 axis;
|
||||
q.ToAngleAxis(&angle, &axis);
|
||||
this->angle = angle;
|
||||
this->axis = DirectionOf<T>::FromVector3(axis);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
const AngleAxisOf<T> AngleAxisOf<T>::zero =
|
||||
AngleAxisOf<T>(0.0, DirectionOf<T>(AngleOf<T>(), AngleOf<T>()));
|
||||
|
||||
template <typename T>
|
||||
Quaternion AngleAxisOf<T>::ToQuaternion() {
|
||||
Vector3 axisVector = this->axis.ToVector3();
|
||||
Quaternion q = Quaternion::AngleAxis(this->angle, axisVector);
|
||||
return q;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T> AngleAxisOf<T>::GetSwing() {
|
||||
return this->axis;
|
||||
}
|
||||
|
||||
template class AngleAxisOf<float>;
|
||||
template class AngleAxisOf<signed short>;
|
||||
*/
|
||||
52
LinearAlgebra/AngleUsing.h
Normal file
52
LinearAlgebra/AngleUsing.h
Normal file
@ -0,0 +1,52 @@
|
||||
/*
|
||||
#ifndef DISCRETEANGLE_H
|
||||
#define DISCRETEANGLE_H
|
||||
|
||||
#include "Angle.h"
|
||||
#include "Range.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
// A fixed angle between (-180..180]
|
||||
|
||||
template <typename T>
|
||||
class AngleUsing {
|
||||
public:
|
||||
AngleUsing(T sourceValue) { this->value = sourceValue; }
|
||||
AngleUsing(float f);
|
||||
float ToFloat() const;
|
||||
inline T GetValue() const { return this->value; }
|
||||
|
||||
AngleUsing<T> operator+(const AngleUsing<T> a) {
|
||||
AngleUsing<T> r = AngleUsing((float)this->value + a.value);
|
||||
return r;
|
||||
}
|
||||
|
||||
inline AngleUsing<T> operator+=(const AngleUsing<T> a) {
|
||||
return this->value + a.value;
|
||||
}
|
||||
|
||||
inline AngleUsing<T> operator-(const AngleUsing<T> a) {
|
||||
return this->value - a.value;
|
||||
}
|
||||
|
||||
inline AngleUsing<T> operator-() {
|
||||
this->value = -this->value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline bool operator==(const AngleUsing<T> a) {
|
||||
return this->value == a.value;
|
||||
}
|
||||
|
||||
// protected:
|
||||
T value;
|
||||
};
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
*/
|
||||
@ -5,7 +5,7 @@ if(ESP_PLATFORM)
|
||||
INCLUDE_DIRS "."
|
||||
)
|
||||
else()
|
||||
project(VectorAlgebra) # Create project "simple_example"
|
||||
project(LinearAlgebra)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
@ -14,6 +14,7 @@ else()
|
||||
include(FetchContent)
|
||||
FetchContent_Declare(
|
||||
googletest
|
||||
DOWNLOAD_EXTRACT_TIMESTAMP
|
||||
URL https://github.com/google/googletest/archive/refs/heads/main.zip
|
||||
)
|
||||
|
||||
@ -22,7 +23,7 @@ else()
|
||||
FetchContent_MakeAvailable(googletest)
|
||||
|
||||
include_directories(.)
|
||||
add_library(VectorAlgebra STATIC
|
||||
add_library(LinearAlgebra STATIC
|
||||
"FloatSingle.cpp"
|
||||
"Angle.cpp"
|
||||
"Vector2.cpp"
|
||||
@ -31,26 +32,33 @@ else()
|
||||
"Polar.cpp"
|
||||
"Spherical.cpp"
|
||||
"Matrix.cpp"
|
||||
# "Axis.cpp"
|
||||
# "AngleAxis.cpp"
|
||||
"SwingTwist.cpp"
|
||||
"Direction.cpp"
|
||||
)
|
||||
|
||||
enable_testing()
|
||||
|
||||
file(GLOB_RECURSE test_srcs test/*_test.cc)
|
||||
add_executable(
|
||||
VectorAlgebraTest
|
||||
"test/Angle_test.cc"
|
||||
"test/FloatSingle_test.cc"
|
||||
"test/Vector2_test.cc"
|
||||
"test/Vector3_test.cc"
|
||||
"test/Quaternion_test.cc"
|
||||
"test/Matrix_test.cc"
|
||||
LinearAlgebraTest
|
||||
${test_srcs}
|
||||
)
|
||||
target_link_libraries(
|
||||
VectorAlgebraTest
|
||||
LinearAlgebraTest
|
||||
gtest_main
|
||||
VectorAlgebra
|
||||
LinearAlgebra
|
||||
)
|
||||
|
||||
if(MSVC)
|
||||
target_compile_options(LinearAlgebraTest PRIVATE /W4 /WX)
|
||||
else()
|
||||
target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
|
||||
endif()
|
||||
|
||||
|
||||
include(GoogleTest)
|
||||
gtest_discover_tests(VectorAlgebraTest)
|
||||
gtest_discover_tests(LinearAlgebraTest)
|
||||
endif()
|
||||
|
||||
|
||||
111
LinearAlgebra/Direction.cpp
Normal file
111
LinearAlgebra/Direction.cpp
Normal file
@ -0,0 +1,111 @@
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#include "Direction.h"
|
||||
|
||||
#include "Quaternion.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T>::DirectionOf() {
|
||||
this->horizontal = AngleOf<T>();
|
||||
this->vertical = AngleOf<T>();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T>::DirectionOf(AngleOf<T> horizontal, AngleOf<T> vertical) {
|
||||
this->horizontal = horizontal;
|
||||
this->vertical = vertical;
|
||||
Normalize();
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::forward =
|
||||
DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::back =
|
||||
DirectionOf<T>(AngleOf<T>::Degrees(180), AngleOf<T>());
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::up =
|
||||
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(90));
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::down =
|
||||
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(-90));
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::left =
|
||||
DirectionOf<T>(AngleOf<T>::Degrees(-90), AngleOf<T>());
|
||||
template <typename T>
|
||||
const DirectionOf<T> DirectionOf<T>::right =
|
||||
DirectionOf<T>(AngleOf<T>::Degrees(90), AngleOf<T>());
|
||||
|
||||
template <typename T>
|
||||
Vector3 Passer::LinearAlgebra::DirectionOf<T>::ToVector3() const {
|
||||
Quaternion q = Quaternion::Euler(-this->vertical.InDegrees(),
|
||||
this->horizontal.InDegrees(), 0);
|
||||
Vector3 v = q * Vector3::forward;
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::FromVector3(Vector3 v) {
|
||||
DirectionOf<T> d;
|
||||
d.horizontal = AngleOf<T>::Atan2(
|
||||
v.Right(),
|
||||
v.Forward()); // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
|
||||
d.vertical =
|
||||
AngleOf<T>::Degrees(-90) -
|
||||
AngleOf<T>::Acos(
|
||||
v.Up()); // AngleOf<T>::Radians(-(0.5f * pi) - acosf(v.Up()));
|
||||
d.Normalize();
|
||||
return d;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Degrees(float horizontal,
|
||||
float vertical) {
|
||||
return DirectionOf<T>(AngleOf<T>::Degrees(horizontal),
|
||||
AngleOf<T>::Degrees(vertical));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Radians(float horizontal,
|
||||
float vertical) {
|
||||
return DirectionOf<T>(AngleOf<T>::Radians(horizontal),
|
||||
AngleOf<T>::Radians(vertical));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool Passer::LinearAlgebra::DirectionOf<T>::operator==(
|
||||
const DirectionOf<T> d) const {
|
||||
return (this->horizontal == d.horizontal) && (this->vertical == d.vertical);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::operator-() const {
|
||||
DirectionOf<T> r = DirectionOf<T>(this->horizontal + AngleOf<T>::Degrees(180),
|
||||
-this->vertical);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
Vector3 DirectionOf<T>::ToVector3() {
|
||||
Vector3 v = Quaternion::Euler(-this->vertical.InDegrees(),
|
||||
this->horizontal.InDegrees(), 0) *
|
||||
Vector3::forward;
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void DirectionOf<T>::Normalize() {
|
||||
if (this->vertical > AngleOf<T>::Degrees(90) ||
|
||||
this->vertical < AngleOf<T>::Degrees(-90)) {
|
||||
this->horizontal += AngleOf<T>::Degrees(180);
|
||||
this->vertical = AngleOf<T>::Degrees(180) - this->vertical;
|
||||
}
|
||||
}
|
||||
|
||||
template class DirectionOf<float>;
|
||||
template class DirectionOf<signed short>;
|
||||
57
LinearAlgebra/Direction.h
Normal file
57
LinearAlgebra/Direction.h
Normal file
@ -0,0 +1,57 @@
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#ifndef DIRECTION_H
|
||||
#define DIRECTION_H
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
struct Vector3;
|
||||
|
||||
template <typename T>
|
||||
class DirectionOf {
|
||||
public:
|
||||
/// @brief horizontal angle, range= (-180..180]
|
||||
AngleOf<T> horizontal;
|
||||
/// @brief vertical angle, range in degrees = (-90..90]
|
||||
AngleOf<T> vertical;
|
||||
|
||||
DirectionOf<T>();
|
||||
DirectionOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical);
|
||||
|
||||
Vector3 ToVector3() const;
|
||||
static DirectionOf<T> FromVector3(Vector3 v);
|
||||
|
||||
static DirectionOf<T> Degrees(float horizontal, float vertical);
|
||||
static DirectionOf<T> Radians(float horizontal, float vertical);
|
||||
|
||||
const static DirectionOf forward;
|
||||
const static DirectionOf back;
|
||||
const static DirectionOf up;
|
||||
const static DirectionOf down;
|
||||
const static DirectionOf left;
|
||||
const static DirectionOf right;
|
||||
|
||||
bool operator==(const DirectionOf<T> d) const;
|
||||
|
||||
DirectionOf<T> operator-() const;
|
||||
|
||||
Vector3 ToVector3();
|
||||
|
||||
protected:
|
||||
void Normalize();
|
||||
};
|
||||
|
||||
using DirectionSingle = DirectionOf<float>;
|
||||
using Direction16 = DirectionOf<signed short>;
|
||||
using Direction = DirectionOf<float>;
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
@ -1,420 +1,122 @@
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_for_dummies.md:566: warning: multiple use of section label 'OrderedCalls' while adding section, (first occurrence: D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md, line 1674)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:411: warning: multiple use of section label 'DefaultValue' while adding section, (first occurrence: D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md, line 2088)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-message.h:62: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:158: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-output-test_.cc:47: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest-typed-test_test.cc:43: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-matchers.h:256: warning: found documented #define GOOGLEMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_ but ignoring it because ENABLE_PREPROCESSING is NO.
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class testing::internal::FindFirstPrinter< T, E, Printers... >!
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class FindFirstPrinter< T, E, Printers... >!
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class testing::internal::FindFirstPrinter< T, E, Printers... >!
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class FindFirstPrinter< T, E, Printers... >!
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-cardinalities.cc:129: warning: documented symbol 'void testing::Cardinality::DescribeActualCallCountTo' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:248: warning: documented symbol 'bool testing::internal::MatchMatrix::NextGraph' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:262: warning: documented symbol 'void testing::internal::MatchMatrix::Randomize' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:271: warning: no uniquely matching class member found for
|
||||
std::string testing::internal::MatchMatrix::DebugString() const
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:284: warning: documented symbol 'void testing::internal::UnorderedElementsAreMatcherImplBase::DescribeToImpl' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:325: warning: documented symbol 'void testing::internal::UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:371: warning: documented symbol 'bool testing::internal::UnorderedElementsAreMatcherImplBase::VerifyMatchMatrix' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:421: warning: documented symbol 'bool testing::internal::UnorderedElementsAreMatcherImplBase::FindPairing' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:82: warning: documented symbol 'testing::internal::ExpectationBase::ExpectationBase' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:98: warning: documented symbol 'testing::internal::ExpectationBase::~ExpectationBase' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:102: warning: documented symbol 'void testing::internal::ExpectationBase::SpecifyCardinality' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:108: warning: documented symbol 'void testing::internal::ExpectationBase::RetireAllPreRequisites' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:135: warning: documented symbol 'bool testing::internal::ExpectationBase::AllPrerequisitesAreSatisfied' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:155: warning: documented symbol 'void testing::internal::ExpectationBase::FindUnsatisfiedPrerequisites' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:186: warning: documented symbol 'void testing::internal::ExpectationBase::DescribeCallCountTo' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:209: warning: documented symbol 'void testing::internal::ExpectationBase::CheckActionCountIfNotDone' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:261: warning: documented symbol 'void testing::internal::ExpectationBase::UntypedTimes' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:308: warning: documented symbol 'testing::internal::UntypedFunctionMockerBase::UntypedFunctionMockerBase' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:311: warning: documented symbol 'testing::internal::UntypedFunctionMockerBase::~UntypedFunctionMockerBase' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:317: warning: documented symbol 'void testing::internal::UntypedFunctionMockerBase::RegisterOwner' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:329: warning: documented symbol 'void testing::internal::UntypedFunctionMockerBase::SetOwnerAndName' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:341: warning: documented symbol 'const void * testing::internal::UntypedFunctionMockerBase::MockObject' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:358: warning: documented symbol 'const char * testing::internal::UntypedFunctionMockerBase::Name' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:376: warning: documented symbol 'UntypedActionResultHolderBase * testing::internal::UntypedFunctionMockerBase::UntypedInvokeWith' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:505: warning: documented symbol 'Expectation testing::internal::UntypedFunctionMockerBase::GetHandleOf' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:525: warning: documented symbol 'bool testing::internal::UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:685: warning: documented symbol 'void Mock::AllowUninterestingCalls' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:692: warning: documented symbol 'void Mock::WarnUninterestingCalls' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:699: warning: documented symbol 'void Mock::FailUninterestingCalls' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:706: warning: documented symbol 'void Mock::UnregisterCallReaction' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:714: warning: documented symbol 'internal::CallReaction Mock::GetReactionOnUninterestingCalls' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:726: warning: documented symbol 'void Mock::AllowLeak' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:735: warning: documented symbol 'bool Mock::VerifyAndClearExpectations' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:744: warning: documented symbol 'bool Mock::VerifyAndClear' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:754: warning: documented symbol 'bool Mock::VerifyAndClearExpectationsLocked' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:779: warning: documented symbol 'bool Mock::IsNaggy' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:783: warning: documented symbol 'bool Mock::IsNice' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:787: warning: documented symbol 'bool Mock::IsStrict' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:793: warning: no uniquely matching class member found for
|
||||
void Mock::Register(const void *mock_obj, internal::UntypedFunctionMockerBase *mocker)
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:803: warning: documented symbol 'void Mock::RegisterUseByOnCallOrExpectCall' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:824: warning: documented symbol 'void Mock::UnregisterLocked' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:842: warning: documented symbol 'void Mock::ClearDefaultActionsLocked' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:864: warning: documented symbol 'testing::Expectation::Expectation' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:866: warning: documented symbol 'testing::Expectation::Expectation' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:870: warning: documented symbol 'testing::Expectation::~Expectation' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:873: warning: documented symbol 'void testing::Sequence::AddExpectation' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:884: warning: documented symbol 'testing::InSequence::InSequence' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:895: warning: documented symbol 'testing::InSequence::~InSequence' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:111: warning: no matching file member found for
|
||||
std::string testing::PrintToString(const T &value)
|
||||
warning: source 'images' is not a readable file or directory... skipping.
|
||||
d:/PlatformIO/linear-algebra/Quaternion.cpp:100: warning: no uniquely matching class member found for
|
||||
Quaternion Quaternion::operator*(const Quaternion &r2) const
|
||||
Possible candidates:
|
||||
'::std::string PrintToString(const T &value)' at line 1037 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:160: warning: no matching file member found for
|
||||
testing::internal::GTEST_DISABLE_MSC_WARNINGS_PUSH_
|
||||
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 120 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 127 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h
|
||||
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 100 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 103 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 109 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 112 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 45 of file d:/PlatformIO/linear-algebra/SwingTwist.h
|
||||
'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 53 of file d:/PlatformIO/linear-algebra/SwingTwist.h
|
||||
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 143 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 146 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 151 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 154 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
d:/PlatformIO/linear-algebra/Quaternion.cpp:108: warning: no uniquely matching class member found for
|
||||
Vector3 Quaternion::operator*(const Vector3 &p) const
|
||||
Possible candidates:
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 48 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-cardinalities.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 GMOCK_MAYBE_5046_) namespace testing' at line 283 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-matchers.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 84 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-spec-builders.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 GTEST_MAYBE_5046_) namespace testing' at line 59 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-matchers.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 38 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-spi.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 42 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-test-part.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) GTEST_DECLARE_bool_(also_run_disabled_tests)' at line 72 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) class GTEST_API_ DeathTest' at line 60 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-death-test-internal.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 47 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-filepath.h
|
||||
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) GTEST_DECLARE_bool_(death_test_use_fork)' at line 64 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-internal-inl.h
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-assertion-result.cc:59: warning: documented symbol 'AssertionResult testing::AssertionResult::operator!' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:373: warning: documented symbol 'testing::internal::DeathTest::DeathTest' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:383: warning: no matching class member found for
|
||||
bool testing::internal::DeathTest::Create(const char *statement, Matcher< const std::string & > matcher, const char *file, int line, DeathTest **test)
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:390: warning: documented symbol 'const char * testing::internal::DeathTest::LastMessage' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:394: warning: documented symbol 'void testing::internal::DeathTest::set_last_death_test_message' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:398: warning: documented symbol 'std::string testing::internal::DeathTest::last_death_test_message_' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:94: warning: documented symbol 'FilePath testing::internal::FilePath::GetCurrentDir' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:121: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveExtension' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:133: warning: documented symbol 'const char * testing::internal::FilePath::FindLastPathSeparator' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:152: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveDirectoryName' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:163: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveFileName' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:180: warning: documented symbol 'FilePath testing::internal::FilePath::MakeFileName' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:196: warning: documented symbol 'FilePath testing::internal::FilePath::ConcatPaths' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:206: warning: documented symbol 'bool testing::internal::FilePath::FileOrDirectoryExists' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:220: warning: documented symbol 'bool testing::internal::FilePath::DirectoryExists' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:250: warning: documented symbol 'bool testing::internal::FilePath::IsRootDirectory' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:259: warning: documented symbol 'bool testing::internal::FilePath::IsAbsolutePath' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:280: warning: documented symbol 'FilePath testing::internal::FilePath::GenerateUniqueFileName' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:294: warning: documented symbol 'bool testing::internal::FilePath::IsDirectory' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:302: warning: documented symbol 'bool testing::internal::FilePath::CreateDirectoriesRecursively' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:319: warning: documented symbol 'bool testing::internal::FilePath::CreateFolder' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:343: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveTrailingPathSeparator' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:352: warning: no uniquely matching class member found for
|
||||
void testing::internal::FilePath::Normalize()
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:45: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:49: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:55: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:59: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:64: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:70: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:76: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:82: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:86: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:92: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-port.cc:301: warning: no matching class member found for
|
||||
void testing::internal::AutoHandle::Reset(HANDLE handle)
|
||||
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 120 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 127 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h
|
||||
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 100 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 103 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 109 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 112 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 45 of file d:/PlatformIO/linear-algebra/SwingTwist.h
|
||||
'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 53 of file d:/PlatformIO/linear-algebra/SwingTwist.h
|
||||
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 143 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 146 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 151 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 154 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
d:/PlatformIO/linear-algebra/Quaternion.cpp:152: warning: no uniquely matching class member found for
|
||||
Quaternion Quaternion::LookRotation(const Vector3 &forward, const Vector3 &up)
|
||||
Possible candidates:
|
||||
'void testing::internal::AutoHandle::Reset()'
|
||||
'void testing::internal::AutoHandle::Reset(Handle handle)'
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:44: warning: documented symbol 'std::string testing::TestPartResult::ExtractSummary' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:66: warning: no uniquely matching class member found for
|
||||
void testing::TestPartResultArray::Append(const TestPartResult &result)
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:71: warning: no matching class member found for
|
||||
const TestPartResult & testing::TestPartResultArray::GetTestPartResult(int index) const
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:81: warning: no uniquely matching class member found for
|
||||
int testing::TestPartResultArray::size() const
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:87: warning: documented symbol 'testing::internal::HasNewFatalFailureHelper::HasNewFatalFailureHelper' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:94: warning: documented symbol 'testing::internal::HasNewFatalFailureHelper::~HasNewFatalFailureHelper' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:99: warning: no uniquely matching class member found for
|
||||
void testing::internal::HasNewFatalFailureHelper::ReportTestPartResult(const TestPartResult &result)
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-typed-test.cc:58: warning: documented symbol 'const char * testing::internal::TypedTestSuitePState::VerifyRegisteredTestNames' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:858: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:868: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:875: warning: no uniquely matching class member found for
|
||||
void testing::ScopedFakeTestPartResultReporter::Init()
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:888: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:899: warning: no uniquely matching class member found for
|
||||
void testing::ScopedFakeTestPartResultReporter::ReportTestPartResult(const TestPartResult &result)
|
||||
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:965: warning: documented symbol 'testing::internal::SingleFailureChecker::SingleFailureChecker' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:974: warning: documented symbol 'testing::internal::SingleFailureChecker::~SingleFailureChecker' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:2602: warning: documented symbol 'testing::internal::GoogleTestFailureException::GoogleTestFailureException' was not declared or defined.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:52: warning: explicit link request to 'testing::AssertionResult' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:229: warning: explicit link request to 'Bar()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:283: warning: explicit link request to 'testing::Environment' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:283: warning: explicit link request to 'testing::Test' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:376: warning: explicit link request to 'testing::PrintToString(x)' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:786: warning: explicit link request to 'testing::Test' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:813: warning: explicit link request to 'testing::Test' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:850: warning: explicit link request to 'testing::Test' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:953: warning: explicit link request to 'testing::Environment' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:970: warning: explicit link request to 'testing::AddGlobalTestEnvironment()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1243: warning: explicit link request to 'testing::Test' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1364: warning: explicit link request to 'testing::Types' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1397: warning: explicit link request to 'including' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1496: warning: explicit link request to 'including' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1538: warning: explicit link request to 'testing::RegisterTest' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1764: warning: explicit link request to 'testing::InitGoogleTest()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1813: warning: found </em> at different nesting level (5) than expected (2)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1822: warning: found </tt> tag while expecting </em>
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1823: warning: found </tt> tag while expecting </em>
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1824: warning: found </tt> tag while expecting </em>
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1986: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1986: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1987: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1987: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1988: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1988: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1989: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1989: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1990: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1990: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1991: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1991: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1992: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1992: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1994: warning: Unsupported xml/html tag <font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1994: warning: Unsupported xml/html tag </font> found
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1996: warning: Unsupported xml/html tag <font> found
|
||||
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||||
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||||
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||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:994: warning: explicit link request to 'TestEventListener::OnTestSuiteEnd' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1000: warning: explicit link request to 'TestEventListener::OnEnvironmentsTearDownStart' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1007: warning: explicit link request to 'TestEventListener::OnEnvironmentsTearDownEnd' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1014: warning: explicit link request to 'TestEventListener::OnTestIterationEnd' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1021: warning: explicit link request to 'TestEventListener::OnTestProgramEnd' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1029: warning: explicit link request to 'testing::TestEventListeners' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1035: warning: explicit link request to 'TestEventListeners::Append' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1043: warning: explicit link request to 'TestEventListeners::Release' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1051: warning: explicit link request to 'TestEventListeners::default_result_printer' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1061: warning: explicit link request to 'TestEventListeners::default_xml_generator' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1074: warning: explicit link request to 'testing::TestPartResult' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1081: warning: explicit link request to 'TestPartResult::type' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1098: warning: explicit link request to 'TestPartResult::file_name' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1105: warning: explicit link request to 'TestPartResult::line_number' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1112: warning: explicit link request to 'TestPartResult::summary' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1118: warning: explicit link request to 'TestPartResult::message' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1124: warning: explicit link request to 'TestPartResult::skipped' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1130: warning: explicit link request to 'TestPartResult::passed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1136: warning: explicit link request to 'TestPartResult::nonfatally_failed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1142: warning: explicit link request to 'TestPartResult::fatally_failed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1148: warning: explicit link request to 'TestPartResult::failed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1156: warning: explicit link request to 'testing::TestProperty' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1183: warning: explicit link request to 'testing::TestResult' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1191: warning: explicit link request to 'TestResult::total_part_count' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1198: warning: explicit link request to 'TestResult::test_property_count' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1204: warning: explicit link request to 'TestResult::Passed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1210: warning: explicit link request to 'TestResult::Skipped' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1216: warning: explicit link request to 'TestResult::Failed' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1222: warning: explicit link request to 'TestResult::HasFatalFailure' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1228: warning: explicit link request to 'TestResult::HasNonfatalFailure' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1234: warning: explicit link request to 'TestResult::elapsed_time' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1240: warning: explicit link request to 'TestResult::start_timestamp' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1246: warning: explicit link request to 'TestResult::GetTestPartResult' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1254: warning: explicit link request to 'TestResult::GetTestProperty' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1264: warning: explicit link request to 'testing::TimeInMillis' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1270: warning: explicit link request to 'testing::Types' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1286: warning: explicit link request to 'testing::WithParamInterface' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1312: warning: explicit link request to 'testing::InitGoogleTest(int* argc, char** argv)' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1313: warning: explicit link request to 'testing::InitGoogleTest(int* argc, wchar_t** argv)' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1314: warning: explicit link request to 'testing::InitGoogleTest()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1331: warning: explicit link request to 'testing::AddGlobalTestEnvironment(Environment* env)' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1383: warning: explicit link request to 'testing::AssertionSuccess()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1390: warning: explicit link request to 'testing::AssertionFailure()' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1403: warning: explicit link request to 'testing::StaticAssertTypeEq' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1412: warning: explicit link request to 'testing::PrintToString(x)' could not be resolved
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1422: warning: explicit link request to 'testing::PrintToStringParamName' could not be resolved
|
||||
D:/C/VectorAlgebra/include/Vector2.h:233: warning: Member ToFactor(Vector2 a, Vector2 b) (function) of struct Vector2 is not documented.
|
||||
D:/C/VectorAlgebra/include/Vector2.h:205: warning: argument 'axis' of command @param is not found in the argument list of Vector2::SignedAngle(Vector2 from, Vector2 to)
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:119: warning: Member testCatchesCxxExceptionsInFixtureConstructor(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:133: warning: Member testCatchesCxxExceptionsInFixtureDestructor(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:143: warning: Member testCatchesCxxExceptionsInSetUpTestCase(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:166: warning: Member testCatchesCxxExceptionsInTearDownTestCase(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:171: warning: Member testCatchesCxxExceptionsInSetUp(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:189: warning: Member testCatchesCxxExceptionsInTearDown(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:200: warning: Member testCatchesCxxExceptionsInTestBody(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:214: warning: Member testCatchesNonStdCxxExceptions(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:219: warning: Member testUnhandledCxxExceptionsAbortTheProgram(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:85: warning: Member TestSehExceptions(self, test_output) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:103: warning: Member testCatchesSehExceptionsWithCxxExceptionsEnabled(self) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:106: warning: Member testCatchesSehExceptionsWithCxxExceptionsDisabled(self) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:122: warning: Member testGoogletestFlag(self) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:187: warning: Member testEventListener(self) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:214: warning: Member assertXmlResultCount(self, result, count, xml) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:220: warning: Member assertXmlStatusCount(self, status, count, xml) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-filter-unittest.py:517: warning: Member testNegativeFilters(self) (function) of class googletest-filter-unittest::GTestFilterUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:134: warning: Member setUp(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:142: warning: Member tearDown(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:145: warning: Member DeleteFilesAndDir(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:159: warning: Member testOutfile1(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:162: warning: Member testOutfile2(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:138: warning: Member output_dir_ (variable) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:170: warning: Member setUp(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:173: warning: Member testShufflePreservesNumberOfTests(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:179: warning: Member testShuffleChangesTestOrder(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:187: warning: Member testShuffleChangesTestCaseOrder(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:200: warning: Member testShuffleDoesNotRepeatTest(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:214: warning: Member testShuffleDoesNotCreateNewTest(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:224: warning: Member testShuffleIncludesAllTests(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:234: warning: Member testShuffleLeavesDeathTestsAtFront(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:253: warning: Member testShuffleDoesNotInterleaveTestCases(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:259: warning: Member testShuffleRestoresOrderAfterEachIteration(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:291: warning: Member testShuffleGeneratesNewOrderInEachIteration(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:303: warning: Member testShuffleShardedTestsPreservesPartition(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:140: warning: Member testPrintsHelpWithFullFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:143: warning: Member testPrintsHelpWithShortFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:146: warning: Member testPrintsHelpWithQuestionFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:149: warning: Member testPrintsHelpWithWindowsStyleQuestionFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:152: warning: Member testPrintsHelpWithUnrecognizedGoogleTestFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:155: warning: Member testPrintsHelpWithIncorrectFlagStyle(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:75: warning: Member setUp(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:83: warning: Member tearDown(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:86: warning: Member DeleteFilesAndDir(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:100: warning: Member testOutfile1(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:103: warning: Member testOutfile2(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:79: warning: Member output_dir_ (variable) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
|
||||
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_test_utils.py:103: warning: Member identifying_attribute (variable) of class gtest_xml_test_utils::GTestXMLTestCase is not documented.
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward, const Vector3 &upwards)' at line 132 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward)' at line 143 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
d:/PlatformIO/linear-algebra/Quaternion.cpp:330: warning: no uniquely matching class member found for
|
||||
Quaternion Quaternion::Euler(Vector3 euler)
|
||||
Possible candidates:
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(float x, float y, float z)' at line 218 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(Vector3 eulerAngles)' at line 225 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
d:/PlatformIO/linear-algebra/Quaternion.cpp:362: warning: no uniquely matching class member found for
|
||||
Quaternion Quaternion::EulerXYZ(Vector3 euler)
|
||||
Possible candidates:
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(float x, float y, float z)' at line 235 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(Vector3 eulerAngles)' at line 242 of file d:/PlatformIO/linear-algebra/Quaternion.h
|
||||
d:/PlatformIO/linear-algebra/Spherical.cpp:137: warning: no uniquely matching class member found for
|
||||
template < T >
|
||||
SphericalOf< T > SphericalOf::operator-(const SphericalOf< T > &s2) const
|
||||
Possible candidates:
|
||||
'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-() const' at line 102 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-(const AngleOf< T > &angle) const' at line 106 of file d:/PlatformIO/linear-algebra/Angle.h
|
||||
'DirectionOf< T > Passer::LinearAlgebra::DirectionOf< T >::operator-() const' at line 41 of file d:/PlatformIO/linear-algebra/Direction.h
|
||||
'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-() const' at line 82 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-(const PolarOf &v) const' at line 87 of file d:/PlatformIO/linear-algebra/Polar.h
|
||||
'RangeUsing< T > Passer::LinearAlgebra::RangeUsing< T >::operator-(RangeUsing< T > a)' at line 38 of file d:/PlatformIO/linear-algebra/Range.h
|
||||
'RangeUsing< T > Passer::LinearAlgebra::RangeUsing< T >::operator-()' at line 40 of file d:/PlatformIO/linear-algebra/Range.h
|
||||
'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-() const' at line 91 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-(const SphericalOf< T > &v) const' at line 96 of file d:/PlatformIO/linear-algebra/Spherical.h
|
||||
'Vector2 Passer::LinearAlgebra::Vector2::operator-()' at line 118 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Vector2 Passer::LinearAlgebra::Vector2::operator-(const Vector2 &v) const' at line 123 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Vector3 Passer::LinearAlgebra::Vector3::operator-() const' at line 126 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'Vector3 Passer::LinearAlgebra::Vector3::operator-(const Vector3 &v) const' at line 131 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
d:/PlatformIO/linear-algebra/Vector2.cpp:20: warning: no uniquely matching class member found for
|
||||
Vector2::Vector2(float _x, float _y)
|
||||
Possible candidates:
|
||||
'Passer::LinearAlgebra::Vector2::Vector2()' at line 45 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 49 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 53 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 56 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
d:/PlatformIO/linear-algebra/Vector2.cpp:32: warning: no uniquely matching class member found for
|
||||
Vector2::Vector2(Polar p)
|
||||
Possible candidates:
|
||||
'Passer::LinearAlgebra::Vector2::Vector2()' at line 45 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 49 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 53 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 56 of file d:/PlatformIO/linear-algebra/Vector2.h
|
||||
d:/PlatformIO/linear-algebra/Vector3.cpp:33: warning: no uniquely matching class member found for
|
||||
Vector3::Vector3(SphericalOf< float > s)
|
||||
Possible candidates:
|
||||
'Passer::LinearAlgebra::Vector3::Vector3()' at line 49 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'Passer::LinearAlgebra::Vector3::Vector3(float right, float up, float forward)' at line 54 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'Passer::LinearAlgebra::Vector3::Vector3(Vector2 v)' at line 57 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
'Passer::LinearAlgebra::Vector3::Vector3(SphericalOf< float > v)' at line 61 of file d:/PlatformIO/linear-algebra/Vector3.h
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:12: warning: Member MatrixOf(unsigned int rows, unsigned int cols) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:13: warning: Member MatrixOf(unsigned int rows, unsigned int cols, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:17: warning: Member MatrixOf(Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:59: warning: Member Multiply(const MatrixOf< T > *m, MatrixOf< T > *r) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:64: warning: Member operator*(const Vector3 v) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:66: warning: Member Get(unsigned int rowIx, unsigned int colIx) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:71: warning: Member Set(unsigned int rowIx, unsigned int colIx, T value) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:77: warning: Member Set(const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:84: warning: Member SetRow(unsigned int rowIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:91: warning: Member SetCol(unsigned int colIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:98: warning: Member CopyFrom(const MatrixOf< T > *m) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:108: warning: Member RowCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:109: warning: Member ColCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:57: warning: Member Multiply(const MatrixOf< T > *m1, const MatrixOf< T > *m2, MatrixOf< T > *r) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Matrix.h:63: warning: Member Multiply(const MatrixOf< T > *m, Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:124: warning: Member operator-=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:129: warning: Member operator+=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:150: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:161: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:146: warning: Member operator*(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector2.h:158: warning: Member operator/(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:84: warning: Member Forward() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:85: warning: Member Up() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:86: warning: Member Right() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:132: warning: Member operator-=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:137: warning: Member operator+=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:158: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:170: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:154: warning: Member operator*(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:166: warning: Member operator/(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
t f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
d:/PlatformIO/linear-algebra/Vector3.h:166: warning: Member operator/(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
|
||||
|
||||
@ -32,7 +32,7 @@ DOXYFILE_ENCODING = UTF-8
|
||||
# title of most generated pages and in a few other places.
|
||||
# The default value is: My Project.
|
||||
|
||||
PROJECT_NAME = VectorAlgebra
|
||||
PROJECT_NAME = LinearAlgebra
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
|
||||
# could be handy for archiving the generated documentation or if some version
|
||||
@ -58,7 +58,7 @@ PROJECT_LOGO = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRi
|
||||
# entered, it will be relative to the location where doxygen was started. If
|
||||
# left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY = //serrarens.nl/web/apis/VectorAlgebra
|
||||
OUTPUT_DIRECTORY = //intranet/web/apis/LinearAlgebra
|
||||
|
||||
# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
|
||||
# directories (in 2 levels) under the output directory of each output format and
|
||||
@ -871,8 +871,7 @@ WARN_LOGFILE = DoxyWarnLogfile.txt
|
||||
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
|
||||
# Note: If this tag is empty the current directory is searched.
|
||||
|
||||
INPUT = ../include \
|
||||
../src \
|
||||
INPUT = .. \
|
||||
../README.md
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
@ -978,7 +977,7 @@ EXCLUDE_SYMLINKS = NO
|
||||
# Note that the wildcards are matched against the file with absolute path, so to
|
||||
# exclude all test directories for example use the pattern */test/*
|
||||
|
||||
EXCLUDE_PATTERNS =
|
||||
EXCLUDE_PATTERNS = gtest*, googletest*
|
||||
|
||||
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
|
||||
# (namespaces, classes, functions, etc.) that should be excluded from the
|
||||
|
||||
@ -2,16 +2,18 @@
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#include <math.h>
|
||||
#include "FloatSingle.h"
|
||||
#include <math.h>
|
||||
|
||||
const float Float::epsilon = 1e-05f;
|
||||
const float Float::sqrEpsilon = 1e-10f;
|
||||
|
||||
float Float::Clamp(float f, float min, float max) {
|
||||
if (f < min)
|
||||
return min;
|
||||
if (f > max)
|
||||
return max;
|
||||
if (max < min)
|
||||
return f;
|
||||
if (f < min)
|
||||
return min;
|
||||
if (f > max)
|
||||
return max;
|
||||
return f;
|
||||
}
|
||||
@ -5,11 +5,19 @@
|
||||
#ifndef FLOAT_H
|
||||
#define FLOAT_H
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
class Float {
|
||||
public:
|
||||
static const float epsilon;
|
||||
static const float sqrEpsilon;
|
||||
static const float epsilon;
|
||||
static const float sqrEpsilon;
|
||||
|
||||
static float Clamp(float f, float min, float max);
|
||||
static float Clamp(float f, float min, float max);
|
||||
};
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
|
||||
@ -15,9 +15,9 @@ template <> MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {
|
||||
}
|
||||
|
||||
template <> MatrixOf<float>::MatrixOf(Vector3 v) : MatrixOf(3, 1) {
|
||||
Set(0, 0, v.x);
|
||||
Set(1, 0, v.y);
|
||||
Set(2, 0, v.z);
|
||||
Set(0, 0, v.Right());
|
||||
Set(1, 0, v.Up());
|
||||
Set(2, 0, v.Forward());
|
||||
}
|
||||
|
||||
template <>
|
||||
@ -27,7 +27,7 @@ void MatrixOf<float>::Multiply(const MatrixOf<float> *m1,
|
||||
for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) {
|
||||
unsigned int rDataIx = colIx2 * m2->cols + rowIx1;
|
||||
r->data[rDataIx] = 0.0F;
|
||||
for (int kIx = 0; kIx < m2->rows; kIx++) {
|
||||
for (unsigned int kIx = 0; kIx < m2->rows; kIx++) {
|
||||
unsigned int dataIx1 = rowIx1 * m1->cols + kIx;
|
||||
unsigned int dataIx2 = kIx * m2->cols + colIx2;
|
||||
r->data[rDataIx] += m1->data[dataIx1] * m2->data[dataIx2];
|
||||
|
||||
@ -3,6 +3,9 @@
|
||||
|
||||
#include "Vector3.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
/// @brief Single precision float matrix
|
||||
template <typename T> class MatrixOf {
|
||||
public:
|
||||
@ -33,7 +36,7 @@ public:
|
||||
// Return a null matrix;
|
||||
// We dont set data to nullptr because it is allocated memory
|
||||
// Instead we write all zeros
|
||||
for (int dataIx = 0; dataIx < resultSize; dataIx++)
|
||||
for (unsigned int dataIx = 0; dataIx < resultSize; dataIx++)
|
||||
r->data[dataIx] = 0.0f;
|
||||
r->rows = 0;
|
||||
r->cols = 0;
|
||||
@ -43,7 +46,7 @@ public:
|
||||
r->cols = this->rows;
|
||||
r->rows = this->cols;
|
||||
|
||||
for (int rDataIx = 0; rDataIx < matrixSize; rDataIx++) {
|
||||
for (unsigned int rDataIx = 0; rDataIx < matrixSize; rDataIx++) {
|
||||
unsigned int rowIx = rDataIx / this->rows;
|
||||
unsigned int colIx = rDataIx % this->rows;
|
||||
unsigned int mDataIx = this->cols * colIx + rowIx;
|
||||
@ -111,4 +114,8 @@ private:
|
||||
T *data;
|
||||
};
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
@ -1,84 +1,165 @@
|
||||
#include <math.h>
|
||||
|
||||
#include "Angle.h"
|
||||
#include "Polar.h"
|
||||
#include "Vector2.h"
|
||||
|
||||
Polar::Polar() {
|
||||
angle = 0.0F;
|
||||
distance = 0.0F;
|
||||
template <typename T> PolarOf<T>::PolarOf() {
|
||||
this->distance = 0.0f;
|
||||
this->angle = AngleOf<T>();
|
||||
}
|
||||
|
||||
Polar::Polar(float newAngle, float newDistance) {
|
||||
template <typename T> PolarOf<T>::PolarOf(float distance, AngleOf<T> angle) {
|
||||
// distance should always be 0 or greater
|
||||
if (newDistance < 0) {
|
||||
angle = Angle::Normalize(newAngle - 180);
|
||||
distance = -newDistance;
|
||||
if (distance < 0.0f) {
|
||||
this->distance = -distance;
|
||||
this->angle = AngleOf<T>::Normalize(angle - AngleOf<T>::Degrees(180));
|
||||
} else {
|
||||
angle = Angle::Normalize(newAngle);
|
||||
distance = newDistance;
|
||||
this->distance = distance;
|
||||
if (this->distance == 0.0f)
|
||||
// angle is always 0 if distance is 0
|
||||
this->angle = AngleOf<T>();
|
||||
else
|
||||
this->angle = AngleOf<T>::Normalize(angle);
|
||||
}
|
||||
}
|
||||
|
||||
Polar::Polar(Vector2 v) {
|
||||
float signY = (v.y >= 0) - (v.y < 0);
|
||||
angle = atan2(v.y, signY * sqrt(v.y * v.y + v.x * v.x)) * Angle::Rad2Deg;
|
||||
distance = v.magnitude();
|
||||
template <typename T>
|
||||
PolarOf<T> PolarOf<T>::Degrees(float distance, float degrees) {
|
||||
AngleOf<T> angle = AngleOf<T>::Degrees(degrees);
|
||||
PolarOf<T> r = PolarOf<T>(distance, angle);
|
||||
return r;
|
||||
}
|
||||
|
||||
const Polar Polar::zero = Polar(0, 0);
|
||||
template <typename T>
|
||||
PolarOf<T> PolarOf<T>::Radians(float distance, float radians) {
|
||||
return PolarOf<T>(distance, AngleOf<T>::Radians(radians));
|
||||
}
|
||||
|
||||
float Polar::Distance(const Polar &v1, const Polar &v2) {
|
||||
template <typename T> PolarOf<T> PolarOf<T>::FromVector2(Vector2 v) {
|
||||
float distance = v.magnitude();
|
||||
AngleOf<T> angle =
|
||||
AngleOf<T>::Degrees(Vector2::SignedAngle(Vector2::forward, v));
|
||||
PolarOf<T> p = PolarOf(distance, angle);
|
||||
return p;
|
||||
}
|
||||
template <typename T> PolarOf<T> PolarOf<T>::FromSpherical(SphericalOf<T> v) {
|
||||
float distance = v.distance * cosf(v.direction.vertical.InDegrees() *
|
||||
Passer::LinearAlgebra::Deg2Rad);
|
||||
AngleOf<T> angle = v.direction.horizontal;
|
||||
PolarOf<T> p = PolarOf(distance, angle);
|
||||
return p;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
const PolarOf<T> PolarOf<T>::zero = PolarOf(0.0f, AngleOf<T>());
|
||||
template <typename T>
|
||||
const PolarOf<T> PolarOf<T>::forward = PolarOf(1.0f, AngleOf<T>());
|
||||
template <typename T>
|
||||
const PolarOf<T> PolarOf<T>::back = PolarOf(1.0, AngleOf<T>::Degrees(180));
|
||||
template <typename T>
|
||||
const PolarOf<T> PolarOf<T>::right = PolarOf(1.0, AngleOf<T>::Degrees(90));
|
||||
template <typename T>
|
||||
const PolarOf<T> PolarOf<T>::left = PolarOf(1.0, AngleOf<T>::Degrees(-90));
|
||||
|
||||
template <typename T> bool PolarOf<T>::operator==(const PolarOf &v) const {
|
||||
return (this->distance == v.distance &&
|
||||
this->angle.InDegrees() == v.angle.InDegrees());
|
||||
}
|
||||
|
||||
template <typename T> PolarOf<T> PolarOf<T>::Normalize(const PolarOf &v) {
|
||||
PolarOf<T> r = PolarOf(1, v.angle);
|
||||
return r;
|
||||
}
|
||||
template <typename T> PolarOf<T> PolarOf<T>::normalized() const {
|
||||
PolarOf<T> r = PolarOf(1, this->angle);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator-() const {
|
||||
PolarOf<T> v =
|
||||
PolarOf(this->distance, this->angle + AngleOf<T>::Degrees(180));
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator-(const PolarOf &v) const {
|
||||
PolarOf<T> r = -v;
|
||||
return *this + r;
|
||||
}
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator-=(const PolarOf &v) {
|
||||
*this = *this - v;
|
||||
return *this;
|
||||
// angle = AngleOf<T>::Normalize(newAngle);
|
||||
// distance = newDistance;
|
||||
}
|
||||
|
||||
// Polar::Polar(Vector2 v) {
|
||||
// float signY = (v.y >= 0) - (v.y < 0);
|
||||
// angle = atan2(v.y, signY * sqrt(v.y * v.y + v.x * v.x)) * Angle::Rad2Deg;
|
||||
// distance = v.magnitude();
|
||||
// }
|
||||
|
||||
// const Polar Polar::zero = Polar(0, 0);
|
||||
|
||||
// float Polar::Distance(const Polar &v1, const Polar &v2) {
|
||||
// float d =
|
||||
// Angle::CosineRuleSide(v1.distance, v2.distance, v2.angle - v1.angle);
|
||||
// return d;
|
||||
// }
|
||||
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator+(const PolarOf &v) const {
|
||||
if (v.distance == 0)
|
||||
return PolarOf(this->distance, this->angle);
|
||||
if (this->distance == 0.0f)
|
||||
return v;
|
||||
|
||||
float deltaAngle = AngleOf<T>::Normalize(v.angle - this->angle).InDegrees();
|
||||
float rotation =
|
||||
deltaAngle < 0.0f ? 180.0f + deltaAngle : 180.0f - deltaAngle;
|
||||
|
||||
if (rotation == 180.0f && v.distance > 0.0f) {
|
||||
// angle is too small, take this angle and add the distances
|
||||
return PolarOf(this->distance + v.distance, this->angle);
|
||||
}
|
||||
|
||||
float newDistance = AngleOf<T>::CosineRuleSide(v.distance, this->distance,
|
||||
AngleOf<T>::Degrees(rotation));
|
||||
|
||||
float angle =
|
||||
AngleSingle::CosineRuleAngle(newDistance, this->distance, v.distance)
|
||||
.InDegrees();
|
||||
|
||||
float newAngle = deltaAngle < 0.0f ? this->angle.InDegrees() - angle
|
||||
: this->angle.InDegrees() + angle;
|
||||
AngleOf<T> newAngleA = AngleOf<T>::Normalize(AngleOf<T>::Degrees(newAngle));
|
||||
PolarOf vector = PolarOf(newDistance, newAngleA);
|
||||
return vector;
|
||||
}
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator+=(const PolarOf &v) {
|
||||
*this = *this + v;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator*=(float f) {
|
||||
this->distance *= f;
|
||||
return *this;
|
||||
}
|
||||
template <typename T> PolarOf<T> PolarOf<T>::operator/=(float f) {
|
||||
this->distance /= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
float PolarOf<T>::Distance(const PolarOf &v1, const PolarOf &v2) {
|
||||
float d =
|
||||
Angle::CosineRuleSide(v1.distance, v2.distance, v2.angle - v1.angle);
|
||||
AngleOf<T>::CosineRuleSide(v1.distance, v2.distance, v2.angle - v1.angle);
|
||||
return d;
|
||||
}
|
||||
|
||||
Polar Polar::operator+(const Polar &v2) const {
|
||||
if (v2.distance == 0)
|
||||
return Polar(this->angle, this->distance);
|
||||
if (this->distance == 0)
|
||||
return v2;
|
||||
|
||||
float deltaAngle = Angle::Normalize(v2.angle - this->angle);
|
||||
float rotation = deltaAngle < 0 ? 180 + deltaAngle : 180 - deltaAngle;
|
||||
|
||||
if (rotation == 180 && v2.distance > 0) {
|
||||
// angle is too small, take this angle and add the distances
|
||||
return Polar(this->angle, this->distance + v2.distance);
|
||||
}
|
||||
|
||||
float newDistance =
|
||||
Angle::CosineRuleSide(v2.distance, this->distance, rotation);
|
||||
|
||||
float angle =
|
||||
Angle::CosineRuleAngle(newDistance, this->distance, v2.distance);
|
||||
|
||||
float newAngle = deltaAngle < 0 ? Angle::Normalize(this->angle - angle)
|
||||
: Angle::Normalize(this->angle + angle);
|
||||
Polar vector = Polar(newAngle, newDistance);
|
||||
return vector;
|
||||
template <typename T>
|
||||
PolarOf<T> PolarOf<T>::Rotate(const PolarOf &v, AngleOf<T> angle) {
|
||||
AngleOf<T> a = AngleOf<T>::Normalize(v.angle + angle);
|
||||
PolarOf<T> r = PolarOf(v.distance, a);
|
||||
return r;
|
||||
}
|
||||
|
||||
Polar Polar::operator-() {
|
||||
Polar vector = Polar(this->angle - 180, this->distance);
|
||||
return vector;
|
||||
}
|
||||
|
||||
Polar Polar::operator-(const Polar &v2) const {
|
||||
Polar vector = *this + (Polar(v2.angle - 180, v2.distance));
|
||||
return vector;
|
||||
}
|
||||
|
||||
Polar Polar::operator*(float f) const {
|
||||
return Polar(this->angle, this->distance * f);
|
||||
}
|
||||
|
||||
Polar Polar::operator/(const float &f) {
|
||||
return Polar(this->angle, this->distance / f);
|
||||
}
|
||||
|
||||
Polar Polar::Rotate(Polar v, float angle) {
|
||||
v.angle = Angle::Normalize(v.angle + angle);
|
||||
return v;
|
||||
}
|
||||
template class PolarOf<float>;
|
||||
template class PolarOf<signed short>;
|
||||
@ -5,98 +5,156 @@
|
||||
#ifndef POLAR_H
|
||||
#define POLAR_H
|
||||
|
||||
class Vector2;
|
||||
#include "Angle.h"
|
||||
|
||||
/// <summary>
|
||||
/// A polar vector
|
||||
/// </summary>
|
||||
/// This will use the polar coordinate system consisting of a angle from a
|
||||
/// reference direction and a distance.
|
||||
struct Polar {
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
struct Vector2;
|
||||
template <typename T> class SphericalOf;
|
||||
|
||||
template <typename T> class PolarOf {
|
||||
public:
|
||||
/// <summary>
|
||||
/// The angle in degrees, clockwise rotation
|
||||
/// </summary>
|
||||
/// The angle is normalized to -180 .. 180
|
||||
float angle;
|
||||
/// <summary>
|
||||
/// The distance in meters
|
||||
/// </summary>
|
||||
/// The distance should never be negative
|
||||
/// @brief The distance in meters
|
||||
/// @remark The distance shall never be negative
|
||||
float distance;
|
||||
/// @brief The angle in degrees clockwise rotation
|
||||
/// @remark The angle shall be between -180 .. 180
|
||||
AngleOf<T> angle;
|
||||
|
||||
/// <summary>
|
||||
/// Create a new polar vector with zero degrees and distance
|
||||
/// </summary>
|
||||
Polar();
|
||||
/// <summary>
|
||||
/// Create a new polar vector
|
||||
/// </summary>
|
||||
/// <param name="angle">The angle in degrees, clockwise rotation</param>
|
||||
/// <param name="distance">The distance in meters</param>
|
||||
Polar(float angle, float distance);
|
||||
/// @brief A new vector with polar coordinates with zero degrees and
|
||||
/// distance
|
||||
PolarOf();
|
||||
/// @brief A new vector with polar coordinates
|
||||
/// @param distance The distance in meters
|
||||
/// @param angle The angle in degrees, clockwise rotation
|
||||
/// @note The distance is automatically converted to a positive value.
|
||||
/// @note The angle is automatically normalized to -180 .. 180
|
||||
PolarOf(float distance, AngleOf<T> angle);
|
||||
|
||||
Polar(Vector2 v);
|
||||
/// @brief Create polar vector without using AngleOf type. All given angles
|
||||
/// are in degrees
|
||||
/// @param distance The distance in meters
|
||||
/// @param degrees The angle in degrees
|
||||
/// @return The polar vector
|
||||
static PolarOf<T> Degrees(float distance, float degrees);
|
||||
/// @brief Short-hand Deg alias for the Degrees function
|
||||
constexpr static auto Deg = Degrees;
|
||||
/// @brief Create polar vector without using AngleOf type. All given angles
|
||||
/// are in radians.
|
||||
/// @param distance The distance in meters
|
||||
/// @param radians The angle in radians
|
||||
/// @return The polar vector
|
||||
static PolarOf<T> Radians(float distance, float radians);
|
||||
/// @brief Short-hand Rad alias for the Radians function
|
||||
constexpr static auto Rad = Radians;
|
||||
|
||||
/// <summary>
|
||||
/// A polar vector with zero degrees and distance
|
||||
/// </summary>
|
||||
const static Polar zero;
|
||||
/// @brief Convert a vector from 2D carthesian coordinates to polar
|
||||
/// coordinates
|
||||
/// @param v The vector to convert
|
||||
static PolarOf<T> FromVector2(Vector2 v);
|
||||
/// @brief Convert a vector from spherical coordinates to polar coordinates
|
||||
/// @param s The vector to convert
|
||||
/// @note The resulting vector will be projected on the horizontal plane
|
||||
static PolarOf<T> FromSpherical(SphericalOf<T> v);
|
||||
|
||||
/// <summary>
|
||||
/// Negate the polar vector.
|
||||
/// </summary>
|
||||
/// @brief A polar vector with zero degrees and distance
|
||||
const static PolarOf zero;
|
||||
/// @brief A normalized forward-oriented vector
|
||||
const static PolarOf forward;
|
||||
/// @brief A normalized back-oriented vector
|
||||
const static PolarOf back;
|
||||
/// @brief A normalized right-oriented vector
|
||||
const static PolarOf right;
|
||||
/// @brief A normalized left-oriented vector
|
||||
const static PolarOf left;
|
||||
|
||||
/// @brief Equality test to another vector
|
||||
/// @param v The vector to check against
|
||||
/// @return true: if it is identical to the given vector
|
||||
/// @note This uses float comparison to check equality which may have
|
||||
/// strange effects. Equality on floats should be avoided.
|
||||
bool operator==(const PolarOf &v) const;
|
||||
|
||||
/// @brief The vector length
|
||||
/// @param v The vector for which you need the length
|
||||
/// @return The vector length;
|
||||
inline static float Magnitude(const PolarOf &v) { return v.distance; }
|
||||
/// @brief The vector length
|
||||
/// @return The vector length
|
||||
inline float magnitude() const { return this->distance; }
|
||||
|
||||
/// @brief Convert the vector to a length of 1
|
||||
/// @param v The vector to convert
|
||||
/// @return The vector normalized to a length of 1
|
||||
static PolarOf Normalize(const PolarOf &v);
|
||||
/// @brief Convert the vector to a length of a
|
||||
/// @return The vector normalized to a length of 1
|
||||
PolarOf normalized() const;
|
||||
|
||||
/// @brief Negate the vector
|
||||
/// @return The negated vector
|
||||
/// This will rotate the vector by 180 degrees. Distance will stay the same.
|
||||
/// <returns>The negated vector</returns>
|
||||
PolarOf operator-() const;
|
||||
|
||||
Polar operator-();
|
||||
/// <summary>
|
||||
/// Substract a polar vector from this coordinate
|
||||
/// </summary>
|
||||
/// <param name="v">The vector to subtract from this vector</param>
|
||||
/// <returns>The result of the subtraction</returns>
|
||||
Polar operator-(const Polar &v) const;
|
||||
/// @brief Subtract a polar vector from this vector
|
||||
/// @param v The vector to subtract
|
||||
/// @return The result of the subtraction
|
||||
PolarOf operator-(const PolarOf &v) const;
|
||||
PolarOf operator-=(const PolarOf &v);
|
||||
/// @brief Add a polar vector to this vector
|
||||
/// @param v The vector to add
|
||||
/// @return The result of the addition
|
||||
PolarOf operator+(const PolarOf &v) const;
|
||||
PolarOf operator+=(const PolarOf &v);
|
||||
|
||||
/// <summary>
|
||||
/// Add another polar vector to this polar vector
|
||||
/// </summary>
|
||||
/// <param name="v">The vector to add</param>
|
||||
/// <returns>The result of adding the vector</returns>
|
||||
Polar operator+(const Polar &v) const;
|
||||
/// @brief Scale the vector uniformly up
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark This operation will scale the distance of the vector. The angle
|
||||
/// will be unaffected.
|
||||
friend PolarOf operator*(const PolarOf &v, float f) {
|
||||
return PolarOf(v.distance * f, v.angle);
|
||||
}
|
||||
friend PolarOf operator*(float f, const PolarOf &v) {
|
||||
return PolarOf(f * v.distance, v.angle);
|
||||
}
|
||||
PolarOf operator*=(float f);
|
||||
/// @brief Scale the vector uniformly down
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled factor
|
||||
/// @remark This operation will scale the distance of the vector. The angle
|
||||
/// will be unaffected.
|
||||
friend PolarOf operator/(const PolarOf &v, float f) {
|
||||
return PolarOf(v.distance / f, v.angle);
|
||||
}
|
||||
friend PolarOf operator/(float f, const PolarOf &v) {
|
||||
return PolarOf(f / v.distance, v.angle);
|
||||
}
|
||||
PolarOf operator/=(float f);
|
||||
|
||||
/// <summary>
|
||||
/// Scale the vector uniformly up
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// This operation will scale the distance of the vector. The angle will be
|
||||
/// unaffected.
|
||||
Polar operator*(float factor) const;
|
||||
/// @brief The distance between two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The distance between the two vectors
|
||||
static float Distance(const PolarOf &v1, const PolarOf &v2);
|
||||
|
||||
/// <summary>
|
||||
/// Scale the vector uniformly down
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// This operation will scale the distance of the vector. The angle will be
|
||||
/// unaffected.
|
||||
Polar operator/(const float &factor);
|
||||
|
||||
/// <summary>
|
||||
/// The distance between two vectors
|
||||
/// </summary>
|
||||
/// <param name="v1">The first vector</param>
|
||||
/// <param name="v2">The second vector</param>
|
||||
/// <returns>The distance between the two vectors</returns>
|
||||
static float Distance(const Polar &v1, const Polar &v2);
|
||||
|
||||
/// <summary>
|
||||
/// Rotate the vector
|
||||
/// </summary>
|
||||
/// <param name="v">The vector to rotate</param>
|
||||
/// <param name="angle">Angle in radias to rotate</param>
|
||||
/// <returns>The rotated vector</returns>
|
||||
static Polar Rotate(Polar v, float angle);
|
||||
/// @brief Rotate a vector
|
||||
/// @param v The vector to rotate
|
||||
/// @param a The angle in degreesto rotate
|
||||
/// @return The rotated vector
|
||||
static PolarOf Rotate(const PolarOf &v, AngleOf<T> a);
|
||||
};
|
||||
|
||||
using PolarSingle = PolarOf<float>;
|
||||
using Polar16 = PolarOf<signed short>;
|
||||
// using Polar = PolarSingle;
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#include "Spherical.h"
|
||||
#include "Vector2.h"
|
||||
|
||||
#endif
|
||||
@ -5,6 +5,7 @@
|
||||
#include "Quaternion.h"
|
||||
#include <float.h>
|
||||
#include <math.h>
|
||||
#include "Angle.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
void CopyQuat(const Quat& q1, Quat& q2) {
|
||||
@ -117,17 +118,25 @@ Vector3 Quaternion::operator*(const Vector3& p) const {
|
||||
float num10 = this->w * num;
|
||||
float num11 = this->w * num2;
|
||||
float num12 = this->w * num3;
|
||||
Vector3 result = Vector3::zero;
|
||||
result.x =
|
||||
(1 - (num5 + num6)) * p.x + (num7 - num12) * p.y + (num8 + num11) * p.z;
|
||||
result.y =
|
||||
(num7 + num12) * p.x + (1 - (num4 + num6)) * p.y + (num9 - num10) * p.z;
|
||||
result.z =
|
||||
(num8 - num11) * p.x + (num9 + num10) * p.y + (1 - (num4 + num5)) * p.z;
|
||||
|
||||
float px = p.Right();
|
||||
float py = p.Up();
|
||||
float pz = p.Forward();
|
||||
// Vector3 result = Vector3::zero;
|
||||
// result.x =
|
||||
float rx =
|
||||
(1 - (num5 + num6)) * px + (num7 - num12) * py + (num8 + num11) * pz;
|
||||
// result.y =
|
||||
float ry =
|
||||
(num7 + num12) * px + (1 - (num4 + num6)) * py + (num9 - num10) * pz;
|
||||
// result.z =
|
||||
float rz =
|
||||
(num8 - num11) * px + (num9 + num10) * py + (1 - (num4 + num5)) * pz;
|
||||
Vector3 result = Vector3(rx, ry, rz);
|
||||
return result;
|
||||
}
|
||||
|
||||
bool Quaternion::operator==(const Quaternion& q) {
|
||||
bool Quaternion::operator==(const Quaternion& q) const {
|
||||
return (this->x == q.x && this->y == q.y && this->z == q.z && this->w == q.w);
|
||||
}
|
||||
|
||||
@ -144,15 +153,15 @@ Quaternion Quaternion::LookRotation(const Vector3& forward, const Vector3& up) {
|
||||
Vector3 nForward = Vector3::Normalize(forward);
|
||||
Vector3 nRight = Vector3::Normalize(Vector3::Cross(up, nForward));
|
||||
Vector3 nUp = Vector3::Cross(nForward, nRight);
|
||||
float m00 = nRight.x;
|
||||
float m01 = nRight.y;
|
||||
float m02 = nRight.z;
|
||||
float m10 = nUp.x;
|
||||
float m11 = nUp.y;
|
||||
float m12 = nUp.z;
|
||||
float m20 = nForward.x;
|
||||
float m21 = nForward.y;
|
||||
float m22 = nForward.z;
|
||||
float m00 = nRight.Right(); // x;
|
||||
float m01 = nRight.Up(); // y;
|
||||
float m02 = nRight.Forward(); // z;
|
||||
float m10 = nUp.Right(); // x;
|
||||
float m11 = nUp.Up(); // y;
|
||||
float m12 = nUp.Forward(); // z;
|
||||
float m20 = nForward.Right(); // x;
|
||||
float m21 = nForward.Up(); // y;
|
||||
float m22 = nForward.Forward(); // z;
|
||||
|
||||
float num8 = (m00 + m11) + m22;
|
||||
Quaternion quaternion = Quaternion();
|
||||
@ -196,8 +205,8 @@ Quaternion Quaternion::FromToRotation(Vector3 fromDirection,
|
||||
Vector3 toDirection) {
|
||||
Vector3 axis = Vector3::Cross(fromDirection, toDirection);
|
||||
axis = Vector3::Normalize(axis);
|
||||
float angle = Vector3::SignedAngle(fromDirection, toDirection, axis);
|
||||
Quaternion rotation = Quaternion::AngleAxis(angle, axis);
|
||||
AngleOf<float> angle = Vector3::SignedAngle(fromDirection, toDirection, axis);
|
||||
Quaternion rotation = Quaternion::AngleAxis(angle.InDegrees(), axis);
|
||||
return rotation;
|
||||
}
|
||||
|
||||
@ -221,9 +230,9 @@ Quaternion Quaternion::AngleAxis(float angle, const Vector3& axis) {
|
||||
radians *= 0.5f;
|
||||
|
||||
Vector3 axis2 = axis * (float)sin(radians);
|
||||
result.x = axis2.x;
|
||||
result.y = axis2.y;
|
||||
result.z = axis2.z;
|
||||
result.x = axis2.Right(); // x;
|
||||
result.y = axis2.Up(); // y;
|
||||
result.z = axis2.Forward(); // z;
|
||||
result.w = (float)cos(radians);
|
||||
|
||||
return Quaternion::Normalize(result);
|
||||
@ -246,7 +255,7 @@ void Quaternion::ToAxisAngleRad(const Quaternion& q,
|
||||
*angle = 2.0f * acosf(q1.w); // angle
|
||||
float den = sqrtf(1.0F - q1.w * q1.w);
|
||||
if (den > 0.0001f) {
|
||||
*axis = q1.xyz() / den;
|
||||
*axis = Vector3::Normalize(q1.xyz() / den);
|
||||
} else {
|
||||
// This occurs when the angle is zero.
|
||||
// Not a problem: just set an arbitrary normalized axis.
|
||||
@ -297,7 +306,8 @@ Quaternion Quaternion::SlerpUnclamped(const Quaternion& a,
|
||||
blendB = t;
|
||||
}
|
||||
Vector3 v = axyz * blendA + b2.xyz() * blendB;
|
||||
Quaternion result = Quaternion(v.x, v.y, v.z, blendA * a.w + blendB * b2.w);
|
||||
Quaternion result =
|
||||
Quaternion(v.Right(), v.Up(), v.Forward(), blendA * a.w + blendB * b2.w);
|
||||
if (result.GetLengthSquared() > 0.0f)
|
||||
return Quaternion::Normalize(result);
|
||||
else
|
||||
@ -322,9 +332,9 @@ Quaternion Quaternion::Euler(Vector3 euler) {
|
||||
}
|
||||
|
||||
Quaternion Quaternion::FromEulerRad(Vector3 euler) {
|
||||
float yaw = euler.x;
|
||||
float pitch = euler.y;
|
||||
float roll = euler.z;
|
||||
float yaw = euler.Right();
|
||||
float pitch = euler.Up();
|
||||
float roll = euler.Forward();
|
||||
float rollOver2 = roll * 0.5f;
|
||||
float sinRollOver2 = (float)sin((float)rollOver2);
|
||||
float cosRollOver2 = (float)cos((float)rollOver2);
|
||||
@ -353,9 +363,9 @@ Quaternion Quaternion::EulerXYZ(Vector3 euler) {
|
||||
return Quaternion::FromEulerRadXYZ(euler * Deg2Rad);
|
||||
}
|
||||
Quaternion Quaternion::FromEulerRadXYZ(Vector3 euler) {
|
||||
float yaw = euler.x;
|
||||
float pitch = euler.y;
|
||||
float roll = euler.z;
|
||||
float yaw = euler.Right(); // x;
|
||||
float pitch = euler.Up(); // y;
|
||||
float roll = euler.Forward(); // z;
|
||||
float rollOver2 = roll * 0.5f;
|
||||
float sinRollOver2 = (float)sin((float)rollOver2);
|
||||
float cosRollOver2 = (float)cos((float)rollOver2);
|
||||
@ -394,7 +404,7 @@ Quaternion Quaternion::GetRotationAround(Vector3 axis, Quaternion rotation) {
|
||||
Vector3 ra = Vector3(rotation.x, rotation.y, rotation.z); // rotation axis
|
||||
Vector3 p = Vector3::Project(
|
||||
ra, axis); // return projection ra on to axis (parallel component)
|
||||
Quaternion twist = Quaternion(p.x, p.y, p.z, rotation.w);
|
||||
Quaternion twist = Quaternion(p.Right(), p.Up(), p.Forward(), rotation.w);
|
||||
twist = Quaternion::Normalize(twist);
|
||||
return twist;
|
||||
}
|
||||
|
||||
@ -7,6 +7,9 @@
|
||||
|
||||
#include "Vector3.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
extern "C" {
|
||||
/// <summary>
|
||||
/// A quaternion
|
||||
@ -54,6 +57,9 @@ struct Quaternion : Quat {
|
||||
/// </summary>
|
||||
/// <param name="q"></param>
|
||||
Quaternion(Quat q);
|
||||
/// <summary>
|
||||
/// Quaternion destructor
|
||||
/// </summary>
|
||||
~Quaternion();
|
||||
|
||||
/// <summary>
|
||||
@ -108,7 +114,7 @@ struct Quaternion : Quat {
|
||||
/// themselves. Two quaternions with the same rotational effect may have
|
||||
/// different components. Use Quaternion::Angle to check if the rotations are
|
||||
/// the same.
|
||||
bool operator==(const Quaternion& quaternion);
|
||||
bool operator==(const Quaternion& quaternion) const;
|
||||
|
||||
/// <summary>
|
||||
/// The inverse of quaterion
|
||||
@ -282,4 +288,8 @@ struct Quaternion : Quat {
|
||||
Vector3 xyz() const;
|
||||
};
|
||||
|
||||
#endif
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
|
||||
@ -4,9 +4,9 @@ Vector algebra library
|
||||
|
||||
Main components
|
||||
---------------
|
||||
* [Vector3](https://passervr.com/apis/VectorAlgebra/struct_vector3.html)
|
||||
* [Quaternion](https://passervr.com/apis/VectorAlgebra/struct_quaternion.html)
|
||||
* [Vector3](struct_passer_1_1_linear_algebra_1_1_vector3.html)
|
||||
* [Quaternion](struct_passer_1_1_linear_algebra_1_1_quaternion.html)
|
||||
|
||||
* [Vector2](https://passervr.com/apis/VectorAlgebra/struct_vector2.html)
|
||||
* [Vector2](https://serrarens.nl/apis/LinearAlgebra/struct_vector2.html)
|
||||
|
||||
* [Polar](https://passervr.com/apis/VectorAlgebra/struct_polar.html)
|
||||
* [Polar](https://passervr.com/apis/LinearAlgebra/struct_polar.html)
|
||||
|
||||
@ -1,50 +1,294 @@
|
||||
#include "Spherical.h"
|
||||
|
||||
#include "Angle.h"
|
||||
#include "Quaternion.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
// using Angle = float;
|
||||
|
||||
Spherical::Spherical() {
|
||||
this->horizontalAngle = 0;
|
||||
this->verticalAngle = 0;
|
||||
this->distance = 0;
|
||||
template <typename T> SphericalOf<T>::SphericalOf() {
|
||||
this->distance = 0.0f;
|
||||
this->direction = DirectionOf<T>();
|
||||
}
|
||||
|
||||
// Spherical::Spherical(float polarAngle, float elevationAngle, float distance)
|
||||
// {
|
||||
// this->horizontalAngle = polarAngle;
|
||||
// this->verticalAngle = elevationAngle;
|
||||
// this->distance = distance;
|
||||
// }
|
||||
|
||||
Spherical::Spherical(Polar polar) {
|
||||
this->horizontalAngle = polar.angle;
|
||||
this->verticalAngle = 0.0F;
|
||||
this->distance = polar.distance;
|
||||
template <typename T>
|
||||
SphericalOf<T>::SphericalOf(float distance, AngleOf<T> horizontal,
|
||||
AngleOf<T> vertical) {
|
||||
if (distance < 0) {
|
||||
this->distance = -distance;
|
||||
this->direction = -DirectionOf<T>(horizontal, vertical);
|
||||
} else {
|
||||
this->distance = distance;
|
||||
this->direction = DirectionOf<T>(horizontal, vertical);
|
||||
}
|
||||
}
|
||||
|
||||
Spherical::Spherical(float distance, Angle horizontalAngle, Angle verticalAngle)
|
||||
: distance(distance), horizontalAngle(horizontalAngle),
|
||||
verticalAngle(verticalAngle) {}
|
||||
|
||||
Spherical::Spherical(Vector3 v) {
|
||||
float signZ = (v.z >= 0) - (v.z < 0);
|
||||
horizontalAngle =
|
||||
atan2(v.y, signZ * sqrt(v.z * v.z + v.x * v.x)) * Angle::Rad2Deg;
|
||||
verticalAngle = -atan2(v.x, sqrt(v.z * v.z + v.y * v.y)) * Angle::Rad2Deg;
|
||||
distance = v.magnitude();
|
||||
template <typename T>
|
||||
SphericalOf<T>::SphericalOf(float distance, DirectionOf<T> direction) {
|
||||
if (distance < 0) {
|
||||
this->distance = -distance;
|
||||
this->direction = -direction;
|
||||
} else {
|
||||
this->distance = distance;
|
||||
this->direction = direction;
|
||||
}
|
||||
}
|
||||
|
||||
const Spherical Spherical::zero = Spherical(0.0F, (Angle)0.0F, (Angle)0.0F);
|
||||
|
||||
float Spherical::GetSwing() {
|
||||
// Not sure if this is correct
|
||||
return sqrtf(horizontalAngle * horizontalAngle +
|
||||
verticalAngle * verticalAngle);
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::Degrees(float distance, float horizontal,
|
||||
float vertical) {
|
||||
AngleOf<T> horizontalAngle = AngleOf<T>::Degrees(horizontal);
|
||||
AngleOf<T> verticalAngle = AngleOf<T>::Degrees(vertical);
|
||||
SphericalOf<T> r = SphericalOf<T>(distance, horizontalAngle, verticalAngle);
|
||||
return r;
|
||||
}
|
||||
|
||||
Polar Spherical::ProjectOnHorizontalPlane() {
|
||||
return Polar(horizontalAngle, distance);
|
||||
}
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::Radians(float distance, float horizontal,
|
||||
float vertical) {
|
||||
return SphericalOf<T>(distance, AngleOf<T>::Radians(horizontal),
|
||||
AngleOf<T>::Radians(vertical));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::FromPolar(PolarOf<T> polar) {
|
||||
AngleOf<T> horizontal = polar.angle;
|
||||
AngleOf<T> vertical = AngleOf<T>();
|
||||
SphericalOf<T> r = SphericalOf(polar.distance, horizontal, vertical);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T> SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
|
||||
float distance = v.magnitude();
|
||||
if (distance == 0.0f) {
|
||||
return SphericalOf(distance, AngleOf<T>(), AngleOf<T>());
|
||||
} else {
|
||||
AngleOf<T> verticalAngle =
|
||||
AngleOf<T>::Radians((pi / 2 - acosf(v.Up() / distance)));
|
||||
AngleOf<T> horizontalAngle =
|
||||
AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
|
||||
return SphericalOf(distance, horizontalAngle, verticalAngle);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Converts spherical coordinates to a 3D vector.
|
||||
*
|
||||
* This function converts the spherical coordinates represented by the
|
||||
* SphericalOf object to a 3D vector (Vector3). The conversion is based
|
||||
* on the distance and direction (vertical and horizontal angles) of the
|
||||
* spherical coordinates.
|
||||
*
|
||||
* @tparam T The type of the distance and direction values.
|
||||
* @return Vector3 The 3D vector representation of the spherical coordinates.
|
||||
*/
|
||||
template <typename T> Vector3 SphericalOf<T>::ToVector3() const {
|
||||
float verticalRad = (pi / 2) - this->direction.vertical.InRadians();
|
||||
float horizontalRad = this->direction.horizontal.InRadians();
|
||||
|
||||
float cosVertical = cosf(verticalRad);
|
||||
float sinVertical = sinf(verticalRad);
|
||||
float cosHorizontal = cosf(horizontalRad);
|
||||
float sinHorizontal = sinf(horizontalRad);
|
||||
|
||||
float x = this->distance * sinVertical * sinHorizontal;
|
||||
float y = this->distance * cosVertical;
|
||||
float z = this->distance * sinVertical * cosHorizontal;
|
||||
|
||||
Vector3 v = Vector3(x, y, z);
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::zero =
|
||||
SphericalOf<T>(0.0f, AngleOf<T>(), AngleOf<T>());
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::forward =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>());
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::back =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(180), AngleOf<T>());
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::right =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(90), AngleOf<T>());
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::left =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(-90), AngleOf<T>());
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::up =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>::Degrees(90));
|
||||
template <typename T>
|
||||
const SphericalOf<T> SphericalOf<T>::down =
|
||||
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>::Degrees(-90));
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::WithDistance(float distance) {
|
||||
SphericalOf<T> v = SphericalOf<T>(distance, this->direction);
|
||||
return SphericalOf<T>();
|
||||
}
|
||||
|
||||
template <typename T> SphericalOf<T> SphericalOf<T>::operator-() const {
|
||||
SphericalOf<T> v = SphericalOf<T>(
|
||||
this->distance, this->direction.horizontal + AngleOf<T>::Degrees(180),
|
||||
this->direction.vertical + AngleOf<T>::Degrees(180));
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::operator-(const SphericalOf<T> &s2) const {
|
||||
// let's do it the easy way...
|
||||
Vector3 v1 = this->ToVector3();
|
||||
Vector3 v2 = s2.ToVector3();
|
||||
Vector3 v = v1 - v2;
|
||||
SphericalOf<T> r = SphericalOf<T>::FromVector3(v);
|
||||
return r;
|
||||
}
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::operator-=(const SphericalOf<T> &v) {
|
||||
*this = *this - v;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::operator+(const SphericalOf<T> &s2) const {
|
||||
// let's do it the easy way...
|
||||
Vector3 v1 = this->ToVector3();
|
||||
Vector3 v2 = s2.ToVector3();
|
||||
Vector3 v = v1 + v2;
|
||||
SphericalOf<T> r = SphericalOf<T>::FromVector3(v);
|
||||
return r;
|
||||
/*
|
||||
// This is the hard way...
|
||||
if (v2.distance <= 0)
|
||||
return Spherical(this->distance, this->horizontalAngle,
|
||||
this->verticalAngle);
|
||||
if (this->distance <= 0)
|
||||
return v2;
|
||||
|
||||
float deltaHorizontalAngle =
|
||||
(float)Angle::Normalize(v2.horizontalAngle - this->horizontalAngle);
|
||||
float horizontalRotation = deltaHorizontalAngle < 0
|
||||
? 180 + deltaHorizontalAngle
|
||||
: 180 - deltaHorizontalAngle;
|
||||
float deltaVerticalAngle =
|
||||
Angle::Normalize(v2.verticalAngle - this->verticalAngle);
|
||||
float verticalRotation = deltaVerticalAngle < 0 ? 180 + deltaVerticalAngle
|
||||
: 180 - deltaVerticalAngle;
|
||||
|
||||
if (horizontalRotation == 180 && verticalRotation == 180)
|
||||
// angle is too small, take this angle and add the distances
|
||||
return Spherical(this->distance + v2.distance, this->horizontalAngle,
|
||||
this->verticalAngle);
|
||||
|
||||
Angle rotation = AngleBetween(*this, v2);
|
||||
float newDistance =
|
||||
Angle::CosineRuleSide(v2.distance, this->distance, rotation);
|
||||
float angle =
|
||||
Angle::CosineRuleAngle(newDistance, this->distance, v2.distance);
|
||||
|
||||
// Now we have to project the angle to the horizontal and vertical planes...
|
||||
// The axis for the angle is the cross product of the two spherical vectors
|
||||
// (which function we do not have either...)
|
||||
float horizontalAngle = 0;
|
||||
float verticalAngle = 0;
|
||||
|
||||
float newHorizontalAngle =
|
||||
deltaHorizontalAngle < 0
|
||||
? Angle::Normalize(this->horizontalAngle - horizontalAngle)
|
||||
: Angle::Normalize(this->horizontalAngle + horizontalAngle);
|
||||
float newVerticalAngle =
|
||||
deltaVerticalAngle < 0
|
||||
? Angle::Normalize(this->verticalAngle - verticalAngle)
|
||||
: Angle::Normalize(this->verticalAngle + verticalAngle);
|
||||
|
||||
Spherical v = Spherical(newDistance, newHorizontalAngle, newVerticalAngle);
|
||||
*/
|
||||
}
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::operator+=(const SphericalOf<T> &v) {
|
||||
*this = *this + v;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T> SphericalOf<T> SphericalOf<T>::operator*=(float f) {
|
||||
this->distance *= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T> SphericalOf<T> SphericalOf<T>::operator/=(float f) {
|
||||
this->distance /= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
#include "FloatSingle.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
const float epsilon = 1E-05f;
|
||||
|
||||
template <typename T>
|
||||
float SphericalOf<T>::DistanceBetween(const SphericalOf<T> &v1,
|
||||
const SphericalOf<T> &v2) {
|
||||
// SphericalOf<T> difference = v1 - v2;
|
||||
// return difference.distance;
|
||||
Vector3 vec1 = v1.ToVector3();
|
||||
Vector3 vec2 = v2.ToVector3();
|
||||
float distance = Vector3::Distance(vec1, vec2);
|
||||
return distance;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleOf<T> SphericalOf<T>::AngleBetween(const SphericalOf &v1,
|
||||
const SphericalOf &v2) {
|
||||
// float denominator = v1.distance * v2.distance;
|
||||
// if (denominator < epsilon)
|
||||
// return 0.0f;
|
||||
|
||||
Vector3 v1_3 = v1.ToVector3();
|
||||
Vector3 v2_3 = v2.ToVector3();
|
||||
// float dot = Vector3::Dot(v1_3, v2_3);
|
||||
// float fraction = dot / denominator;
|
||||
// if (isnan(fraction))
|
||||
// return fraction; // short cut to returning NaN universally
|
||||
|
||||
// float cdot = Float::Clamp(fraction, -1.0, 1.0);
|
||||
// float r = ((float)acos(cdot)) * Rad2Deg;
|
||||
AngleSingle r = Vector3::Angle(v1_3, v2_3);
|
||||
return AngleOf<T>::Degrees(r.InDegrees());
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleOf<T> Passer::LinearAlgebra::SphericalOf<T>::SignedAngleBetween(
|
||||
const SphericalOf<T> &v1, const SphericalOf<T> &v2,
|
||||
const SphericalOf<T> &axis) {
|
||||
Vector3 v1_vector = v1.ToVector3();
|
||||
Vector3 v2_vector = v2.ToVector3();
|
||||
Vector3 axis_vector = axis.ToVector3();
|
||||
AngleSingle r = Vector3::SignedAngle(v1_vector, v2_vector, axis_vector);
|
||||
return AngleOf<T>::Degrees(r.InDegrees());
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::Rotate(const SphericalOf<T> &v,
|
||||
AngleOf<T> horizontalAngle,
|
||||
AngleOf<T> verticalAngle) {
|
||||
SphericalOf<T> r =
|
||||
SphericalOf(v.distance, v.direction.horizontal + horizontalAngle,
|
||||
v.direction.vertical + verticalAngle);
|
||||
return r;
|
||||
}
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::RotateHorizontal(const SphericalOf<T> &v,
|
||||
AngleOf<T> a) {
|
||||
SphericalOf<T> r =
|
||||
SphericalOf(v.distance, v.direction.horizontal + a, v.direction.vertical);
|
||||
return r;
|
||||
}
|
||||
template <typename T>
|
||||
SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T> &v,
|
||||
AngleOf<T> a) {
|
||||
SphericalOf<T> r =
|
||||
SphericalOf(v.distance, v.direction.horizontal, v.direction.vertical + a);
|
||||
return r;
|
||||
}
|
||||
|
||||
template class SphericalOf<float>;
|
||||
template class SphericalOf<signed short>;
|
||||
|
||||
@ -1,66 +1,188 @@
|
||||
/// @copyright
|
||||
/// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
/// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
/// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#ifndef SPHERICAL_H
|
||||
#define SPHERICAL_H
|
||||
|
||||
#include "Angle.h"
|
||||
#include "Polar.h"
|
||||
|
||||
struct Vector3;
|
||||
#include "Direction.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
/// @brief A spherical vector
|
||||
/// @details
|
||||
/// This is a vector in 3D space using a spherical coordinate system.
|
||||
/// It consists of a distance and the polar and elevation angles from a
|
||||
/// reference direction. The reference direction is typically thought of
|
||||
/// as a forward direction.
|
||||
struct Spherical {
|
||||
struct Vector3;
|
||||
template <typename T> class PolarOf;
|
||||
|
||||
template <typename T> class SphericalOf {
|
||||
public:
|
||||
/// @brief The distance in meters
|
||||
/// @remark The distance should never be negative
|
||||
float distance;
|
||||
|
||||
/// @brief The angle in the horizontal plane in degrees, clockwise rotation
|
||||
/// @details The angle is automatically normalized to -180 .. 180
|
||||
Angle horizontalAngle;
|
||||
// AngleOf<T> horizontal;
|
||||
/// @brief The angle in the vertical plane in degrees. Positive is upward.
|
||||
/// @details The angle is automatically normalized to -180 .. 180
|
||||
Angle verticalAngle;
|
||||
// AngleOf<T> vertical;
|
||||
DirectionOf<T> direction;
|
||||
|
||||
/// @brief Create a new spherical vector with zero degrees and distance
|
||||
Spherical();
|
||||
/// @brief Create a new spherical vector
|
||||
/// @param polarAngle The angle in the horizontal plane in degrees,
|
||||
/// clockwise rotation
|
||||
/// @param elevationAngle The angle in the vertical plan in degrees,
|
||||
/// zero is forward, positive is upward
|
||||
SphericalOf<T>();
|
||||
SphericalOf<T>(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
|
||||
SphericalOf<T>(float distance, DirectionOf<T> direction);
|
||||
|
||||
/// @brief Create spherical vector without using AngleOf type. All given
|
||||
/// angles are in degrees
|
||||
/// @param distance The distance in meters
|
||||
// Spherical(float polarAngle, float elevationAngle, float distance);
|
||||
/// @param horizontal The horizontal angle in degrees
|
||||
/// @param vertical The vertical angle in degrees
|
||||
/// @return The spherical vector
|
||||
static SphericalOf<T> Degrees(float distance, float horizontal,
|
||||
float vertical);
|
||||
/// @brief Short-hand Deg alias for the Degrees function
|
||||
constexpr static auto Deg = Degrees;
|
||||
/// @brief Create sperical vector without using the AngleOf type. All given
|
||||
/// angles are in radians
|
||||
/// @param distance The distance in meters
|
||||
/// @param horizontal The horizontal angle in radians
|
||||
/// @param vertical The vertical angle in radians
|
||||
/// @return The spherical vectpr
|
||||
static SphericalOf<T> Radians(float distance, float horizontal,
|
||||
float vertical);
|
||||
// Short-hand Rad alias for the Radians function
|
||||
constexpr static auto Rad = Radians;
|
||||
|
||||
Spherical(float distance, Angle horizontalAngle, Angle verticalAngle);
|
||||
/// @brief Create a Spherical coordinate from a Polar coordinate
|
||||
/// @param v The polar coordinate
|
||||
/// @return The spherical coordinate with the vertical angle set to zero.
|
||||
static SphericalOf<T> FromPolar(PolarOf<T> v);
|
||||
|
||||
/// @brief Convert polar coordinates to spherical coordinates
|
||||
/// @param polar The polar coordinate
|
||||
Spherical(Polar polar);
|
||||
|
||||
/// @brief Convert 3D carthesian coordinates to spherical coordinates
|
||||
/// @param v Vector in 3D carthesian coordinates;
|
||||
Spherical(Vector3 v);
|
||||
/// @brief Create a Spherical coordinate from a Vector3 coordinate
|
||||
/// @param v The vector coordinate
|
||||
/// @return The spherical coordinate
|
||||
static SphericalOf<T> FromVector3(Vector3 v);
|
||||
/// @brief Convert the spherical coordinate to a Vector3 coordinate
|
||||
/// @return The vector coordinate
|
||||
Vector3 ToVector3() const;
|
||||
|
||||
/// @brief A spherical vector with zero degree angles and distance
|
||||
const static Spherical zero;
|
||||
const static SphericalOf<T> zero;
|
||||
/// @brief A normalized forward-oriented vector
|
||||
const static SphericalOf<T> forward;
|
||||
/// @brief A normalized back-oriented vector
|
||||
const static SphericalOf<T> back;
|
||||
/// @brief A normalized right-oriented vector
|
||||
const static SphericalOf<T> right;
|
||||
/// @brief A normalized left-oriented vector
|
||||
const static SphericalOf<T> left;
|
||||
/// @brief A normalized up-oriented vector
|
||||
const static SphericalOf<T> up;
|
||||
/// @brief A normalized down-oriented vector
|
||||
const static SphericalOf<T> down;
|
||||
|
||||
float GetSwing();
|
||||
/// @brief Update the distance component of the spherical coordinate
|
||||
/// @param distance The new distance
|
||||
/// @return The updated coordinate
|
||||
SphericalOf<T> WithDistance(float distance);
|
||||
|
||||
Polar ProjectOnHorizontalPlane();
|
||||
/// @brief Negate the vector
|
||||
/// @return The negated vector
|
||||
/// This will rotate the vector by 180 degrees horizontally and
|
||||
/// vertically. Distance will stay the same.
|
||||
SphericalOf<T> operator-() const;
|
||||
|
||||
/// @brief Subtract a spherical vector from this vector
|
||||
/// @param v The vector to subtract
|
||||
/// @return The result of the subtraction
|
||||
SphericalOf<T> operator-(const SphericalOf<T> &v) const;
|
||||
SphericalOf<T> operator-=(const SphericalOf<T> &v);
|
||||
/// @brief Add a spherical vector to this vector
|
||||
/// @param v The vector to add
|
||||
/// @return The result of the addition
|
||||
SphericalOf<T> operator+(const SphericalOf<T> &v) const;
|
||||
SphericalOf<T> operator+=(const SphericalOf<T> &v);
|
||||
|
||||
/// @brief Scale the vector uniformly up
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark This operation will scale the distance of the vector. The angle
|
||||
/// will be unaffected.
|
||||
friend SphericalOf<T> operator*(const SphericalOf<T> &v, float f) {
|
||||
return SphericalOf<T>(v.distance * f, v.direction);
|
||||
}
|
||||
friend SphericalOf<T> operator*(float f, const SphericalOf<T> &v) {
|
||||
return SphericalOf<T>(f * v.distance, v.direction);
|
||||
}
|
||||
SphericalOf<T> operator*=(float f);
|
||||
/// @brief Scale the vector uniformly down
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled factor
|
||||
/// @remark This operation will scale the distance of the vector. The angle
|
||||
/// will be unaffected.
|
||||
friend SphericalOf<T> operator/(const SphericalOf<T> &v, float f) {
|
||||
return SphericalOf<T>(v.distance / f, v.direction);
|
||||
}
|
||||
friend SphericalOf<T> operator/(float f, const SphericalOf<T> &v) {
|
||||
return SphericalOf<T>(f / v.distance, v.direction);
|
||||
}
|
||||
SphericalOf<T> operator/=(float f);
|
||||
|
||||
/// @brief Calculate the distance between two spherical coordinates
|
||||
/// @param v1 The first coordinate
|
||||
/// @param v2 The second coordinate
|
||||
/// @return The distance between the coordinates in meters
|
||||
static float DistanceBetween(const SphericalOf<T> &v1,
|
||||
const SphericalOf<T> &v2);
|
||||
/// @brief Calculate the unsigned angle between two spherical vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The unsigned angle between the vectors
|
||||
static AngleOf<T> AngleBetween(const SphericalOf<T> &v1,
|
||||
const SphericalOf<T> &v2);
|
||||
/// @brief Calculate the signed angle between two spherical vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @param axis The axis are which the angle is calculated
|
||||
/// @return The signed angle between the vectors
|
||||
static AngleOf<T> SignedAngleBetween(const SphericalOf<T> &v1,
|
||||
const SphericalOf<T> &v2,
|
||||
const SphericalOf<T> &axis);
|
||||
|
||||
/// @brief Rotate a spherical vector
|
||||
/// @param v The vector to rotate
|
||||
/// @param horizontalAngle The horizontal rotation angle in local space
|
||||
/// @param verticalAngle The vertical rotation angle in local space
|
||||
/// @return The rotated vector
|
||||
static SphericalOf<T> Rotate(const SphericalOf &v, AngleOf<T> horizontalAngle,
|
||||
AngleOf<T> verticalAngle);
|
||||
/// @brief Rotate a spherical vector horizontally
|
||||
/// @param v The vector to rotate
|
||||
/// @param angle The horizontal rotation angle in local space
|
||||
/// @return The rotated vector
|
||||
static SphericalOf<T> RotateHorizontal(const SphericalOf<T> &v,
|
||||
AngleOf<T> angle);
|
||||
/// @brief Rotate a spherical vector vertically
|
||||
/// @param v The vector to rotate
|
||||
/// @param angle The vertical rotation angle in local space
|
||||
/// @return The rotated vector
|
||||
static SphericalOf<T> RotateVertical(const SphericalOf<T> &v,
|
||||
AngleOf<T> angle);
|
||||
};
|
||||
|
||||
} // namespace Passer
|
||||
using namespace Passer;
|
||||
/// @brief Shorthand notation for a spherical vector using single precision
|
||||
/// floats for the angles This is the fastest implementation on devices with
|
||||
/// floating point harware
|
||||
using SphericalSingle = SphericalOf<float>;
|
||||
/// @brief Shorthand notation for a spherical vector using signed 16-bit words
|
||||
/// for the angles
|
||||
/// @note This is the fastest implementation on devices without floating point
|
||||
/// hardware
|
||||
using Spherical16 = SphericalOf<signed short>;
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#include "Polar.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
#endif
|
||||
168
LinearAlgebra/SwingTwist.cpp
Normal file
168
LinearAlgebra/SwingTwist.cpp
Normal file
@ -0,0 +1,168 @@
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#include "SwingTwist.h"
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T>::SwingTwistOf() {
|
||||
this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
|
||||
this->twist = AngleOf<T>();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T>::SwingTwistOf(DirectionOf<T> swing, AngleOf<T> twist) {
|
||||
// Normalize angles
|
||||
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
|
||||
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
|
||||
|
||||
if (swing.vertical > deg90 || swing.vertical < -deg90) {
|
||||
swing.horizontal += deg180;
|
||||
swing.vertical = deg180 - swing.vertical;
|
||||
twist += deg180;
|
||||
}
|
||||
|
||||
this->swing = swing;
|
||||
this->twist = twist;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T>::SwingTwistOf(AngleOf<T> horizontal,
|
||||
AngleOf<T> vertical,
|
||||
AngleOf<T> twist) {
|
||||
// Normalize angles
|
||||
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
|
||||
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
|
||||
|
||||
if (vertical > deg90 || vertical < -deg90) {
|
||||
horizontal += deg180;
|
||||
vertical = deg180 - vertical;
|
||||
twist += deg180;
|
||||
}
|
||||
|
||||
this->swing = DirectionOf<T>(horizontal, vertical);
|
||||
this->twist = twist;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
|
||||
float vertical,
|
||||
float twist) {
|
||||
SwingTwistOf<T> orientation = SwingTwistOf<T>(AngleOf<T>::Degrees(horizontal),
|
||||
-AngleOf<T>::Degrees(vertical),
|
||||
AngleOf<T>::Degrees(twist));
|
||||
// DirectionOf<T> swing = DirectionOf<T>::Degrees(horizontal, vertical);
|
||||
// AngleOf<T> twistAngle = AngleOf<T>::Degrees(twist);
|
||||
// SwingTwistOf<T> orientation = SwingTwistOf(swing, twistAngle);
|
||||
return orientation;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
Quaternion SwingTwistOf<T>::ToQuaternion() const {
|
||||
Quaternion q = Quaternion::Euler(-this->swing.vertical.InDegrees(),
|
||||
this->swing.horizontal.InDegrees(),
|
||||
this->twist.InDegrees());
|
||||
return q;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::FromQuaternion(Quaternion q) {
|
||||
Vector3 angles = Quaternion::ToAngles(q);
|
||||
SwingTwistOf<T> r =
|
||||
SwingTwistOf<T>::Degrees(angles.Up(), angles.Right(), angles.Forward());
|
||||
r.Normalize();
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SwingTwistOf<T>::ToAngleAxis() const {
|
||||
Quaternion q = this->ToQuaternion();
|
||||
float angle;
|
||||
Vector3 axis;
|
||||
q.ToAngleAxis(&angle, &axis);
|
||||
DirectionOf<T> direction = DirectionOf<T>::FromVector3(axis);
|
||||
|
||||
SphericalOf<T> aa = SphericalOf<T>(angle, direction);
|
||||
return aa;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::FromAngleAxis(SphericalOf<T> aa) {
|
||||
Vector3 vectorAxis = aa.direction.ToVector3();
|
||||
Quaternion q = Quaternion::AngleAxis(aa.distance, vectorAxis);
|
||||
return SwingTwistOf<T>();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool SwingTwistOf<T>::operator==(const SwingTwistOf<T> s) const {
|
||||
return (this->swing == s.swing) && (this->twist == s.twist);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
const SwingTwistOf<T> SwingTwistOf<T>::identity = SwingTwistOf();
|
||||
|
||||
template <typename T>
|
||||
SphericalOf<T> SwingTwistOf<T>::operator*(const SphericalOf<T>& vector) const {
|
||||
SphericalOf<T> v = SphericalOf<T>(
|
||||
vector.distance, vector.direction.horizontal + this->swing.horizontal,
|
||||
vector.direction.vertical + this->swing.vertical);
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::operator*(
|
||||
const SwingTwistOf<T>& rotation) const {
|
||||
SwingTwistOf<T> r =
|
||||
SwingTwistOf(this->swing.horizontal + rotation.swing.horizontal,
|
||||
this->swing.vertical + rotation.swing.vertical,
|
||||
this->twist + rotation.twist);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::operator*=(const SwingTwistOf<T>& rotation) {
|
||||
this->swing.horizontal += rotation.swing.horizontal;
|
||||
this->swing.vertical += rotation.swing.vertical;
|
||||
this->twist += rotation.twist;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::Inverse(SwingTwistOf<T> rotation) {
|
||||
SwingTwistOf<T> r = SwingTwistOf<T>(
|
||||
-rotation.swing.horizontal, -rotation.swing.vertical, -rotation.twist);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
SwingTwistOf<T> SwingTwistOf<T>::AngleAxis(float angle,
|
||||
const DirectionOf<T>& axis) {
|
||||
Vector3 axis_vector = axis.ToVector3();
|
||||
Quaternion q = Quaternion::AngleAxis(angle, axis_vector);
|
||||
SwingTwistOf<T> r = SwingTwistOf<T>::FromQuaternion(q);
|
||||
return r;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
AngleOf<T> SwingTwistOf<T>::Angle(const SwingTwistOf<T>& r1,
|
||||
const SwingTwistOf<T>& r2) {
|
||||
Quaternion q1 = r1.ToQuaternion();
|
||||
Quaternion q2 = r2.ToQuaternion();
|
||||
float angle = Quaternion::Angle(q1, q2);
|
||||
return AngleOf<T>::Degrees(angle);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void SwingTwistOf<T>::Normalize() {
|
||||
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
|
||||
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
|
||||
|
||||
if (this->swing.vertical > deg90 || this->swing.vertical < -deg90) {
|
||||
this->swing.horizontal += deg180;
|
||||
this->swing.vertical = deg180 - this->swing.vertical;
|
||||
this->twist += deg180;
|
||||
}
|
||||
}
|
||||
|
||||
template class SwingTwistOf<float>;
|
||||
template class SwingTwistOf<signed short>;
|
||||
78
LinearAlgebra/SwingTwist.h
Normal file
78
LinearAlgebra/SwingTwist.h
Normal file
@ -0,0 +1,78 @@
|
||||
// This Source Code Form is subject to the terms of the Mozilla Public
|
||||
// License, v. 2.0.If a copy of the MPL was not distributed with this
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#ifndef SWINGTWIST_H
|
||||
#define SWINGTWIST_H
|
||||
|
||||
#include "Angle.h"
|
||||
#include "Direction.h"
|
||||
#include "Quaternion.h"
|
||||
#include "Spherical.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
template <typename T>
|
||||
class SwingTwistOf {
|
||||
public:
|
||||
DirectionOf<T> swing;
|
||||
AngleOf<T> twist;
|
||||
|
||||
SwingTwistOf<T>();
|
||||
SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
|
||||
SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
|
||||
|
||||
static SwingTwistOf<T> Degrees(float horizontal,
|
||||
float vertical = 0,
|
||||
float twist = 0);
|
||||
|
||||
Quaternion ToQuaternion() const;
|
||||
static SwingTwistOf<T> FromQuaternion(Quaternion q);
|
||||
|
||||
SphericalOf<T> ToAngleAxis() const;
|
||||
static SwingTwistOf<T> FromAngleAxis(SphericalOf<T> aa);
|
||||
|
||||
const static SwingTwistOf<T> identity;
|
||||
|
||||
bool operator==(const SwingTwistOf<T> d) const;
|
||||
|
||||
/// <summary>
|
||||
/// Rotate a vector using this rotation
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to rotate</param>
|
||||
/// <returns>The rotated vector</returns>
|
||||
SphericalOf<T> operator*(const SphericalOf<T>& vector) const;
|
||||
/// <summary>
|
||||
/// Multiply this rotation with another rotation
|
||||
/// </summary>
|
||||
/// <param name="rotation">The swing/twist rotation to multiply with</param>
|
||||
/// <returns>The resulting swing/twist rotation</returns>
|
||||
/// The result will be this rotation rotated according to
|
||||
/// the give rotation.
|
||||
SwingTwistOf<T> operator*(const SwingTwistOf<T>& rotation) const;
|
||||
SwingTwistOf<T> operator*=(const SwingTwistOf<T>& rotation);
|
||||
|
||||
static SwingTwistOf<T> Inverse(SwingTwistOf<T> rotation);
|
||||
|
||||
/// <summary>
|
||||
/// Convert an angle/axis representation to a swingt
|
||||
/// </summary>
|
||||
/// <param name="angle">The angle</param>
|
||||
/// <param name="axis">The axis</param>
|
||||
/// <returns>The resulting quaternion</returns>
|
||||
static SwingTwistOf<T> AngleAxis(float angle, const DirectionOf<T>& axis);
|
||||
|
||||
static AngleOf<T> Angle(const SwingTwistOf<T>& r1, const SwingTwistOf<T>& r2);
|
||||
|
||||
void Normalize();
|
||||
};
|
||||
|
||||
using SwingTwistSingle = SwingTwistOf<float>;
|
||||
using SwingTwist16 = SwingTwistOf<signed short>;
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#endif
|
||||
@ -5,26 +5,37 @@
|
||||
#include "Vector2.h"
|
||||
#include "Angle.h"
|
||||
#include "FloatSingle.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
#if defined(AVR)
|
||||
#include <Arduino.h>
|
||||
#else
|
||||
// #if defined(AVR)
|
||||
// #include <Arduino.h>
|
||||
// #else
|
||||
#include <math.h>
|
||||
#endif
|
||||
// #endif
|
||||
|
||||
Vector2::Vector2() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
}
|
||||
|
||||
Vector2::Vector2(float _x, float _y) {
|
||||
x = _x;
|
||||
y = _y;
|
||||
}
|
||||
// Vector2::Vector2(Vec2 v) {
|
||||
// x = v.x;
|
||||
// y = v.y;
|
||||
// }
|
||||
Vector2::Vector2(Vector3 v) {
|
||||
x = v.Right(); // x;
|
||||
y = v.Forward(); // z;
|
||||
}
|
||||
Vector2::Vector2(PolarSingle p) {
|
||||
float horizontalRad = p.angle.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
|
||||
float cosHorizontal = cosf(horizontalRad);
|
||||
float sinHorizontal = sinf(horizontalRad);
|
||||
|
||||
Vector2::Vector2(Vec2 v) {
|
||||
x = v.x;
|
||||
y = v.y;
|
||||
x = p.distance * sinHorizontal;
|
||||
y = p.distance * cosHorizontal;
|
||||
}
|
||||
|
||||
Vector2::~Vector2() {}
|
||||
@ -38,15 +49,18 @@ const Vector2 Vector2::down = Vector2(0, -1);
|
||||
const Vector2 Vector2::forward = Vector2(0, 1);
|
||||
const Vector2 Vector2::back = Vector2(0, -1);
|
||||
|
||||
float Vector2::Magnitude(const Vector2 &a) {
|
||||
return sqrtf(a.x * a.x + a.y * a.y);
|
||||
bool Vector2::operator==(const Vector2 &v) {
|
||||
return (this->x == v.x && this->y == v.y);
|
||||
}
|
||||
|
||||
float Vector2::Magnitude(const Vector2 &v) {
|
||||
return sqrtf(v.x * v.x + v.y * v.y);
|
||||
}
|
||||
float Vector2::magnitude() const { return (float)sqrtf(x * x + y * y); }
|
||||
|
||||
float Vector2::SqrMagnitude(const Vector2 &a) { return a.x * a.x + a.y * a.y; }
|
||||
float Vector2::SqrMagnitude(const Vector2 &v) { return v.x * v.x + v.y * v.y; }
|
||||
float Vector2::sqrMagnitude() const { return (x * x + y * y); }
|
||||
|
||||
Vector2 Vector2::Normalize(Vector2 v) {
|
||||
Vector2 Vector2::Normalize(const Vector2 &v) {
|
||||
float num = Vector2::Magnitude(v);
|
||||
Vector2 result = Vector2::zero;
|
||||
if (num > Float::epsilon) {
|
||||
@ -63,56 +77,65 @@ Vector2 Vector2::normalized() const {
|
||||
return result;
|
||||
}
|
||||
|
||||
Vector2 Vector2::ClampMagnitude(const Vector2 &v, float magnitude) {
|
||||
float length = Vector2::Magnitude(v);
|
||||
Vector2 r = v;
|
||||
if (length > magnitude)
|
||||
r = v / (length * magnitude);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector2 Vector2::operator-(const Vector2 &v2) const {
|
||||
return Vector2(this->x - v2.x, this->y - v2.y);
|
||||
}
|
||||
|
||||
Vector2 Vector2::operator-() { return Vector2(-this->x, -this->y); }
|
||||
|
||||
Vector2 Vector2::operator+(const Vector2 &v2) const {
|
||||
return Vector2(this->x + v2.x, this->y + v2.y);
|
||||
Vector2 Vector2::operator-(const Vector2 &v) const {
|
||||
return Vector2(this->x - v.x, this->y - v.y);
|
||||
}
|
||||
Vector2 Vector2::operator-=(const Vector2 &v) {
|
||||
this->x -= v.x;
|
||||
this->y -= v.y;
|
||||
return *this;
|
||||
}
|
||||
Vector2 Vector2::operator+(const Vector2 &v) const {
|
||||
return Vector2(this->x + v.x, this->y + v.y);
|
||||
}
|
||||
Vector2 Vector2::operator+=(const Vector2 &v) {
|
||||
this->x += v.x;
|
||||
this->y += v.y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector2 Vector2::Scale(const Vector2 &p1, const Vector2 &p2) {
|
||||
return Vector2(p1.x * p2.x, p1.y * p2.y);
|
||||
Vector2 Vector2::Scale(const Vector2 &v1, const Vector2 &v2) {
|
||||
return Vector2(v1.x * v2.x, v1.y * v2.y);
|
||||
}
|
||||
|
||||
Vector2 Vector2::operator*(float f) const {
|
||||
return Vector2(this->x * f, this->y * f);
|
||||
// Vector2 Passer::LinearAlgebra::operator*(const Vector2 &v, float f) {
|
||||
// return Vector2(v.x * f, v.y * f);
|
||||
// }
|
||||
// Vector2 Passer::LinearAlgebra::operator*(float f, const Vector2 &v) {
|
||||
// return Vector2(v.x * f, v.y * f);
|
||||
// }
|
||||
Vector2 Vector2::operator*=(float f) {
|
||||
this->x *= f;
|
||||
this->y *= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector2 Vector2::operator/(const float &d) const {
|
||||
return Vector2(this->x / d, this->y / d);
|
||||
// Vector2 Passer::LinearAlgebra::operator/(const Vector2 &v, float f) {
|
||||
// return Vector2(v.x / f, v.y / f);
|
||||
// }
|
||||
// Vector2 Passer::LinearAlgebra::operator/(float f, const Vector2 &v) {
|
||||
// return Vector2(v.x / f, v.y / f);
|
||||
// }
|
||||
Vector2 Vector2::operator/=(float f) {
|
||||
this->x /= f;
|
||||
this->y /= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
float Vector2::Dot(const Vector2 &v1, const Vector2 &v2) {
|
||||
return v1.x * v2.x + v1.y * v2.y;
|
||||
}
|
||||
|
||||
bool Vector2::operator==(const Vector2 &v) {
|
||||
return (this->x == v.x && this->y == v.y);
|
||||
float Vector2::Distance(const Vector2 &v1, const Vector2 &v2) {
|
||||
return Magnitude(v1 - v2);
|
||||
}
|
||||
|
||||
float Vector2::Distance(const Vector2 &p1, const Vector2 &p2) {
|
||||
return Magnitude(p1 - p2);
|
||||
float Vector2::Angle(const Vector2 &v1, const Vector2 &v2) {
|
||||
return (float)fabs(SignedAngle(v1, v2));
|
||||
}
|
||||
|
||||
float Vector2::Angle(Vector2 from, Vector2 to) {
|
||||
return (float)fabs(SignedAngle(from, to));
|
||||
}
|
||||
|
||||
float Vector2::SignedAngle(Vector2 from, Vector2 to) {
|
||||
float sqrMagFrom = from.sqrMagnitude();
|
||||
float sqrMagTo = to.sqrMagnitude();
|
||||
float Vector2::SignedAngle(const Vector2 &v1, const Vector2 &v2) {
|
||||
float sqrMagFrom = v1.sqrMagnitude();
|
||||
float sqrMagTo = v2.sqrMagnitude();
|
||||
|
||||
if (sqrMagFrom == 0 || sqrMagTo == 0)
|
||||
return 0;
|
||||
@ -123,13 +146,14 @@ float Vector2::SignedAngle(Vector2 from, Vector2 to) {
|
||||
return nanf("");
|
||||
#endif
|
||||
|
||||
float angleFrom = atan2(from.y, from.x);
|
||||
float angleTo = atan2(to.y, to.x);
|
||||
return (angleTo - angleFrom) * Angle::Rad2Deg;
|
||||
float angleFrom = atan2f(v1.y, v1.x);
|
||||
float angleTo = atan2f(v2.y, v2.x);
|
||||
return -(angleTo - angleFrom) * Passer::LinearAlgebra::Rad2Deg;
|
||||
}
|
||||
|
||||
Vector2 Vector2::Rotate(Vector2 v, float angle) {
|
||||
float angleRad = angle * Angle::Deg2Rad;
|
||||
Vector2 Vector2::Rotate(const Vector2 &v,
|
||||
Passer::LinearAlgebra::AngleSingle a) {
|
||||
float angleRad = a.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
|
||||
#if defined(AVR)
|
||||
float sinValue = sin(angleRad);
|
||||
float cosValue = cos(angleRad); // * Angle::Deg2Rad);
|
||||
@ -140,16 +164,12 @@ Vector2 Vector2::Rotate(Vector2 v, float angle) {
|
||||
|
||||
float tx = v.x;
|
||||
float ty = v.y;
|
||||
v.x = (cosValue * tx) - (sinValue * ty);
|
||||
v.y = (sinValue * tx) + (cosValue * ty);
|
||||
return v;
|
||||
Vector2 r = Vector2((cosValue * tx) - (sinValue * ty),
|
||||
(sinValue * tx) + (cosValue * ty));
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector2 Vector2::Lerp(Vector2 from, Vector2 to, float f) {
|
||||
Vector2 v = from + (to - from) * f;
|
||||
Vector2 Vector2::Lerp(const Vector2 &v1, const Vector2 &v2, float f) {
|
||||
Vector2 v = v1 + (v2 - v1) * f;
|
||||
return v;
|
||||
}
|
||||
|
||||
float Vector2::ToFactor(Vector2 a, Vector2 b) {
|
||||
return (1 - Vector2::Dot(a, b)) / 2;
|
||||
}
|
||||
|
||||
@ -5,6 +5,8 @@
|
||||
#ifndef VECTOR2_H
|
||||
#define VECTOR2_H
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
extern "C" {
|
||||
/// <summary>
|
||||
/// 2-dimensional Vector representation
|
||||
@ -24,215 +26,186 @@ typedef struct Vec2 {
|
||||
} Vec2;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// A 2-dimensional vector
|
||||
/// </summary>
|
||||
/// This uses the right-handed coordinate system.
|
||||
struct Vector2 : Vec2 {
|
||||
public:
|
||||
/// <summary>
|
||||
/// Create a new 2-dimensinal zero vector
|
||||
/// </summary>
|
||||
Vector2();
|
||||
/// <summary>
|
||||
/// Create a new 2-dimensional vector
|
||||
/// </summary>
|
||||
/// <param name="x">x axis value</param>
|
||||
/// <param name="y">y axis value</param>
|
||||
Vector2(float x, float y);
|
||||
/// <summary>
|
||||
/// Create a vector from C-style Vec2
|
||||
/// </summary>
|
||||
/// <param name="v">The C-style Vec</param>
|
||||
Vector2(Vec2 v);
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
struct Vector3;
|
||||
template <typename T> class PolarOf;
|
||||
// using Polar = PolarOf<float>
|
||||
|
||||
/// @brief A 2=dimensional vector
|
||||
/// @remark This uses the right=handed carthesian coordinate system.
|
||||
/// @note This implementation intentionally avoids the use of x and y
|
||||
struct Vector2 : Vec2 {
|
||||
friend struct Vec2;
|
||||
|
||||
public:
|
||||
/// @brief A new 2-dimensional zero vector
|
||||
Vector2();
|
||||
/// @brief A new 2-dimensional vector
|
||||
/// @param right The distance in the right direction in meters
|
||||
/// @param forward The distance in the forward direction in meters
|
||||
Vector2(float right, float forward);
|
||||
/// @brief Convert a Vector3 to a Vector2
|
||||
/// @param v The 3D vector
|
||||
/// @note This will project the vector to the horizontal plane
|
||||
Vector2(Vector3 v);
|
||||
/// @brief Convert a Polar vector to a 2-dimensional vector
|
||||
/// @param v The vector in polar coordinates
|
||||
Vector2(PolarOf<float> v);
|
||||
|
||||
/// @brief Vector2 destructor
|
||||
~Vector2();
|
||||
|
||||
/// <summary>
|
||||
/// A vector with zero for all axis
|
||||
/// </summary>
|
||||
/// @brief A vector with zero for all axis
|
||||
const static Vector2 zero;
|
||||
/// <summary>
|
||||
/// A vector with values (1, 1)
|
||||
/// </summary>
|
||||
/// @brief A vector with one for all axis
|
||||
const static Vector2 one;
|
||||
/// <summary>
|
||||
/// A vector with values (1, 0)
|
||||
/// </summary>
|
||||
///
|
||||
const static Vector2 right;
|
||||
/// <summary>
|
||||
/// A vector3 with values (-1, 0)
|
||||
/// </summary>
|
||||
const static Vector2 left;
|
||||
/// <summary>
|
||||
/// A vector with values (0, 1)
|
||||
/// </summary>
|
||||
const static Vector2 up;
|
||||
/// <summary>
|
||||
/// A vector with values (0, -1)
|
||||
/// </summary>
|
||||
const static Vector2 down;
|
||||
/// <summary>
|
||||
/// A vector with values (0, 1)
|
||||
/// </summary>
|
||||
/// @brief A normalized forward-oriented vector
|
||||
const static Vector2 forward;
|
||||
/// <summary>
|
||||
/// A vector with values (0, -1)
|
||||
/// </summary>
|
||||
/// @brief A normalized back-oriented vector
|
||||
const static Vector2 back;
|
||||
/// @brief A normalized right-oriented vector
|
||||
const static Vector2 right;
|
||||
/// @brief A normalized left-oriented vector
|
||||
const static Vector2 left;
|
||||
/// @brief A normalized up-oriented vector
|
||||
/// @note This is a convenience function which is equal to Vector2::forward
|
||||
const static Vector2 up;
|
||||
/// @brief A normalized down-oriented vector
|
||||
/// @note This is a convenience function which is equal to Vector2::down
|
||||
const static Vector2 down;
|
||||
|
||||
/// <summary>
|
||||
/// The length of a vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector for which you need the length</param>
|
||||
/// <returns>The length of the given vector</returns>
|
||||
static float Magnitude(const Vector2 &vector);
|
||||
/// <summary>
|
||||
/// The length of this vector
|
||||
/// </summary>
|
||||
/// <returns>The length of this vector</returns>
|
||||
/// @brief Check if this vector to the given vector
|
||||
/// @param v The vector to check against
|
||||
/// @return true if it is identical to the given vector
|
||||
/// @note This uses float comparison to check equality which may have strange
|
||||
/// effects. Equality on floats should be avoided.
|
||||
bool operator==(const Vector2 &v);
|
||||
|
||||
/// @brief The vector length
|
||||
/// @param v The vector for which you need the length
|
||||
/// @return The vector length
|
||||
static float Magnitude(const Vector2 &v);
|
||||
/// @brief The vector length
|
||||
/// @return The vector length
|
||||
float magnitude() const;
|
||||
/// <summary>
|
||||
/// The squared length of a vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector for which you need the squared
|
||||
/// length</param> <returns>The squatred length</returns> The squared length
|
||||
/// is computationally simpler than the real length. Think of Pythagoras A^2 +
|
||||
/// B^2 = C^2. This leaves out the calculation of the squared root of C.
|
||||
static float SqrMagnitude(const Vector2 &vector);
|
||||
/// <summary>
|
||||
/// The squared length of this vector
|
||||
/// </summary>
|
||||
/// <returns>The squared length</returns>
|
||||
/// The squared length is computationally simpler than the real length.
|
||||
/// Think of Pythagoras A^2 + B^2 = C^2.
|
||||
/// This leaves out the calculation of the squared root of C.
|
||||
/// @brief The squared vector length
|
||||
/// @param v The vector for which you need the squared length
|
||||
/// @return The squared vector length
|
||||
/// @remark The squared length is computationally simpler than the real
|
||||
/// length. Think of Pythagoras A^2 + B^2 = C^2. This prevents the calculation
|
||||
/// of the squared root of C.
|
||||
static float SqrMagnitude(const Vector2 &v);
|
||||
/// @brief The squared vector length
|
||||
/// @return The squared vector length
|
||||
/// @remark The squared length is computationally simpler than the real
|
||||
/// length. Think of Pythagoras A^2 + B^2 = C^2. This prevents the calculation
|
||||
/// of the squared root of C.
|
||||
float sqrMagnitude() const;
|
||||
/// <summary>
|
||||
/// Connvert a vector to a length of 1
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to convert</param>
|
||||
/// <returns>The vector with length 1</returns>
|
||||
static Vector2 Normalize(Vector2 vector);
|
||||
/// <summary>
|
||||
/// Convert the vector to a length of a
|
||||
/// </summary>
|
||||
/// <returns>The vector with length 1</returns>
|
||||
|
||||
/// @brief Convert the vector to a length of 1
|
||||
/// @param v The vector to convert
|
||||
/// @return The vector normalized to a length of 1
|
||||
static Vector2 Normalize(const Vector2 &v);
|
||||
/// @brief Convert the vector to a length 1
|
||||
/// @return The vector normalized to a length of 1
|
||||
Vector2 normalized() const;
|
||||
|
||||
static Vector2 ClampMagnitude(const Vector2 &v, float magnitude);
|
||||
|
||||
/// <summary>
|
||||
/// Negate the vector
|
||||
/// </summary>
|
||||
/// <returns>The negated vector</returns>
|
||||
/// This will result in a vector pointing in the opposite direction
|
||||
/// @brief Negate the vector such that it points in the opposite direction
|
||||
/// @return The negated vector
|
||||
Vector2 operator-();
|
||||
/// <summary>
|
||||
/// Subtract a vector from this vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to subtract from this vector</param>
|
||||
/// <returns>The result of the subtraction</returns>
|
||||
Vector2 operator-(const Vector2 &vector) const;
|
||||
|
||||
/// <summary>
|
||||
/// Add another vector to this vector
|
||||
/// </summary>
|
||||
/// <param name="vector2">The vector to add</param>
|
||||
/// <returns>The result of adding the vector</returns>
|
||||
Vector2 operator+(const Vector2 &vector2) const;
|
||||
/// @brief Subtract a vector from this vector
|
||||
/// @param v The vector to subtract from this vector
|
||||
/// @return The result of the subtraction
|
||||
Vector2 operator-(const Vector2 &v) const;
|
||||
Vector2 operator-=(const Vector2 &v);
|
||||
/// @brief Add a vector to this vector
|
||||
/// @param v The vector to add to this vector
|
||||
/// @return The result of the addition
|
||||
Vector2 operator+(const Vector2 &v) const;
|
||||
Vector2 operator+=(const Vector2 &v);
|
||||
|
||||
/// <summary>
|
||||
/// Scale a vector using another vector
|
||||
/// </summary>
|
||||
/// <param name="vector1">The vector to scale</param>
|
||||
/// <param name="vector2">A vector with scaling factors</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each component of the vector v1 will be multiplied with the
|
||||
/// component from the scaling vector v2.
|
||||
static Vector2 Scale(const Vector2 &vector1, const Vector2 &vector2);
|
||||
/// <summary>
|
||||
/// Scale a vector uniformly up
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each component of the vector will be multipled with the same factor.
|
||||
Vector2 operator*(float factor) const;
|
||||
/// <summary>
|
||||
/// Scale a vector uniformy down
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each componet of the vector will be divided by the same factor.
|
||||
Vector2 operator/(const float &factor) const;
|
||||
/// @brief Scale the vector using another vector
|
||||
/// @param v1 The vector to scale
|
||||
/// @param v2 A vector with the scaling factors
|
||||
/// @return The scaled vector
|
||||
/// @remark Each component of the vector v1 will be multiplied with the
|
||||
/// matching component from the scaling vector v2.
|
||||
static Vector2 Scale(const Vector2 &v1, const Vector2 &v2);
|
||||
/// @brief Scale the vector uniformly up
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark Each component of the vector will be multipled with the same
|
||||
/// factor f.
|
||||
friend Vector2 operator*(const Vector2 &v, float f) {
|
||||
return Vector2(v.x * f, v.y * f);
|
||||
}
|
||||
friend Vector2 operator*(float f, const Vector2 &v) {
|
||||
return Vector2(v.x * f, v.y * f);
|
||||
// return Vector2(f * v.x, f * v.y);
|
||||
}
|
||||
Vector2 operator*=(float f);
|
||||
/// @brief Scale the vector uniformly down
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark Each componet of the vector will be divided by the same factor.
|
||||
friend Vector2 operator/(const Vector2 &v, float f) {
|
||||
return Vector2(v.x / f, v.y / f);
|
||||
}
|
||||
friend Vector2 operator/(float f, const Vector2 &v) {
|
||||
return Vector2(f / v.x, f / v.y);
|
||||
}
|
||||
Vector2 operator/=(float f);
|
||||
|
||||
/// <summary>
|
||||
/// The dot product of two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vector</param>
|
||||
/// <returns>The dot product of the two vectors</returns>
|
||||
static float Dot(const Vector2 &vector1, const Vector2 &vector2);
|
||||
/// @brief The dot product of two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The dot product of the two vectors
|
||||
static float Dot(const Vector2 &v1, const Vector2 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// Check is this vector is equal to the given vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to check against</param>
|
||||
/// <returns>True if it is identical to the given vector</returns>
|
||||
/// Note this uses float comparison to check equality which
|
||||
/// may have strange effects. Equality on float should be avoided.
|
||||
bool operator==(const Vector2 &vector);
|
||||
/// @brief The distance between two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The distance between the two vectors
|
||||
static float Distance(const Vector2 &v1, const Vector2 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// The distance between two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vectors</param>
|
||||
/// <returns>The distance between the two vectors</returns>
|
||||
static float Distance(const Vector2 &vector1, const Vector2 &vector2);
|
||||
/// @brief The angle between two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The angle between the two vectors
|
||||
/// @remark This reterns an unsigned angle which is the shortest distance
|
||||
/// between the two vectors. Use Vector2::SignedAngle if a signed angle is
|
||||
/// needed.
|
||||
static float Angle(const Vector2 &v1, const Vector2 &v2);
|
||||
/// @brief The signed angle between two vectors
|
||||
/// @param v1 The starting vector
|
||||
/// @param v2 The ending vector
|
||||
/// @return The signed angle between the two vectors
|
||||
static float SignedAngle(const Vector2 &v1, const Vector2 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// Calculate the angle between two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vector</param>
|
||||
/// <returns>The angle</returns>
|
||||
/// This reterns an unsigned angle which is the shortest distance
|
||||
/// between the two vectors. Use Vector3::SignedAngle if a
|
||||
/// signed angle is needed.
|
||||
static float Angle(Vector2 vector1, Vector2 vector2);
|
||||
/// @brief Rotate the vector
|
||||
/// @param v The vector to rotate
|
||||
/// @param a The angle in degrees to rotate
|
||||
/// @return The rotated vector
|
||||
static Vector2 Rotate(const Vector2 &v, Passer::LinearAlgebra::AngleSingle a);
|
||||
|
||||
/// <summary>
|
||||
/// Calculate the angle between two vectors rotation around an axis.
|
||||
/// </summary>
|
||||
/// <param name="from">The starting vector</param>
|
||||
/// <param name="to">The ending vector</param>
|
||||
/// <param name="axis">The axis to rotate around</param>
|
||||
/// <returns>The signed angle</returns>
|
||||
static float SignedAngle(Vector2 from, Vector2 to);
|
||||
|
||||
/// <summary>
|
||||
/// Rotate the vector
|
||||
/// </summary>
|
||||
/// <param name="v">The vector to rotate</param>
|
||||
/// <param name="angle">Angle in radias to rotate</param>
|
||||
/// <returns>The rotated vector</returns>
|
||||
static Vector2 Rotate(Vector2 v, float angle);
|
||||
|
||||
/// <summary>
|
||||
/// Lerp between two vectors
|
||||
/// </summary>
|
||||
/// <param name="from">The from vector</param>
|
||||
/// <param name="to">The to vector</param>
|
||||
/// <param name="f">The interpolation distance (0..1)</param>
|
||||
/// <returns>The lerped vector</returns>
|
||||
/// The factor f is unclamped. Value 0 matches the *from* vector, Value 1
|
||||
/// matches the *to* vector Value -1 is *from* vector minus the difference
|
||||
/// between *from* and *to* etc.
|
||||
static Vector2 Lerp(Vector2 from, Vector2 to, float f);
|
||||
|
||||
static float ToFactor(Vector2 a, Vector2 b);
|
||||
/// @brief Lerp (linear interpolation) between two vectors
|
||||
/// @param v1 The starting vector
|
||||
/// @param v2 The end vector
|
||||
/// @param f The interpolation distance
|
||||
/// @return The lerped vector
|
||||
/// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
|
||||
/// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference
|
||||
/// between *v1* and *v2* etc.
|
||||
static Vector2 Lerp(const Vector2 &v1, const Vector2 &v2, float f);
|
||||
};
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#include "Polar.h"
|
||||
|
||||
#endif
|
||||
@ -3,6 +3,9 @@
|
||||
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
|
||||
|
||||
#include "Vector3.h"
|
||||
#include "Angle.h"
|
||||
#include "Spherical.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
const float Deg2Rad = 0.0174532924F;
|
||||
@ -10,21 +13,40 @@ const float Rad2Deg = 57.29578F;
|
||||
const float epsilon = 1E-05f;
|
||||
|
||||
Vector3::Vector3() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
z = 0;
|
||||
this->x = 0;
|
||||
this->y = 0;
|
||||
this->z = 0;
|
||||
}
|
||||
|
||||
Vector3::Vector3(float _x, float _y, float _z) {
|
||||
x = _x;
|
||||
y = _y;
|
||||
z = _z;
|
||||
Vector3::Vector3(float right, float up, float forward) {
|
||||
this->x = right;
|
||||
this->y = up;
|
||||
this->z = forward;
|
||||
}
|
||||
|
||||
Vector3::Vector3(Vec3 v) {
|
||||
x = v.x;
|
||||
y = v.y;
|
||||
z = v.z;
|
||||
Vector3::Vector3(Vector2 v) {
|
||||
this->x = v.x;
|
||||
this->y = 0.0f;
|
||||
this->z = v.y;
|
||||
}
|
||||
|
||||
Vector3::Vector3(SphericalOf<float> s) {
|
||||
float verticalRad = (90.0f - s.direction.vertical.InDegrees()) *
|
||||
Passer::LinearAlgebra::Deg2Rad;
|
||||
float horizontalRad =
|
||||
s.direction.horizontal.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
|
||||
float cosVertical = cosf(verticalRad);
|
||||
float sinVertical = sinf(verticalRad);
|
||||
float cosHorizontal = cosf(horizontalRad);
|
||||
float sinHorizontal = sinf(horizontalRad);
|
||||
|
||||
x = s.distance * sinVertical * sinHorizontal;
|
||||
y = s.distance * cosVertical;
|
||||
z = s.distance * sinVertical * cosHorizontal;
|
||||
// Vector3 v = Vector3(s.distance * sinVertical * sinHorizontal,
|
||||
// s.distance * cosVertical,
|
||||
// );
|
||||
// return v;
|
||||
}
|
||||
|
||||
Vector3::~Vector3() {}
|
||||
@ -41,17 +63,17 @@ const Vector3 Vector3::back = Vector3(0, 0, -1);
|
||||
// inline float Vector3::Forward() { return z; }
|
||||
// inline float Vector3::Up() { return y; }
|
||||
// inline float Vector3::Right() { return x; }
|
||||
Vector3 Vector3::FromHorizontal(const Vector2 &v) {
|
||||
return Vector3(v.x, 0, v.y);
|
||||
}
|
||||
// Vector3 Vector3::FromHorizontal(const Vector2 &v) {
|
||||
// return Vector3(v.x, 0, v.y);
|
||||
// }
|
||||
|
||||
float Vector3::Magnitude(const Vector3 &a) {
|
||||
return sqrtf(a.x * a.x + a.y * a.y + a.z * a.z);
|
||||
float Vector3::Magnitude(const Vector3 &v) {
|
||||
return sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
|
||||
}
|
||||
float Vector3::magnitude() const { return (float)sqrtf(x * x + y * y + z * z); }
|
||||
|
||||
float Vector3::SqrMagnitude(const Vector3 &a) {
|
||||
return a.x * a.x + a.y * a.y + a.z * a.z;
|
||||
float Vector3::SqrMagnitude(const Vector3 &v) {
|
||||
return v.x * v.x + v.y * v.y + v.z * v.z;
|
||||
}
|
||||
float Vector3::sqrMagnitude() const { return (x * x + y * y + z * z); }
|
||||
|
||||
@ -72,38 +94,67 @@ Vector3 Vector3::normalized() const {
|
||||
return result;
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator-(const Vector3 &v2) const {
|
||||
return Vector3(this->x - v2.x, this->y - v2.y, this->z - v2.z);
|
||||
Vector3 Vector3::operator-() const {
|
||||
return Vector3(-this->x, -this->y, -this->z);
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator-() { return Vector3(-this->x, -this->y, -this->z); }
|
||||
|
||||
Vector3 Vector3::operator+(const Vector3 &v2) const {
|
||||
return Vector3(this->x + v2.x, this->y + v2.y, this->z + v2.z);
|
||||
Vector3 Vector3::operator-(const Vector3 &v) const {
|
||||
return Vector3(this->x - v.x, this->y - v.y, this->z - v.z);
|
||||
}
|
||||
Vector3 Vector3::operator-=(const Vector3 &v) {
|
||||
this->x -= v.x;
|
||||
this->y -= v.y;
|
||||
this->z -= v.z;
|
||||
return *this;
|
||||
}
|
||||
Vector3 Vector3::operator+(const Vector3 &v) const {
|
||||
return Vector3(this->x + v.x, this->y + v.y, this->z + v.z);
|
||||
}
|
||||
Vector3 Vector3::operator+=(const Vector3 &v) {
|
||||
this->x += v.x;
|
||||
this->y += v.y;
|
||||
this->z += v.z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Scale(const Vector3 &p1, const Vector3 &p2) {
|
||||
return Vector3(p1.x * p2.x, p1.y * p2.y, p1.z * p2.z);
|
||||
Vector3 Vector3::Scale(const Vector3 &v1, const Vector3 &v2) {
|
||||
return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator*(float f) const {
|
||||
return Vector3(this->x * f, this->y * f, this->z * f);
|
||||
// Vector3 Passer::LinearAlgebra::operator*(const Vector3 &v, float f) {
|
||||
// return Vector3(v.x * f, v.y * f, v.z * f);
|
||||
// }
|
||||
// Vector3 Passer::LinearAlgebra::operator*(float f, const Vector3 &v) {
|
||||
// return Vector3(v.x * f, v.y * f, v.z * f);
|
||||
// }
|
||||
Vector3 Vector3::operator*=(float f) {
|
||||
this->x *= f;
|
||||
this->y *= f;
|
||||
this->z *= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator/(float d) const {
|
||||
return Vector3(this->x / d, this->y / d, this->z / d);
|
||||
// Vector3 Passer::LinearAlgebra::operator/(const Vector3 &v, float f) {
|
||||
// return Vector3(v.x / f, v.y / f, v.z / f);
|
||||
// }
|
||||
// Vector3 Passer::LinearAlgebra::operator/(float f, const Vector3 &v) {
|
||||
// return Vector3(v.x / f, v.y / f, v.z / f);
|
||||
// }
|
||||
Vector3 Vector3::operator/=(float f) {
|
||||
this->x /= f;
|
||||
this->y /= f;
|
||||
this->z /= f;
|
||||
return *this;
|
||||
}
|
||||
|
||||
float Vector3::Dot(const Vector3 &v1, const Vector3 &v2) {
|
||||
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
|
||||
}
|
||||
|
||||
bool Vector3::operator==(const Vector3 &v) {
|
||||
bool Vector3::operator==(const Vector3 &v) const {
|
||||
return (this->x == v.x && this->y == v.y && this->z == v.z);
|
||||
}
|
||||
|
||||
float Vector3::Distance(const Vector3 &p1, const Vector3 &p2) {
|
||||
return Magnitude(p1 - p2);
|
||||
float Vector3::Distance(const Vector3 &v1, const Vector3 &v2) {
|
||||
return Magnitude(v1 - v2);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
|
||||
@ -111,25 +162,19 @@ Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
|
||||
v1.x * v2.y - v1.y * v2.x);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Project(const Vector3 &vector, const Vector3 &onNormal) {
|
||||
float sqrMagnitude = Dot(onNormal, onNormal);
|
||||
Vector3 Vector3::Project(const Vector3 &v, const Vector3 &n) {
|
||||
float sqrMagnitude = Dot(n, n);
|
||||
if (sqrMagnitude < epsilon)
|
||||
return Vector3::zero;
|
||||
else {
|
||||
float dot = Dot(vector, onNormal);
|
||||
Vector3 r = onNormal * dot / sqrMagnitude;
|
||||
float dot = Dot(v, n);
|
||||
Vector3 r = n * dot / sqrMagnitude;
|
||||
return r;
|
||||
}
|
||||
}
|
||||
|
||||
Vector3 Vector3::ProjectOnPlane(const Vector3 &vector,
|
||||
const Vector3 &planeNormal) {
|
||||
Vector3 r = vector - Project(vector, planeNormal);
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector2 Vector3::ProjectHorizontalPlane(const Vector3 &vector) {
|
||||
Vector2 r = Vector2(vector.x, vector.z);
|
||||
Vector3 Vector3::ProjectOnPlane(const Vector3 &v, const Vector3 &n) {
|
||||
Vector3 r = v - Project(v, n);
|
||||
return r;
|
||||
}
|
||||
|
||||
@ -139,37 +184,38 @@ float clamp(float x, float lower, float upper) {
|
||||
return upperClamp;
|
||||
}
|
||||
|
||||
float Vector3::Angle(const Vector3 &from, const Vector3 &to) {
|
||||
float denominator = sqrtf(from.sqrMagnitude() * to.sqrMagnitude());
|
||||
AngleOf<float> Vector3::Angle(const Vector3 &v1, const Vector3 &v2) {
|
||||
float denominator = sqrtf(v1.sqrMagnitude() * v2.sqrMagnitude());
|
||||
if (denominator < epsilon)
|
||||
return 0;
|
||||
return AngleOf<float>();
|
||||
|
||||
float dot = Vector3::Dot(from, to);
|
||||
float dot = Vector3::Dot(v1, v2);
|
||||
float fraction = dot / denominator;
|
||||
if (isnan(fraction))
|
||||
return fraction; // short cut to returning NaN universally
|
||||
return AngleOf<float>::Degrees(
|
||||
fraction); // short cut to returning NaN universally
|
||||
|
||||
float cdot = clamp(fraction, -1.0, 1.0);
|
||||
float r = ((float)acos(cdot)) * Rad2Deg;
|
||||
return r;
|
||||
float r = ((float)acos(cdot));
|
||||
return AngleOf<float>::Radians(r);
|
||||
}
|
||||
|
||||
float Vector3::SignedAngle(const Vector3 &from, const Vector3 &to,
|
||||
const Vector3 &axis) {
|
||||
AngleOf<float> Vector3::SignedAngle(const Vector3 &v1, const Vector3 &v2,
|
||||
const Vector3 &axis) {
|
||||
// angle in [0,180]
|
||||
float angle = Vector3::Angle(from, to);
|
||||
AngleOf<float> angle = Vector3::Angle(v1, v2);
|
||||
|
||||
Vector3 cross = Vector3::Cross(from, to);
|
||||
Vector3 cross = Vector3::Cross(v1, v2);
|
||||
float b = Vector3::Dot(axis, cross);
|
||||
float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F);
|
||||
|
||||
// angle in [-179,180]
|
||||
float signed_angle = angle * signd;
|
||||
AngleOf<float> signed_angle = angle * signd;
|
||||
|
||||
return signed_angle;
|
||||
return AngleOf<float>(signed_angle);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Lerp(const Vector3 &from, const Vector3 &to, float f) {
|
||||
Vector3 v = from + (to - from) * f;
|
||||
Vector3 Vector3::Lerp(const Vector3 &v1, const Vector3 &v2, float f) {
|
||||
Vector3 v = v1 + (v2 - v1) * f;
|
||||
return v;
|
||||
}
|
||||
}
|
||||
|
||||
@ -7,6 +7,12 @@
|
||||
|
||||
#include "Vector2.h"
|
||||
|
||||
namespace Passer {
|
||||
namespace LinearAlgebra {
|
||||
|
||||
// struct Spherical;
|
||||
template <typename T> class SphericalOf;
|
||||
|
||||
extern "C" {
|
||||
/// <summary>
|
||||
/// 3-dimensional Vector representation
|
||||
@ -14,6 +20,7 @@ extern "C" {
|
||||
/// This is a C-style implementation
|
||||
/// This uses the right-handed coordinate system.
|
||||
typedef struct Vec3 {
|
||||
protected:
|
||||
/// <summary>
|
||||
/// The right axis of the vector
|
||||
/// </summary>
|
||||
@ -30,242 +37,198 @@ typedef struct Vec3 {
|
||||
} Vec3;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// A 3-dimensional vector
|
||||
/// </summary>
|
||||
/// This uses the right-handed coordinate system.
|
||||
/// @brief A 3-dimensional vector
|
||||
/// @remark This uses a right-handed carthesian coordinate system.
|
||||
/// @note This implementation intentionally avoids the use of x, y and z values.
|
||||
struct Vector3 : Vec3 {
|
||||
friend struct Vec3;
|
||||
|
||||
public:
|
||||
/// <summary>
|
||||
/// Create a new 3-dimensinal zero vector
|
||||
/// </summary>
|
||||
/// @brief A new 3-dimensional zero vector
|
||||
Vector3();
|
||||
/// <summary>
|
||||
/// Create a new 3-dimensional vector
|
||||
/// </summary>
|
||||
/// <param name="x">x axis value</param>
|
||||
/// <param name="y">y axis value</param>
|
||||
/// <param name="z">z axis value</param>
|
||||
Vector3(float x, float y, float z);
|
||||
/// <summary>
|
||||
/// Create a vector from C-style Vec3
|
||||
/// </summary>
|
||||
/// <param name="v">The C-style Vec</param>
|
||||
Vector3(Vec3 v);
|
||||
/// @brief A new 3-dimensional vector
|
||||
/// @param right The distance in the right direction in meters
|
||||
/// @param up The distance in the upward direction in meters
|
||||
/// @param forward The distance in the forward direction in meters
|
||||
Vector3(float right, float up, float forward);
|
||||
/// @brief Convert a 2-dimenstional vector to a 3-dimensional vector
|
||||
/// @param v The vector to convert
|
||||
Vector3(Vector2 v);
|
||||
/// @brief Convert vector in spherical coordinates to 3d carthesian
|
||||
/// coordinates
|
||||
/// @param v The vector to convert
|
||||
Vector3(SphericalOf<float> v);
|
||||
|
||||
/// @brief Vector3 destructor
|
||||
~Vector3();
|
||||
|
||||
/// <summary>
|
||||
/// A vector with zero for all axis
|
||||
/// </summary>
|
||||
/// @brief A vector with zero for all axis
|
||||
const static Vector3 zero;
|
||||
/// <summary>
|
||||
/// A vector with one for all axis
|
||||
/// </summary>
|
||||
/// @brief A vector with one for all axis
|
||||
const static Vector3 one;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the right direction
|
||||
/// </summary>
|
||||
const static Vector3 right;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the left direction
|
||||
/// </summary>
|
||||
const static Vector3 left;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the upward direction
|
||||
/// </summary>
|
||||
const static Vector3 up;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the downward direcion
|
||||
/// </summary>
|
||||
const static Vector3 down;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the forward direction
|
||||
/// </summary>
|
||||
/// @brief A normalized forward-oriented vector
|
||||
const static Vector3 forward;
|
||||
/// <summary>
|
||||
/// A normalized vector pointing in the backward direction
|
||||
/// </summary>
|
||||
/// @brief A normalized back-oriented vector
|
||||
const static Vector3 back;
|
||||
/// @brief A normalized right-oriented vector
|
||||
const static Vector3 right;
|
||||
/// @brief A normalized left-oriented vector
|
||||
const static Vector3 left;
|
||||
/// @brief A normalized up-oriented vector
|
||||
const static Vector3 up;
|
||||
/// @brief A normalized down-oriented vector
|
||||
const static Vector3 down;
|
||||
|
||||
// Experimental Access functions which are intended to replace the use of XYZ
|
||||
inline float Forward() { return z; };
|
||||
inline float Up() { return y; };
|
||||
inline float Right() { return x; };
|
||||
static Vector3 FromHorizontal(const Vector2 &vector);
|
||||
// Access functions which are intended to replace the use of XYZ
|
||||
inline float Forward() const { return z; };
|
||||
inline float Up() const { return y; };
|
||||
inline float Right() const { return x; };
|
||||
|
||||
/// <summary>
|
||||
/// The length of a vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector for which you need the length</param>
|
||||
/// <returns>The length of the given vector</returns>
|
||||
static float Magnitude(const Vector3 &vector);
|
||||
/// <summary>
|
||||
/// The length of this vector
|
||||
/// </summary>
|
||||
/// <returns>The length of this vector</returns>
|
||||
/// @brief Check if this vector to the given vector
|
||||
/// @param v The vector to check against
|
||||
/// @return true if it is identical to the given vector
|
||||
/// @note This uses float comparison to check equality which may have strange
|
||||
/// effects. Equality on floats should be avoided.
|
||||
bool operator==(const Vector3 &v) const;
|
||||
|
||||
/// @brief The vector length
|
||||
/// @param v The vector for which you need the length
|
||||
/// @return The vector length
|
||||
static float Magnitude(const Vector3 &v);
|
||||
/// @brief The vector length
|
||||
/// @return The vector length
|
||||
float magnitude() const;
|
||||
/// <summary>
|
||||
/// The squared length of a vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector for which you need the squared
|
||||
/// length</param> <returns>The squatred length</returns> The squared length
|
||||
/// is computationally simpler than the real length. Think of Pythagoras A^2 +
|
||||
/// B^2 = C^2. This leaves out the calculation of the squared root of C.
|
||||
static float SqrMagnitude(const Vector3 &vector);
|
||||
/// <summary>
|
||||
/// The squared length of this vector
|
||||
/// </summary>
|
||||
/// <returns>The squared length</returns>
|
||||
/// The squared length is computationally simpler than the real length.
|
||||
/// Think of Pythagoras A^2 + B^2 = C^2.
|
||||
/// This leaves out the calculation of the squared root of C.
|
||||
/// @brief The squared vector length
|
||||
/// @param v The vector for which you need the length
|
||||
/// @return The squared vector length
|
||||
/// @remark The squared length is computationally simpler than the real
|
||||
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
|
||||
/// calculation of the squared root of C.
|
||||
static float SqrMagnitude(const Vector3 &v);
|
||||
/// @brief The squared vector length
|
||||
/// @return The squared vector length
|
||||
/// @remark The squared length is computationally simpler than the real
|
||||
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
|
||||
/// calculation of the squared root of C.
|
||||
float sqrMagnitude() const;
|
||||
/// <summary>
|
||||
/// Connvert a vector to a length of 1
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to convert</param>
|
||||
/// <returns>The vector with length 1</returns>
|
||||
static Vector3 Normalize(const Vector3 &vector);
|
||||
/// <summary>
|
||||
/// Convert the vector to a length of a
|
||||
/// </summary>
|
||||
/// <returns>The vector with length 1</returns>
|
||||
|
||||
/// @brief Convert the vector to a length of 1
|
||||
/// @param v The vector to convert
|
||||
/// @return The vector normalized to a length of 1
|
||||
static Vector3 Normalize(const Vector3 &v);
|
||||
/// @brief Convert the vector to a length of 1
|
||||
/// @return The vector normalized to a length of 1
|
||||
Vector3 normalized() const;
|
||||
|
||||
/// <summary>
|
||||
/// Negate the vector
|
||||
/// </summary>
|
||||
/// <returns>The negated vector</returns>
|
||||
/// This will result in a vector pointing in the opposite direction
|
||||
Vector3 operator-();
|
||||
/// <summary>
|
||||
/// Subtract a vector from this vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to subtract from this vector</param>
|
||||
/// <returns>The result of the subtraction</returns>
|
||||
Vector3 operator-(const Vector3 &vector) const;
|
||||
/// @brief Negate te vector such that it points in the opposite direction
|
||||
/// @return The negated vector
|
||||
Vector3 operator-() const;
|
||||
|
||||
/// <summary>
|
||||
/// Add another vector to this vector
|
||||
/// </summary>
|
||||
/// <param name="vector2">The vector to add</param>
|
||||
/// <returns>The result of adding the vector</returns>
|
||||
Vector3 operator+(const Vector3 &vector2) const;
|
||||
/// @brief Subtract a vector from this vector
|
||||
/// @param v The vector to subtract from this vector
|
||||
/// @return The result of this subtraction
|
||||
Vector3 operator-(const Vector3 &v) const;
|
||||
Vector3 operator-=(const Vector3 &v);
|
||||
/// @brief Add a vector to this vector
|
||||
/// @param v The vector to add to this vector
|
||||
/// @return The result of the addition
|
||||
Vector3 operator+(const Vector3 &v) const;
|
||||
Vector3 operator+=(const Vector3 &v);
|
||||
|
||||
/// <summary>
|
||||
/// Scale a vector using another vector
|
||||
/// </summary>
|
||||
/// <param name="vector1">The vector to scale</param>
|
||||
/// <param name="vector2">A vector with scaling factors</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each component of the vector v1 will be multiplied with the
|
||||
/// component from the scaling vector v2.
|
||||
static Vector3 Scale(const Vector3 &vector1, const Vector3 &vector2);
|
||||
/// <summary>
|
||||
/// Scale a vector uniformly up
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each component of the vector will be multipled with the same factor.
|
||||
Vector3 operator*(const float factor) const;
|
||||
/// <summary>
|
||||
/// Scale a vector uniformy down
|
||||
/// </summary>
|
||||
/// <param name="factor">The scaling factor</param>
|
||||
/// <returns>The scaled vector</returns>
|
||||
/// Each componet of the vector will be divided by the same factor.
|
||||
Vector3 operator/(const float factor) const;
|
||||
/// @brief Scale the vector using another vector
|
||||
/// @param v1 The vector to scale
|
||||
/// @param v2 A vector with the scaling factors
|
||||
/// @return The scaled vector
|
||||
/// @remark Each component of the vector v1 will be multiplied with the
|
||||
/// matching component from the scaling vector v2.
|
||||
static Vector3 Scale(const Vector3 &v1, const Vector3 &v2);
|
||||
/// @brief Scale the vector uniformly up
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark Each component of the vector will be multipled with the same
|
||||
/// factor f.
|
||||
friend Vector3 operator*(const Vector3 &v, float f) {
|
||||
return Vector3(v.x * f, v.y * f, v.z * f);
|
||||
}
|
||||
friend Vector3 operator*(float f, const Vector3 &v) {
|
||||
// return Vector3(f * v.x, f * v.y, f * v.z);
|
||||
return Vector3(v.x * f, v.y * f, v.z * f);
|
||||
}
|
||||
Vector3 operator*=(float f);
|
||||
/// @brief Scale the vector uniformly down
|
||||
/// @param f The scaling factor
|
||||
/// @return The scaled vector
|
||||
/// @remark Each componet of the vector will be divided by the same factor.
|
||||
friend Vector3 operator/(const Vector3 &v, float f) {
|
||||
return Vector3(v.x / f, v.y / f, v.z / f);
|
||||
}
|
||||
friend Vector3 operator/(float f, const Vector3 &v) {
|
||||
// return Vector3(f / v.x, f / v.y, f / v.z);
|
||||
return Vector3(v.x / f, v.y / f, v.z / f);
|
||||
}
|
||||
Vector3 operator/=(float f);
|
||||
|
||||
/// <summary>
|
||||
/// The dot product of two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vector</param>
|
||||
/// <returns>The dot product of the two vectors</returns>
|
||||
static float Dot(const Vector3 &vector1, const Vector3 &vector2);
|
||||
/// @brief The distance between two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The distance between the two vectors
|
||||
static float Distance(const Vector3 &v1, const Vector3 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// Check is this vector is equal to the given vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to check against</param>
|
||||
/// <returns>True if it is identical to the given vector</returns>
|
||||
/// Note this uses float comparison to check equality which
|
||||
/// may have strange effects. Equality on float should be avoided.
|
||||
bool operator==(const Vector3 &vector);
|
||||
/// @brief The dot product of two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The dot product of the two vectors
|
||||
static float Dot(const Vector3 &v1, const Vector3 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// The distance between two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vectors</param>
|
||||
/// <returns>The distance between the two vectors</returns>
|
||||
static float Distance(const Vector3 &vector1, const Vector3 &vector2);
|
||||
/// @brief The cross product of two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The cross product of the two vectors
|
||||
static Vector3 Cross(const Vector3 &v1, const Vector3 &v2);
|
||||
|
||||
/// <summary>
|
||||
/// The cross product of two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vector</param>
|
||||
/// <returns>The cross product of the two vectors</returns>
|
||||
static Vector3 Cross(const Vector3 &vector1, const Vector3 &vector2);
|
||||
|
||||
/// <summary>
|
||||
/// Project a vector on another vector
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to project</param>
|
||||
/// <param name="onNormal">The normal vector to project on</param>
|
||||
/// <returns>The projected vector</returns>
|
||||
static Vector3 Project(const Vector3 &vector, const Vector3 &onNormal);
|
||||
/// <summary>
|
||||
/// Projects a vector onto a plane defined by a normal orthogonal to the
|
||||
/// @brief Project the vector on another vector
|
||||
/// @param v The vector to project
|
||||
/// @param n The normal vecto to project on
|
||||
/// @return The projected vector
|
||||
static Vector3 Project(const Vector3 &v, const Vector3 &n);
|
||||
/// @brief Project the vector on a plane defined by a normal orthogonal to the
|
||||
/// plane.
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to project</param>
|
||||
/// <param name="planeNormal">The normal of the plane to project on</param>
|
||||
/// <returns></returns>
|
||||
static Vector3 ProjectOnPlane(const Vector3 &vector,
|
||||
const Vector3 &planeNormal);
|
||||
/// @param v The vector to project
|
||||
/// @param n The normal of the plane to project on
|
||||
/// @return Teh projected vector
|
||||
static Vector3 ProjectOnPlane(const Vector3 &v, const Vector3 &n);
|
||||
|
||||
/// <summary>
|
||||
/// Projects a vector onto the horizontal plane.
|
||||
/// </summary>
|
||||
/// <param name="vector">The vector to project</param>
|
||||
/// <returns>A 2D carthesian vector with the coordinates in the horizontal
|
||||
/// plane.</returns>
|
||||
static Vector2 ProjectHorizontalPlane(const Vector3 &vector);
|
||||
/// @brief The angle between two vectors
|
||||
/// @param v1 The first vector
|
||||
/// @param v2 The second vector
|
||||
/// @return The angle between the two vectors
|
||||
/// @remark This reterns an unsigned angle which is the shortest distance
|
||||
/// between the two vectors. Use Vector3::SignedAngle if a signed angle is
|
||||
/// needed.
|
||||
static AngleOf<float> Angle(const Vector3 &v1, const Vector3 &v2);
|
||||
/// @brief The signed angle between two vectors
|
||||
/// @param v1 The starting vector
|
||||
/// @param v2 The ending vector
|
||||
/// @param axis The axis to rotate around
|
||||
/// @return The signed angle between the two vectors
|
||||
static AngleOf<float> SignedAngle(const Vector3 &v1, const Vector3 &v2,
|
||||
const Vector3 &axis);
|
||||
|
||||
/// <summary>
|
||||
/// Calculate the angle between two vectors
|
||||
/// </summary>
|
||||
/// <param name="vector1">The first vector</param>
|
||||
/// <param name="vector2">The second vector</param>
|
||||
/// <returns></returns>
|
||||
/// This reterns an unsigned angle which is the shortest distance
|
||||
/// between the two vectors. Use Vector3::SignedAngle if a
|
||||
/// signed angle is needed.
|
||||
static float Angle(const Vector3 &vector1, const Vector3 &vector2);
|
||||
|
||||
/// <summary>
|
||||
/// Calculate the angle between two vectors rotation around an axis.
|
||||
/// </summary>
|
||||
/// <param name="from">The starting vector</param>
|
||||
/// <param name="to">The ending vector</param>
|
||||
/// <param name="axis">The axis to rotate around</param>
|
||||
/// <returns>The signed angle</returns>
|
||||
static float SignedAngle(const Vector3 &from, const Vector3 &to,
|
||||
const Vector3 &axis);
|
||||
|
||||
/// <summary>
|
||||
/// Lerp between two vectors
|
||||
/// </summary>
|
||||
/// <param name="from">The from vector</param>
|
||||
/// <param name="to">The to vector</param>
|
||||
/// <param name="f">The interpolation distance (0..1)</param>
|
||||
/// <returns>The lerped vector</returns>
|
||||
/// The factor f is unclamped. Value 0 matches the *from* vector, Value 1
|
||||
/// matches the *to* vector Value -1 is *from* vector minus the difference
|
||||
/// between *from* and *to* etc.
|
||||
static Vector3 Lerp(const Vector3 &from, const Vector3 &to, float f);
|
||||
/// @brief Lerp (linear interpolation) between two vectors
|
||||
/// @param v1 The starting vector
|
||||
/// @param v2 The ending vector
|
||||
/// @param f The interpolation distance
|
||||
/// @return The lerped vector
|
||||
/// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
|
||||
/// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference
|
||||
/// between *v1* and *v2* etc.
|
||||
static Vector3 Lerp(const Vector3 &v1, const Vector3 &v2, float f);
|
||||
};
|
||||
|
||||
} // namespace LinearAlgebra
|
||||
} // namespace Passer
|
||||
using namespace Passer::LinearAlgebra;
|
||||
|
||||
#include "Spherical.h"
|
||||
|
||||
#endif
|
||||
239
LinearAlgebra/test/Angle16_test.cc
Normal file
239
LinearAlgebra/test/Angle16_test.cc
Normal file
@ -0,0 +1,239 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Angle16, Construct) {
|
||||
float angle = 0.0F;
|
||||
Angle16 a = Angle16::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = -180.0F;
|
||||
a = Angle16::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 270.0F;
|
||||
a = Angle16::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
|
||||
}
|
||||
|
||||
TEST(Angle16, Negate) {
|
||||
float angle = 0;
|
||||
Angle16 a = Angle16::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 90.0F;
|
||||
a = Angle16::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
|
||||
}
|
||||
|
||||
TEST(Angle16, Subtract) {
|
||||
Angle16 a = Angle16::Degrees(0);
|
||||
Angle16 b = Angle16::Degrees(45.0F);
|
||||
Angle16 r = a - b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
|
||||
}
|
||||
|
||||
TEST(Angle16, Add) {
|
||||
Angle16 a = Angle16::Degrees(-45);
|
||||
Angle16 b = Angle16::Degrees(45.0F);
|
||||
Angle16 r = a + b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
|
||||
}
|
||||
|
||||
TEST(Angle16, Compare) {
|
||||
Angle16 a = Angle16::Degrees(45);
|
||||
bool r = false;
|
||||
|
||||
r = a > Angle16::Degrees(0);
|
||||
EXPECT_TRUE(r) << "45 > 0";
|
||||
|
||||
r = a > Angle16::Degrees(90);
|
||||
EXPECT_FALSE(r) << "45 > 90";
|
||||
|
||||
r = a > Angle16::Degrees(-90);
|
||||
EXPECT_TRUE(r) << "45 > -90";
|
||||
}
|
||||
|
||||
TEST(Angle16, Normalize) {
|
||||
Angle16 r = Angle16();
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(90.0f));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(-90));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(270 + 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(-270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(-270 - 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// Infinites are not supported
|
||||
r = Angle16::Normalize(Angle16::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
|
||||
r = Angle16::Normalize(Angle16::Degrees(-FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Angle16, Clamp) {
|
||||
Angle16 r = Angle16();
|
||||
|
||||
// Clamp(1, 0, 2) will fail because Angle16 does not have enough resolution
|
||||
// for this. Instead we use Clamp(10, 0, 20) etc.
|
||||
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
|
||||
Angle16::Degrees(20));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 10 0 20";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(-10), Angle16::Degrees(0),
|
||||
Angle16::Degrees(20));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -10 0 20";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(30), Angle16::Degrees(0),
|
||||
Angle16::Degrees(20));
|
||||
EXPECT_NEAR(r.InDegrees(), 20, 1.0e-2) << "Clamp 30 0 20";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
|
||||
Angle16::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 10 0 0";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(0), Angle16::Degrees(0),
|
||||
Angle16::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(0), Angle16::Degrees(10),
|
||||
Angle16::Degrees(-10));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 10 -10";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// Infinites are not supported
|
||||
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
|
||||
Angle16::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 1 0 INFINITY";
|
||||
|
||||
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(-FLOAT_INFINITY),
|
||||
Angle16::Degrees(10));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
}
|
||||
|
||||
// TEST(Angle16, Difference) {
|
||||
// Angle16 r = 0;
|
||||
|
||||
// r = Angle16::Difference(0, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
|
||||
|
||||
// r = Angle16::Difference(0, -90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
|
||||
|
||||
// r = Angle16::Difference(0, 270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
|
||||
|
||||
// r = Angle16::Difference(0, -270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
|
||||
|
||||
// r = Angle16::Difference(90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
|
||||
|
||||
// r = Angle16::Difference(-90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
|
||||
|
||||
// r = Angle16::Difference(0, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
|
||||
|
||||
// r = Angle16::Difference(90, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
|
||||
|
||||
// if (std::numeric_limits<float>::is_iec559) {
|
||||
// r = Angle16::Difference(0, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
|
||||
|
||||
// r = Angle16::Difference(0, -INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
|
||||
|
||||
// r = Angle16::Difference(-INFINITY, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
|
||||
// INFINITY";
|
||||
// }
|
||||
// }
|
||||
|
||||
TEST(Angle16, MoveTowards) {
|
||||
Angle16 r = Angle16();
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 30);
|
||||
EXPECT_NEAR(r.InDegrees(), 30, 1.0e-2) << "MoveTowards 0 90 30";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), 180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(0), 0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(0), 30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// infinites are not supported
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90),
|
||||
FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0),
|
||||
Angle16::Degrees(FLOAT_INFINITY), 30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90),
|
||||
-FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY)
|
||||
<< "MoveTowards 0 -90 -FLOAT_INFINITY";
|
||||
|
||||
r = Angle16::MoveTowards(Angle16::Degrees(0),
|
||||
Angle16::Degrees(-FLOAT_INFINITY), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
|
||||
}
|
||||
}
|
||||
#endif
|
||||
239
LinearAlgebra/test/Angle8_test.cc
Normal file
239
LinearAlgebra/test/Angle8_test.cc
Normal file
@ -0,0 +1,239 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Angle8, Construct) {
|
||||
float angle = 0.0F;
|
||||
Angle8 a = Angle8::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = -180.0F;
|
||||
a = Angle8::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 270.0F;
|
||||
a = Angle8::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
|
||||
}
|
||||
|
||||
TEST(Angle8, Negate) {
|
||||
float angle = 0;
|
||||
Angle8 a = Angle8::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 90.0F;
|
||||
a = Angle8::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
|
||||
}
|
||||
|
||||
TEST(Angle8, Add) {
|
||||
Angle8 a = Angle8::Degrees(-45);
|
||||
Angle8 b = Angle8::Degrees(45.0F);
|
||||
Angle8 r = a + b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
|
||||
}
|
||||
|
||||
TEST(Angle8, Subtract) {
|
||||
Angle8 a = Angle8::Degrees(0);
|
||||
Angle8 b = Angle8::Degrees(45.0F);
|
||||
Angle8 r = a - b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
|
||||
}
|
||||
|
||||
TEST(Angle8, Compare) {
|
||||
Angle8 a = Angle8::Degrees(45);
|
||||
bool r = false;
|
||||
|
||||
r = a > Angle8::Degrees(0);
|
||||
EXPECT_TRUE(r) << "45 > 0";
|
||||
|
||||
r = a > Angle8::Degrees(90);
|
||||
EXPECT_FALSE(r) << "45 > 90";
|
||||
|
||||
r = a > Angle8::Degrees(-90);
|
||||
EXPECT_TRUE(r) << "45 > -90";
|
||||
}
|
||||
|
||||
TEST(Angle8, Normalize) {
|
||||
Angle8 r = Angle8();
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(90.0f));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(-90));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(270 + 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(-270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(-270 - 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// Infinites are not supported
|
||||
r = Angle8::Normalize(Angle8::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
|
||||
r = Angle8::Normalize(Angle8::Degrees(-FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Angle8, Clamp) {
|
||||
Angle8 r = Angle8();
|
||||
|
||||
// Clamp(1, 0, 2) will fail because Angle8 does not have enough resolution for
|
||||
// this. Instead we use Clamp(10, 0, 20) etc.
|
||||
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
|
||||
Angle8::Degrees(20));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 10 0 20";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(-10), Angle8::Degrees(0),
|
||||
Angle8::Degrees(20));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -10 0 20";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(30), Angle8::Degrees(0),
|
||||
Angle8::Degrees(20));
|
||||
EXPECT_NEAR(r.InDegrees(), 20, 1.0e-0) << "Clamp 30 0 20";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
|
||||
Angle8::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 10 0 0";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(0), Angle8::Degrees(0), Angle8::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(0), Angle8::Degrees(10),
|
||||
Angle8::Degrees(-10));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 10 -10";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// Infinites are not supported
|
||||
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
|
||||
Angle8::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 1 0 INFINITY";
|
||||
|
||||
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(-FLOAT_INFINITY),
|
||||
Angle8::Degrees(10));
|
||||
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
}
|
||||
|
||||
// TEST(Angle8, Difference) {
|
||||
// Angle8 r = 0;
|
||||
|
||||
// r = Angle8::Difference(0, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
|
||||
|
||||
// r = Angle8::Difference(0, -90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
|
||||
|
||||
// r = Angle8::Difference(0, 270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
|
||||
|
||||
// r = Angle8::Difference(0, -270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
|
||||
|
||||
// r = Angle8::Difference(90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
|
||||
|
||||
// r = Angle8::Difference(-90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
|
||||
|
||||
// r = Angle8::Difference(0, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
|
||||
|
||||
// r = Angle8::Difference(90, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
|
||||
|
||||
// if (std::numeric_limits<float>::is_iec559) {
|
||||
// r = Angle8::Difference(0, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
|
||||
|
||||
// r = Angle8::Difference(0, -INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
|
||||
|
||||
// r = Angle8::Difference(-INFINITY, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
|
||||
// INFINITY";
|
||||
// }
|
||||
// }
|
||||
|
||||
TEST(Angle8, MoveTowards) {
|
||||
Angle8 r = Angle8();
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 30);
|
||||
EXPECT_NEAR(r.InDegrees(), 30, 1.0e-0) << "MoveTowards 0 90 30";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), 180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(0), 0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(0), 30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
|
||||
|
||||
if (false) { // std::numeric_limits<float>::is_iec559) {
|
||||
// infinites are not supported
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90),
|
||||
FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(FLOAT_INFINITY),
|
||||
30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90),
|
||||
-FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY)
|
||||
<< "MoveTowards 0 -90 -FLOAT_INFINITY";
|
||||
|
||||
r = Angle8::MoveTowards(Angle8::Degrees(0),
|
||||
Angle8::Degrees(-FLOAT_INFINITY), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
247
LinearAlgebra/test/AngleSingle_test.cc
Normal file
247
LinearAlgebra/test/AngleSingle_test.cc
Normal file
@ -0,0 +1,247 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(AngleSingle, Construct) {
|
||||
float angle = 0.0F;
|
||||
AngleSingle a = AngleSingle::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = -180.0F;
|
||||
a = AngleSingle::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 270.0F;
|
||||
a = AngleSingle::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Negate) {
|
||||
float angle = 0;
|
||||
AngleSingle a = AngleSingle::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 90.0F;
|
||||
a = AngleSingle::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Add) {
|
||||
AngleSingle a = AngleSingle::Degrees(-45);
|
||||
AngleSingle b = AngleSingle::Degrees(45.0F);
|
||||
AngleSingle r = a + b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Subtract) {
|
||||
AngleSingle a = AngleSingle::Degrees(0);
|
||||
AngleSingle b = AngleSingle::Degrees(45.0F);
|
||||
AngleSingle r = a - b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Compare) {
|
||||
AngleSingle a = AngleSingle::Degrees(45);
|
||||
bool r = false;
|
||||
|
||||
r = a > AngleSingle::Degrees(0);
|
||||
EXPECT_TRUE(r) << "45 > 0";
|
||||
|
||||
r = a > AngleSingle::Degrees(90);
|
||||
EXPECT_FALSE(r) << "45 > 90";
|
||||
|
||||
r = a > AngleSingle::Degrees(-90);
|
||||
EXPECT_TRUE(r) << "45 > -90";
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Normalize) {
|
||||
AngleSingle r = AngleSingle();
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(90.0f));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(-90));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(270 + 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(-270));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(-270 - 360));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
|
||||
r = AngleSingle::Normalize(AngleSingle::Degrees(-FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(AngleSingle, Clamp) {
|
||||
AngleSingle r = AngleSingle();
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(2));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 0 2";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(-1), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(2));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -1 0 2";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(3), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(2));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 2) << "Clamp 3 0 2";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 1 0 0";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(0), AngleSingle::Degrees(1),
|
||||
AngleSingle::Degrees(-1));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 1 -1";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(FLOAT_INFINITY));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 0 INFINITY";
|
||||
|
||||
r = AngleSingle::Clamp(AngleSingle::Degrees(1),
|
||||
AngleSingle::Degrees(-FLOAT_INFINITY),
|
||||
AngleSingle::Degrees(1));
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
}
|
||||
|
||||
// TEST(AngleSingle, Difference) {
|
||||
// AngleSingle r = 0;
|
||||
|
||||
// r = AngleSingle::Difference(0, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
|
||||
|
||||
// r = AngleSingle::Difference(0, -90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
|
||||
|
||||
// r = AngleSingle::Difference(0, 270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
|
||||
|
||||
// r = AngleSingle::Difference(0, -270);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
|
||||
|
||||
// r = AngleSingle::Difference(90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
|
||||
|
||||
// r = AngleSingle::Difference(-90, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
|
||||
|
||||
// r = AngleSingle::Difference(0, 0);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
|
||||
|
||||
// r = AngleSingle::Difference(90, 90);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
|
||||
|
||||
// if (std::numeric_limits<float>::is_iec559) {
|
||||
// r = AngleSingle::Difference(0, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
|
||||
|
||||
// r = AngleSingle::Difference(0, -INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
|
||||
|
||||
// r = AngleSingle::Difference(-INFINITY, INFINITY);
|
||||
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
|
||||
// INFINITY";
|
||||
// }
|
||||
// }
|
||||
|
||||
TEST(AngleSingle, MoveTowards) {
|
||||
AngleSingle r = AngleSingle();
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), 30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 90 30";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), 90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), 180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 180";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), 270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-90), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-90), -90);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-90), -180);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-90), -270);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), 0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
|
||||
0);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
|
||||
30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(90), FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(FLOAT_INFINITY), 30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-90), -FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -FLOAT_INFINITY";
|
||||
|
||||
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
|
||||
AngleSingle::Degrees(-FLOAT_INFINITY), -30);
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -FLOAT_INFINITY -30";
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -1,167 +0,0 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <math.h>
|
||||
#include <limits>
|
||||
|
||||
#include "Angle.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Angle, Normalize) {
|
||||
float r = 0;
|
||||
|
||||
r = Angle::Normalize(90);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Normalize 90";
|
||||
|
||||
r = Angle::Normalize(-90);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Normalize -90";
|
||||
|
||||
r = Angle::Normalize(270);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Normalize 270";
|
||||
|
||||
r = Angle::Normalize(270+360);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Normalize 270+360";
|
||||
|
||||
r = Angle::Normalize(-270);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Normalize -270";
|
||||
|
||||
r = Angle::Normalize(-270 - 360);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Normalize -270-360";
|
||||
|
||||
r = Angle::Normalize(0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Normalize 0";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Angle::Normalize(FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
|
||||
r = Angle::Normalize(-FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, -FLOAT_INFINITY) << "Normalize INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Angle, Clamp) {
|
||||
float r = 0;
|
||||
|
||||
r = Angle::Clamp(1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 2";
|
||||
|
||||
r = Angle::Clamp(-1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp -1 0 2";
|
||||
|
||||
r = Angle::Clamp(3, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 2) << "Clamp 3 0 2";
|
||||
|
||||
r = Angle::Clamp(1, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 1 0 0";
|
||||
|
||||
r = Angle::Clamp(0, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 0 0";
|
||||
|
||||
r = Angle::Clamp(0, 1, -1);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 0 1 -1";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Angle::Clamp(1, 0, FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 INFINITY";
|
||||
|
||||
r = Angle::Clamp(1, -FLOAT_INFINITY, 1);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Angle, Difference) {
|
||||
float r = 0;
|
||||
|
||||
r = Angle::Difference(0, 90);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Difference 0 90";
|
||||
|
||||
r = Angle::Difference(0, -90);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Difference 0 -90";
|
||||
|
||||
r = Angle::Difference(0, 270);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Difference 0 270";
|
||||
|
||||
r = Angle::Difference(0, -270);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Difference 0 -270";
|
||||
|
||||
r = Angle::Difference(90, 0);
|
||||
EXPECT_FLOAT_EQ(r, -90) << "Difference 90 0";
|
||||
|
||||
r = Angle::Difference(-90, 0);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "Difference -90 0";
|
||||
|
||||
r = Angle::Difference(0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Difference 0 0";
|
||||
|
||||
r = Angle::Difference(90, 90);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Difference 90 90";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Angle::Difference(0, INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, INFINITY) << "Difference 0 INFINITY";
|
||||
|
||||
r = Angle::Difference(0, -INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, -INFINITY) << "Difference 0 -INFINITY";
|
||||
|
||||
r = Angle::Difference(-INFINITY, INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, INFINITY) << "Difference -INFINITY INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Angle, MoveTowards) {
|
||||
float r = 0;
|
||||
|
||||
r = Angle::MoveTowards(0, 90, 30);
|
||||
EXPECT_FLOAT_EQ(r, 30) << "MoveTowards 0 90 30";
|
||||
|
||||
r = Angle::MoveTowards(0, 90, 90);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "MoveTowards 0 90 90";
|
||||
|
||||
r = Angle::MoveTowards(0, 90, 180);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "MoveTowards 0 90 180";
|
||||
|
||||
r = Angle::MoveTowards(0, 90, 270);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "MoveTowards 0 90 270";
|
||||
|
||||
r = Angle::MoveTowards(0, 90, -30);
|
||||
EXPECT_FLOAT_EQ(r, -30) << "MoveTowards 0 90 -30";
|
||||
|
||||
r = Angle::MoveTowards(0, -90, -30);
|
||||
EXPECT_FLOAT_EQ(r, 30) << "MoveTowards 0 -90 -30";
|
||||
|
||||
r = Angle::MoveTowards(0, -90, -90);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "MoveTowards 0 -90 -90";
|
||||
|
||||
r = Angle::MoveTowards(0, -90, -180);
|
||||
EXPECT_FLOAT_EQ(r, 180) << "MoveTowards 0 -90 -180";
|
||||
|
||||
r = Angle::MoveTowards(0, -90, -270);
|
||||
EXPECT_FLOAT_EQ(r, 270) << "MoveTowards 0 -90 -270";
|
||||
|
||||
r = Angle::MoveTowards(0, 90, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "MoveTowards 0 90 0";
|
||||
|
||||
r = Angle::MoveTowards(0, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "MoveTowards 0 0 0";
|
||||
|
||||
r = Angle::MoveTowards(0, 0, 30);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "MoveTowards 0 0 30";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Angle::MoveTowards(0, 90, FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, 90) << "MoveTowards 0 90 FLOAT_INFINITY";
|
||||
|
||||
r = Angle::MoveTowards(0, FLOAT_INFINITY, 30);
|
||||
EXPECT_FLOAT_EQ(r, 30) << "MoveTowards 0 FLOAT_INFINITY 30";
|
||||
|
||||
r = Angle::MoveTowards(0, -90, -FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, FLOAT_INFINITY) << "MoveTowards 0 -90 -FLOAT_INFINITY";
|
||||
|
||||
r = Angle::MoveTowards(0, -FLOAT_INFINITY, -30);
|
||||
EXPECT_FLOAT_EQ(r, 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
56
LinearAlgebra/test/Direction_test.cc
Normal file
56
LinearAlgebra/test/Direction_test.cc
Normal file
@ -0,0 +1,56 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <math.h>
|
||||
#include <limits>
|
||||
|
||||
#include "Direction.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Direction16, Compare) {
|
||||
Direction16 d = Direction16::Degrees(45, 135);
|
||||
bool r;
|
||||
r = (d == Direction16(Angle16::Degrees(45), Angle16::Degrees(135)));
|
||||
EXPECT_TRUE(r) << "45,135 == 45, 135";
|
||||
|
||||
r = (d ==
|
||||
Direction16(Angle16::Degrees(45 + 360), Angle16::Degrees(135 - 360)));
|
||||
EXPECT_TRUE(r) << "45+360, 135-360 == 45, 135";
|
||||
}
|
||||
|
||||
TEST(Direction16, Inverse) {
|
||||
Direction16 d;
|
||||
Direction16 r;
|
||||
|
||||
d = Direction16::Degrees(45, 135);
|
||||
r = -d;
|
||||
EXPECT_EQ(r, Direction16::Degrees(-135, -135)) << "-(45, 135)";
|
||||
|
||||
d = Direction16::Degrees(-45, -135);
|
||||
r = -d;
|
||||
EXPECT_EQ(r, Direction16::Degrees(135, 135)) << "-(-45, -135)";
|
||||
|
||||
d = Direction16::Degrees(0, 0);
|
||||
r = -d;
|
||||
EXPECT_EQ(r, Direction16::Degrees(180, 0)) << "-(0, 0)";
|
||||
|
||||
d = Direction16::Degrees(0, 45);
|
||||
r = -d;
|
||||
EXPECT_EQ(r, Direction16::Degrees(180, -45)) << "-(0, 45)";
|
||||
}
|
||||
|
||||
TEST(Direction16, Equality) {
|
||||
Direction16 d;
|
||||
d = Direction16::Degrees(135, 45);
|
||||
EXPECT_EQ(d, Direction16::Degrees(135, 45)) << "(135, 45) == (135, 45)";
|
||||
EXPECT_EQ(d, Direction16::Degrees(135 + 360, 45))
|
||||
<< "(135, 45) == (135 + 360, 45) ";
|
||||
EXPECT_EQ(d, Direction16::Degrees(135 - 360, 45))
|
||||
<< "(135, 135) == (135 - 360, 45) ";
|
||||
|
||||
d = Direction16::Degrees(0, 45 + 180);
|
||||
EXPECT_EQ(d, Direction16::Degrees(180, -45)) << "(0, 45+180) == (180, -45)";
|
||||
}
|
||||
|
||||
#endif
|
||||
82
LinearAlgebra/test/DiscreteAngle_test.cc
Normal file
82
LinearAlgebra/test/DiscreteAngle_test.cc
Normal file
@ -0,0 +1,82 @@
|
||||
/*
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <math.h>
|
||||
#include <limits>
|
||||
|
||||
#include "Angle.h"
|
||||
// #include "Angle16.h"
|
||||
// #include "Angle8.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Angle8, Construct) {
|
||||
float angle = 0.0F;
|
||||
Angle8 a = Angle8::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = -180.0F;
|
||||
a = Angle8::Degrees(angle);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
}
|
||||
|
||||
TEST(Angle8, Negate) {
|
||||
float angle = 0;
|
||||
Angle8 a = Angle8::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 90.0F;
|
||||
a = Angle8::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
|
||||
}
|
||||
|
||||
TEST(Angle8, Add) {
|
||||
Angle8 a = Angle8::Degrees(-45);
|
||||
Angle8 b = Angle8::Degrees(45.0F);
|
||||
Angle8 r = a + b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
|
||||
}
|
||||
|
||||
TEST(Angle8, Subtract) {
|
||||
Angle8 a = Angle8::Degrees(0);
|
||||
Angle8 b = Angle8::Degrees(45.0F);
|
||||
Angle8 r = a - b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
|
||||
}
|
||||
|
||||
TEST(Angle16, Construct) {
|
||||
Angle16 a = Angle16::Degrees(0.0F);
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), 0);
|
||||
}
|
||||
|
||||
TEST(Angle16, Negate) {
|
||||
float angle = 0;
|
||||
Angle16 a = Angle16::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
|
||||
|
||||
angle = 90.0F;
|
||||
a = Angle16::Degrees(angle);
|
||||
a = -a;
|
||||
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
|
||||
}
|
||||
|
||||
TEST(Angle16, Subtract) {
|
||||
Angle16 a = Angle16::Degrees(0);
|
||||
Angle16 b = Angle16::Degrees(45.0F);
|
||||
Angle16 r = a - b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
|
||||
}
|
||||
|
||||
TEST(Angle16, Add) {
|
||||
Angle16 a = Angle16::Degrees(-45);
|
||||
Angle16 b = Angle16::Degrees(45.0F);
|
||||
Angle16 r = a + b;
|
||||
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
|
||||
}
|
||||
|
||||
#endif
|
||||
*/
|
||||
@ -1,41 +1,41 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <math.h>
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "FloatSingle.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(FloatC, Clamp) {
|
||||
float r = 0;
|
||||
float r = 0;
|
||||
|
||||
r = Float::Clamp(1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 2";
|
||||
r = Float::Clamp(1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 2";
|
||||
|
||||
r = Float::Clamp(-1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp -1 0 2";
|
||||
r = Float::Clamp(-1, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp -1 0 2";
|
||||
|
||||
r = Float::Clamp(3, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 2) << "Clamp 3 0 2";
|
||||
r = Float::Clamp(3, 0, 2);
|
||||
EXPECT_FLOAT_EQ(r, 2) << "Clamp 3 0 2";
|
||||
|
||||
r = Float::Clamp(1, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 1 0 0";
|
||||
r = Float::Clamp(1, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 1 0 0";
|
||||
|
||||
r = Float::Clamp(0, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 0 0";
|
||||
r = Float::Clamp(0, 0, 0);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 0 0";
|
||||
|
||||
r = Float::Clamp(0, 1, -1);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 0 1 -1";
|
||||
r = Float::Clamp(0, 1, -1);
|
||||
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 1 -1";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Float::Clamp(1, 0, FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 INFINITY";
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
r = Float::Clamp(1, 0, FLOAT_INFINITY);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 INFINITY";
|
||||
|
||||
r = Float::Clamp(1, -FLOAT_INFINITY, 1);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
r = Float::Clamp(1, -FLOAT_INFINITY, 1);
|
||||
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 -INFINITY 1";
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -18,7 +18,8 @@ TEST(MatrixSingle, Init) {
|
||||
MatrixOf<float> m2 = MatrixOf<float>(2, 2, data2);
|
||||
|
||||
// negative
|
||||
MatrixOf<float> m_1 = MatrixOf<float>(-1, -1);
|
||||
// MatrixOf<float> m_1 = MatrixOf<float>(-1, -1);
|
||||
// parameters are unsigned
|
||||
}
|
||||
|
||||
TEST(MatrixSingle, Transpose) {
|
||||
|
||||
232
LinearAlgebra/test/Polar_test.cc
Normal file
232
LinearAlgebra/test/Polar_test.cc
Normal file
@ -0,0 +1,232 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Polar.h"
|
||||
#include "Spherical.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Polar, FromVector2) {
|
||||
Vector2 v = Vector2(0, 1);
|
||||
PolarSingle p = PolarSingle::FromVector2(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance 0 1";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "s.angle 0 0 1";
|
||||
|
||||
v = Vector2(1, 0);
|
||||
p = PolarSingle::FromVector2(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance 1 0";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 90.0F) << "s.angle 1 0";
|
||||
|
||||
v = Vector2(-1, 1);
|
||||
p = PolarSingle::FromVector2(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, sqrt(2.0F)) << "p.distance -1 1";
|
||||
EXPECT_NEAR(p.angle.InDegrees(), -45.0F, 1.0e-05) << "s.angle -1 1";
|
||||
}
|
||||
|
||||
TEST(Polar, FromSpherical) {
|
||||
SphericalSingle s;
|
||||
PolarSingle p;
|
||||
|
||||
s = SphericalSingle(1, DirectionSingle::forward);
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 0 0)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(1 0 0)";
|
||||
|
||||
s = SphericalSingle(1, AngleSingle::Degrees(45), AngleSingle::Degrees(0));
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 45 0)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 45.0F)
|
||||
<< "p.angle FromSpherical(1 45 0)";
|
||||
|
||||
s = SphericalSingle(1, AngleSingle::Degrees(-45), AngleSingle::Degrees(0));
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 -45 0)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -45.0F)
|
||||
<< "p.angle FromSpherical(1 -45 0)";
|
||||
|
||||
s = SphericalSingle(0, AngleSingle::Degrees(0), AngleSingle::Degrees(0));
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 0)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(0 0 0)";
|
||||
|
||||
s = SphericalSingle(-1, AngleSingle::Degrees(0), AngleSingle::Degrees(0));
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(-1 0 0)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -180.0F)
|
||||
<< "p.angle FromSpherical(-1 0 0)";
|
||||
|
||||
s = SphericalSingle(0, AngleSingle::Degrees(0), AngleSingle::Degrees(90));
|
||||
p = PolarSingle::FromSpherical(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 90)";
|
||||
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(0 0 90)";
|
||||
}
|
||||
|
||||
TEST(Polar, Negation) {
|
||||
PolarSingle v = PolarSingle(2, AngleSingle::Degrees(45));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = -v;
|
||||
EXPECT_FLOAT_EQ(r.distance, 2);
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), -135);
|
||||
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(-135)))
|
||||
<< "Negate(2 45)";
|
||||
|
||||
v = PolarSingle::Deg(2, -45);
|
||||
r = -v;
|
||||
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(135)))
|
||||
<< "Negate(2 -45)";
|
||||
|
||||
v = PolarSingle::Degrees(2, 0);
|
||||
r = -v;
|
||||
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(180))) << "Negate(2 0)";
|
||||
|
||||
v = PolarSingle(0, AngleSingle::Degrees(0));
|
||||
r = -v;
|
||||
EXPECT_FLOAT_EQ(r.distance, 0.0f);
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 0.0f);
|
||||
EXPECT_TRUE(r == PolarSingle(0, AngleSingle::Degrees(0))) << "Negate(0 0)";
|
||||
}
|
||||
|
||||
TEST(Polar, Subtraction) {
|
||||
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
|
||||
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = v1 - v2;
|
||||
// don't know what to expect yet
|
||||
|
||||
v2 = PolarSingle::zero;
|
||||
r = v1 - v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Subtraction(0 0)";
|
||||
}
|
||||
|
||||
TEST(Polar, Addition) {
|
||||
PolarSingle v1 = PolarSingle(1, AngleSingle::Degrees(45));
|
||||
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = v1 - v2;
|
||||
// don't know what to expect yet
|
||||
|
||||
v2 = PolarSingle::zero;
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0)";
|
||||
|
||||
r = v1;
|
||||
r += v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0)";
|
||||
|
||||
v2 = PolarSingle(1, AngleSingle::Degrees(-45));
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(0 0 0)";
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 0) << "Addition(0 0 0)";
|
||||
}
|
||||
|
||||
TEST(Polar, Scale_Multiply) {
|
||||
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = v1 * 2.0f;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance * 2) << "ScaleMult(4 45, 2)";
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), v1.angle.InDegrees())
|
||||
<< "ScaleMult(4 45, 2)";
|
||||
}
|
||||
|
||||
TEST(Polar, Scale_Divide) {
|
||||
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = v1 / 2.0f;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance / 2) << "ScaleDiv(4 45, 2)";
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), v1.angle.InDegrees())
|
||||
<< "ScaleDiv(4 45, 2)";
|
||||
}
|
||||
|
||||
TEST(Polar, Distance) {
|
||||
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
|
||||
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
|
||||
float d = 0;
|
||||
|
||||
d = PolarSingle::Distance(v1, v2);
|
||||
// don't know what to expect yet
|
||||
|
||||
v2 = PolarSingle::zero;
|
||||
d = PolarSingle::Distance(v1, v2);
|
||||
EXPECT_FLOAT_EQ(d, v1.distance) << "Distance(4 45, zero)";
|
||||
}
|
||||
|
||||
TEST(Polar, Rotate) {
|
||||
PolarSingle v = PolarSingle(4, AngleSingle::Degrees(45));
|
||||
PolarSingle r = PolarSingle::zero;
|
||||
|
||||
r = PolarSingle::Rotate(v, AngleSingle::Degrees(45));
|
||||
EXPECT_FLOAT_EQ(r.distance, v.distance) << "Rotate(4 45, 45)";
|
||||
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 90.0f) << "Rotate(4 45, 45)";
|
||||
}
|
||||
|
||||
// Performance Test
|
||||
TEST(PolarOfTest, PerformanceTest) {
|
||||
const int numIterations = 1000000; // Number of instances to test
|
||||
std::vector<PolarOf<float>> polarObjects;
|
||||
|
||||
// Measure time for creating a large number of PolarOf objects
|
||||
auto start = std::chrono::high_resolution_clock::now();
|
||||
|
||||
for (int i = 0; i < numIterations; ++i) {
|
||||
float distance =
|
||||
static_cast<float>(rand() % 100); // Random distance from 0 to 100
|
||||
AngleOf<float> angle = AngleOf<float>::Degrees(
|
||||
static_cast<float>(rand() % 360)); // Random angle from 0 to 360 degrees
|
||||
PolarOf<float> p = PolarOf<float>(distance, angle);
|
||||
polarObjects.emplace_back(p); // Create and store the object
|
||||
}
|
||||
|
||||
auto end = std::chrono::high_resolution_clock::now();
|
||||
std::chrono::duration<double> duration = end - start;
|
||||
std::cout << "Time to construct " << numIterations
|
||||
<< " PolarOf objects: " << duration.count() << " seconds."
|
||||
<< std::endl;
|
||||
|
||||
// Test completion with a message
|
||||
ASSERT_GE(duration.count(), 0); // Ensure duration is non-negative
|
||||
|
||||
// Assert that the duration is less than or equal to 1 second
|
||||
ASSERT_LE(duration.count(), 1.0)
|
||||
<< "Performance test failed: Construction took longer than 1 second.";
|
||||
}
|
||||
|
||||
// Edge Case 1: Testing with distance = 0 and angle = 45
|
||||
TEST(PolarOfTest, TestDistanceZero) {
|
||||
PolarOf<float> p1(0.0f, AngleOf<float>::Degrees(45.0f));
|
||||
EXPECT_EQ(p1.distance, 0.0f); // Ensure distance is 0
|
||||
EXPECT_EQ(p1.angle.InDegrees(), 0.0f); // Ensure angle is 0 when distance is 0
|
||||
}
|
||||
|
||||
// Edge Case 2: Testing with negative distance, angle should be adjusted
|
||||
TEST(PolarOfTest, TestNegativeDistance) {
|
||||
PolarOf<float> p2(-10.0f, AngleOf<float>::Degrees(90.0f));
|
||||
EXPECT_EQ(p2.distance, 10.0f); // Ensure distance is positive
|
||||
EXPECT_NEAR(p2.angle.InDegrees(), -90.0f,
|
||||
0.0001f); // Ensure angle is normalized to 270 degrees (180 + 90)
|
||||
}
|
||||
|
||||
// Edge Case 3: Testing with positive distance and angle = 180
|
||||
TEST(PolarOfTest, TestPositiveDistance) {
|
||||
PolarOf<float> p3(100.0f, AngleOf<float>::Degrees(180.0f));
|
||||
EXPECT_EQ(p3.distance, 100.0f); // Ensure distance is correct
|
||||
EXPECT_NEAR(p3.angle.InDegrees(), -180.0f,
|
||||
0.0001f); // Ensure angle is correct
|
||||
}
|
||||
|
||||
#endif
|
||||
222
LinearAlgebra/test/Spherical16_test.cc
Normal file
222
LinearAlgebra/test/Spherical16_test.cc
Normal file
@ -0,0 +1,222 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Spherical.h"
|
||||
#include "Vector3.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Spherical16, FromVector3) {
|
||||
Vector3 v = Vector3(0, 0, 1);
|
||||
Spherical16 s = Spherical16::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
|
||||
EXPECT_FLOAT_EQ((float)s.direction.horizontal.InDegrees(), 0.0F)
|
||||
<< "s.hor 0 0 1";
|
||||
EXPECT_FLOAT_EQ((float)s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert 0 0 1";
|
||||
|
||||
v = Vector3(0, 1, 0);
|
||||
s = Spherical16::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 1 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 90.0F) << "s.vert 0 1 0";
|
||||
|
||||
v = Vector3(1, 0, 0);
|
||||
s = Spherical16::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 90.0F) << "s.hor 1 0 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 1 0 0";
|
||||
}
|
||||
|
||||
TEST(Spherical16, Vector3) {
|
||||
Vector3 v = Vector3(1, 2, 3);
|
||||
Spherical16 rd = Spherical16::FromVector3(v);
|
||||
Vector3 rv = rd.ToVector3();
|
||||
EXPECT_LT(Vector3::Distance(v, rv), 10e-4) << " 1 2 3 <-> spherical";
|
||||
|
||||
v = Vector3(1, 2, -3);
|
||||
rd = Spherical16::FromVector3(v);
|
||||
rv = rd.ToVector3();
|
||||
EXPECT_LT(Vector3::Distance(v, rv), 10e-4) << " 1 2 3 <-> spherical";
|
||||
}
|
||||
|
||||
// TEST(Spherical16, FromPolar) {
|
||||
// Polar p = Polar(1, 0);
|
||||
// Spherical16 s = Spherical16::FromPolar(p);
|
||||
|
||||
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 0)";
|
||||
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 0.0F) << "s.hor Polar(1 0)";
|
||||
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 0)";
|
||||
|
||||
// p = Polar(1, 45);
|
||||
// s = Spherical16::FromPolar(p);
|
||||
|
||||
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 45)";
|
||||
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 45.0F) << "s.hor Polar(1 45)";
|
||||
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 45)";
|
||||
|
||||
// p = Polar(1, -45);
|
||||
// s = Spherical16::FromPolar(p);
|
||||
|
||||
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 -45)";
|
||||
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), -45.0F) << "s.hor Polar(1 -45)";
|
||||
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 -45)";
|
||||
|
||||
// p = Polar(0, 0);
|
||||
// s = Spherical16::FromPolar(p);
|
||||
|
||||
// EXPECT_FLOAT_EQ(s.distance, 0.0F) << "s.distance Polar(0 0)";
|
||||
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 0.0F) << "s.hor Polar(0 0)";
|
||||
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(0 0)";
|
||||
|
||||
// p = Polar(-1, 0);
|
||||
// s = Spherical16::FromPolar(p);
|
||||
|
||||
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(-1 0)";
|
||||
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), -180.0F) << "s.hor Polar(-1 0)";
|
||||
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(-1 0)";
|
||||
// }
|
||||
|
||||
TEST(Spherical16, Incident1) {
|
||||
Vector3 v = Vector3(2.242557f, 1.027884f, -0.322347f);
|
||||
Spherical16 s = Spherical16::FromVector3(v);
|
||||
|
||||
Spherical16 sr =
|
||||
Spherical16(2.49F, Angle16::Degrees(98.18f), Angle16::Degrees(24.4F));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-01);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-02);
|
||||
|
||||
Vector3 r =
|
||||
Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
|
||||
.ToVector3();
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
|
||||
}
|
||||
|
||||
TEST(Spherical16, Incident2) {
|
||||
Vector3 v = Vector3(1.0f, 0.0f, 1.0f);
|
||||
Spherical16 s = Spherical16::FromVector3(v);
|
||||
|
||||
Spherical16 sr = Spherical16(1.4142135623F, Angle16::Degrees(45.0f),
|
||||
Angle16::Degrees(0.0F));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-05);
|
||||
|
||||
Vector3 r =
|
||||
Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
|
||||
.ToVector3();
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
|
||||
|
||||
v = Vector3(0.0f, 1.0f, 1.0f);
|
||||
s = Spherical16::FromVector3(v);
|
||||
|
||||
sr = Spherical16(1.4142135623F, Angle16::Degrees(0), Angle16::Degrees(45));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-05);
|
||||
|
||||
r = Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
|
||||
.ToVector3();
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
|
||||
|
||||
v = Vector3(1.0f, 1.0f, 1.0f);
|
||||
s = Spherical16::FromVector3(v);
|
||||
r = Spherical16(s.distance, s.direction.horizontal, s.direction.vertical)
|
||||
.ToVector3();
|
||||
|
||||
EXPECT_NEAR(s.distance, 1.73205080F, 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(), 45.0F, 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(), 35.26F, 1.0e-02);
|
||||
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-04);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-04);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-04);
|
||||
|
||||
// s = Spherical16(10, 45, 45);
|
||||
// r = s.ToVector3();
|
||||
// EXPECT_NEAR(r.x, 5, 1.0e-06);
|
||||
// EXPECT_NEAR(r.y, 7.07, 1.0e-06);
|
||||
// EXPECT_NEAR(r.z, 5, 1.0e-06);
|
||||
}
|
||||
|
||||
TEST(Spherical16, Addition) {
|
||||
Spherical16 v1 = Spherical16(1, Angle16::Degrees(45), Angle16::Degrees(0));
|
||||
Spherical16 v2 = Spherical16::zero;
|
||||
Spherical16 r = Spherical16::zero;
|
||||
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
|
||||
|
||||
r = v1;
|
||||
r += v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
|
||||
|
||||
v2 = Spherical16(1, Angle16::Degrees(-45), Angle16::Degrees(0));
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 -45 0)";
|
||||
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 0) << "Addition(1 -45 0)";
|
||||
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 0) << "Addition(1 -45 0)";
|
||||
|
||||
v2 = Spherical16(1, Angle16::Degrees(0), Angle16::Degrees(90));
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 0 90)";
|
||||
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 45) << "Addition(1 0 90)";
|
||||
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 45) << "Addition(1 0 90)";
|
||||
}
|
||||
|
||||
TEST(Spherical16, AdditionPerformance) {
|
||||
const int numIterations = 1000000; // Number of additions to test
|
||||
std::vector<Spherical16> sphericalObjects;
|
||||
|
||||
// Populate the vector with random SphericalOf objects
|
||||
for (int i = 0; i < numIterations; ++i) {
|
||||
float distance = (float)(rand() % 100);
|
||||
float horizontal = (float)(rand() % 180);
|
||||
float vertical = (float)(rand() % 360);
|
||||
Spherical16 s = Spherical16::Deg(distance, horizontal, vertical);
|
||||
sphericalObjects.push_back(s);
|
||||
}
|
||||
|
||||
// Measure the time to perform multiple additions
|
||||
auto start = std::chrono::high_resolution_clock::now();
|
||||
|
||||
Spherical16 result = Spherical16::zero; // Start with a
|
||||
// zero-initialized object
|
||||
|
||||
for (int i = 0; i < numIterations - 1; ++i) {
|
||||
result = result + sphericalObjects[i]; // Add objects
|
||||
// together
|
||||
}
|
||||
|
||||
auto end = std::chrono::high_resolution_clock::now();
|
||||
std::chrono::duration<double> duration = end - start;
|
||||
std::cout << "Time to perform " << numIterations - 1
|
||||
<< " additions: " << duration.count() << " seconds." << std::endl;
|
||||
|
||||
// Assert that the time taken is less than
|
||||
// 1 second (or any other performance
|
||||
// requirement)
|
||||
ASSERT_LE(duration.count(), 1.0) << "Performance test failed: "
|
||||
"Additions took longer than 1 "
|
||||
"second.";
|
||||
}
|
||||
|
||||
#endif
|
||||
213
LinearAlgebra/test/SphericalSingle_test.cc
Normal file
213
LinearAlgebra/test/SphericalSingle_test.cc
Normal file
@ -0,0 +1,213 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
#include "Spherical.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(SphericalSingle, FromVector3) {
|
||||
Vector3 v = Vector3(0, 0, 1);
|
||||
SphericalSingle s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 0 1";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 0 0 1";
|
||||
|
||||
v = Vector3(0, 1, 0);
|
||||
s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 1 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 90.0F) << "s.vert 0 1 0";
|
||||
|
||||
v = Vector3(1, 0, 0);
|
||||
s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 90.0F) << "s.hor 1 0 0";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 1 0 0";
|
||||
}
|
||||
|
||||
TEST(SphericalSingle, FromPolar) {
|
||||
PolarSingle p = PolarSingle(1, AngleSingle::Degrees(0));
|
||||
SphericalSingle s = SphericalSingle ::FromPolar(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F)
|
||||
<< "s.hor Polar(1 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert Polar(1 0)";
|
||||
|
||||
p = PolarSingle(1, AngleSingle::Degrees(45));
|
||||
s = SphericalSingle ::FromPolar(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 45)";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 45.0F)
|
||||
<< "s.hor Polar(1 45)";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert Polar(1 45)";
|
||||
|
||||
p = PolarSingle(1, AngleSingle::Degrees(-45));
|
||||
s = SphericalSingle ::FromPolar(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 -45)";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), -45.0F)
|
||||
<< "s.hor Polar(1 -45)";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert Polar(1 -45)";
|
||||
|
||||
p = PolarSingle(0, AngleSingle::Degrees(0));
|
||||
s = SphericalSingle ::FromPolar(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 0.0F) << "s.distance Polar(0 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F)
|
||||
<< "s.hor Polar(0 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert Polar(0 0)";
|
||||
|
||||
p = PolarSingle(-1, AngleSingle::Degrees(0));
|
||||
s = SphericalSingle ::FromPolar(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(-1 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), -180.0F)
|
||||
<< "s.hor Polar(-1 0)";
|
||||
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
|
||||
<< "s.vert Polar(-1 0)";
|
||||
}
|
||||
|
||||
TEST(SphericalSingle, Incident1) {
|
||||
Vector3 v = Vector3(2.242557f, 1.027884f, -0.322347f);
|
||||
SphericalSingle s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
SphericalSingle sr = SphericalSingle(2.49F, AngleSingle::Degrees(98.18f),
|
||||
AngleSingle::Degrees(24.4F));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-01);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-02);
|
||||
|
||||
Vector3 r = Vector3(sr);
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
|
||||
}
|
||||
|
||||
TEST(SphericalSingle, Incident2) {
|
||||
Vector3 v = Vector3(1.0f, 0.0f, 1.0f);
|
||||
SphericalSingle s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
SphericalSingle sr = SphericalSingle(
|
||||
1.4142135623F, AngleSingle::Degrees(45.0f), AngleSingle::Degrees(0.0F));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-05);
|
||||
|
||||
Vector3 r = Vector3(sr);
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
|
||||
|
||||
v = Vector3(0.0f, 1.0f, 1.0f);
|
||||
s = SphericalSingle ::FromVector3(v);
|
||||
|
||||
sr = SphericalSingle(1.4142135623F, AngleSingle::Degrees(0.0f),
|
||||
AngleSingle::Degrees(45.0F));
|
||||
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
|
||||
sr.direction.horizontal.InDegrees(), 1.0e-05);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(),
|
||||
sr.direction.vertical.InDegrees(), 1.0e-05);
|
||||
|
||||
r = Vector3(sr);
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
|
||||
|
||||
v = Vector3(1.0f, 1.0f, 1.0f);
|
||||
s = SphericalSingle ::FromVector3(v);
|
||||
r = Vector3(s);
|
||||
|
||||
EXPECT_NEAR(s.distance, 1.73205080F, 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.horizontal.InDegrees(), 45.0F, 1.0e-02);
|
||||
EXPECT_NEAR(s.direction.vertical.InDegrees(), 35.26F, 1.0e-02);
|
||||
|
||||
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
|
||||
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
|
||||
|
||||
// s = SphericalSingle(10, 45, 45);
|
||||
// r = s.ToVector3();
|
||||
// EXPECT_NEAR(r.x, 5, 1.0e-06);
|
||||
// EXPECT_NEAR(r.y, 7.07, 1.0e-06);
|
||||
// EXPECT_NEAR(r.z, 5, 1.0e-06);
|
||||
}
|
||||
|
||||
TEST(SphericalSingle, Addition) {
|
||||
SphericalSingle v1 =
|
||||
SphericalSingle(1, AngleSingle::Degrees(45), AngleSingle::Degrees(0));
|
||||
SphericalSingle v2 = SphericalSingle ::zero;
|
||||
SphericalSingle r = SphericalSingle ::zero;
|
||||
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
|
||||
|
||||
r = v1;
|
||||
r += v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
|
||||
|
||||
v2 = SphericalSingle(1, AngleSingle::Degrees(-45), AngleSingle::Degrees(0));
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 -45 0)";
|
||||
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 0) << "Addition(1 -45 0)";
|
||||
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 0) << "Addition(1 -45 0)";
|
||||
|
||||
v2 = SphericalSingle(1, AngleSingle::Degrees(0), AngleSingle::Degrees(90));
|
||||
r = v1 + v2;
|
||||
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 0 90)";
|
||||
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 45) << "Addition(1 0 90)";
|
||||
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 45) << "Addition(1 0 90)";
|
||||
}
|
||||
|
||||
TEST(SphericalSingle, AdditionPerformance) {
|
||||
const int numIterations = 1000000; // Number of additions to test
|
||||
std::vector<SphericalSingle> sphericalObjects;
|
||||
|
||||
// Populate the vector with random SphericalOf objects
|
||||
for (int i = 0; i < numIterations; ++i) {
|
||||
float distance = (float)(rand() % 100);
|
||||
float horizontal = (float)(rand() % 180);
|
||||
float vertical = (float)(rand() % 360);
|
||||
SphericalSingle s = SphericalSingle::Deg(distance, horizontal, vertical);
|
||||
sphericalObjects.push_back(s);
|
||||
}
|
||||
|
||||
// Measure the time to perform multiple additions
|
||||
auto start = std::chrono::high_resolution_clock::now();
|
||||
|
||||
SphericalSingle result = SphericalSingle::zero; // Start with a
|
||||
// zero-initialized object
|
||||
|
||||
for (int i = 0; i < numIterations - 1; ++i) {
|
||||
result = result + sphericalObjects[i]; // Add objects
|
||||
// together
|
||||
}
|
||||
|
||||
auto end = std::chrono::high_resolution_clock::now();
|
||||
std::chrono::duration<double> duration = end - start;
|
||||
std::cout << "Time to perform " << numIterations - 1
|
||||
<< " additions: " << duration.count() << " seconds." << std::endl;
|
||||
|
||||
// Assert that the time taken is less than
|
||||
// 1 second (or any other performance
|
||||
// requirement)
|
||||
ASSERT_LE(duration.count(), 1.0) << "Performance test failed: "
|
||||
"Additions took longer than 1 "
|
||||
"second.";
|
||||
}
|
||||
|
||||
#endif
|
||||
131
LinearAlgebra/test/SwingTwistSingle_test.cc
Normal file
131
LinearAlgebra/test/SwingTwistSingle_test.cc
Normal file
@ -0,0 +1,131 @@
|
||||
#if GTEST
|
||||
#include <gtest/gtest.h>
|
||||
#include <math.h>
|
||||
#include <limits>
|
||||
|
||||
#include "SwingTwist.h"
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(SwingTwistSingle, Quaternion) {
|
||||
Quaternion q;
|
||||
SwingTwistSingle s;
|
||||
Quaternion rq;
|
||||
|
||||
q = Quaternion::identity;
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_EQ(q, rq) << " 0 0 0 1 <-> SwingTwist";
|
||||
|
||||
q = Quaternion::Euler(90, 0, 0);
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 90 0 0 <-> SwingTwist";
|
||||
|
||||
q = Quaternion::Euler(0, 90, 0);
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
|
||||
|
||||
q = Quaternion::Euler(0, 0, 90);
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_EQ(q, rq) << " Euler 0 0 90 <-> SwingTwist";
|
||||
|
||||
q = Quaternion::Euler(0, 180, 0); // ==> spherical S(180 0)T0
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
|
||||
|
||||
q = Quaternion::Euler(0, 135, 0); // ==> spherical S(180 45)T0
|
||||
s = SwingTwistSingle::FromQuaternion(q);
|
||||
rq = s.ToQuaternion();
|
||||
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
|
||||
}
|
||||
|
||||
TEST(SwingTwistSingle, AngleAxis) {
|
||||
SwingTwistSingle s;
|
||||
SwingTwistSingle r;
|
||||
|
||||
s = SwingTwistSingle::AngleAxis(0, DirectionSingle::up);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(0, 0, 0)) << "0 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::up);
|
||||
s = SwingTwistSingle::Degrees(90, 0, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "90 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::up);
|
||||
s = SwingTwistSingle::Degrees(180, 0, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "180 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::up);
|
||||
s = SwingTwistSingle::Degrees(-90, 0, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "270 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::right);
|
||||
s = SwingTwistSingle::Degrees(0, 90, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "90 right";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::right);
|
||||
s = SwingTwistSingle::Degrees(0, 180, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "180 right";
|
||||
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::right);
|
||||
s = SwingTwistSingle::Degrees(0, -90, 0);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "270 right";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::forward);
|
||||
s = SwingTwistSingle::Degrees(0, 0, 90);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "90 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::forward);
|
||||
s = SwingTwistSingle::Degrees(0, 0, 180);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "180 up";
|
||||
|
||||
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::forward);
|
||||
s = SwingTwistSingle::Degrees(0, 0, -90);
|
||||
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
|
||||
<< "270 up";
|
||||
|
||||
auto r16 = SwingTwist16::AngleAxis(13, Direction16::down);
|
||||
auto s16 = SwingTwist16::Degrees(-13, 0, 0);
|
||||
EXPECT_LT(SwingTwist16::Angle(r16, s16), Angle16::Degrees(10e-2f))
|
||||
<< "270 up";
|
||||
}
|
||||
|
||||
TEST(SwingTwistSingle, Normalize) {
|
||||
SwingTwistSingle s;
|
||||
|
||||
s = SwingTwistSingle::Degrees(0, 0, 0);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(0, 0, 0)) << "0 0 0 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(0, 180, 0);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(180, 0, 180)) << "0 180 0 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(0, 180, 180);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(180, 0, 0)) << "0 180 180 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(270, 90, 0);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, 90, 0)) << "270 90 0 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(270, 270, 0);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, -90, 0))
|
||||
<< "270 270 0 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(270, 225, 0);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(90, -45, -180))
|
||||
<< "270 225 0 Normalized";
|
||||
|
||||
s = SwingTwistSingle::Degrees(270, 0, 225);
|
||||
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, 0, -135))
|
||||
<< "270 0 225 Normalized";
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -7,6 +7,33 @@
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Vector2, FromPolar) {
|
||||
Vector2 v;
|
||||
PolarSingle p;
|
||||
Vector2 r;
|
||||
|
||||
v = Vector2(0, 1);
|
||||
p = PolarSingle::FromVector2(v);
|
||||
r = Vector2(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.x, 0.0F) << "FromPolar(0 1)";
|
||||
EXPECT_FLOAT_EQ(r.y, 1.0F) << "FromPolar(0 1)";
|
||||
|
||||
v = Vector2(1, 0);
|
||||
p = PolarSingle::FromVector2(v);
|
||||
r = Vector2(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.x, 1.0F) << "FromPolar(1 0)";
|
||||
EXPECT_NEAR(r.y, 0.0F, 1.0e-07) << "FromPolar(1 0)";
|
||||
|
||||
v = Vector2(0, 0);
|
||||
p = PolarSingle::FromVector2(v);
|
||||
r = Vector2(p);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.x, 0.0F) << "FromPolar(0 0)";
|
||||
EXPECT_FLOAT_EQ(r.y, 0.0F) << "FromPolar(0 0)";
|
||||
}
|
||||
|
||||
TEST(Vector2, Magnitude) {
|
||||
Vector2 v = Vector2(1, 2);
|
||||
float m = 0;
|
||||
@ -99,8 +126,6 @@ TEST(Vector2, Normalize) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Negate) {
|
||||
bool r = false;
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
Vector2 v = Vector2::zero;
|
||||
|
||||
@ -129,8 +154,6 @@ TEST(Vector2, Negate) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Subtract) {
|
||||
bool r = false;
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
Vector2 v2 = Vector2(1, 2);
|
||||
Vector2 v = Vector2::zero;
|
||||
@ -145,11 +168,17 @@ TEST(Vector2, Subtract) {
|
||||
v2 = Vector2(4, 5);
|
||||
v = v1 - v2;
|
||||
EXPECT_TRUE(v == Vector2(0, 0)) << "4 5 - 4 5";
|
||||
v = v1;
|
||||
v -= v2;
|
||||
EXPECT_TRUE(v == Vector2(0, 0)) << "4 5 - 4 5";
|
||||
|
||||
v2 = Vector2(0, 0);
|
||||
v = v1 - v2;
|
||||
EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 - 0 0";
|
||||
|
||||
v -= v2;
|
||||
EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 - 0 0";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
v = v1 - v2;
|
||||
@ -164,11 +193,9 @@ TEST(Vector2, Subtract) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Addition) {
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
Vector2 v2 = Vector2(1, 2);
|
||||
Vector2 v = Vector2::zero;
|
||||
bool r = false;
|
||||
|
||||
v = v1 + v2;
|
||||
EXPECT_TRUE(v == Vector2(5, 7)) << "4 5 + 1 2";
|
||||
@ -176,10 +203,15 @@ TEST(Vector2, Addition) {
|
||||
v2 = Vector2(-1, -2);
|
||||
v = v1 + v2;
|
||||
EXPECT_TRUE(v == Vector2(3, 3)) << "4 5 + -1 -2";
|
||||
v = v1;
|
||||
v += v2;
|
||||
EXPECT_TRUE(v == Vector2(3, 3)) << "4 5 + -1 -2";
|
||||
|
||||
v2 = Vector2(0, 0);
|
||||
v = v1 + v2;
|
||||
EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 + 0 0";
|
||||
v += v2;
|
||||
EXPECT_TRUE(v == Vector2(4, 5)) << "4 5 + 0 0";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
@ -195,8 +227,6 @@ TEST(Vector2, Addition) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Scale) {
|
||||
bool r = false;
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
Vector2 v2 = Vector2(1, 2);
|
||||
Vector2 v = Vector2::zero;
|
||||
@ -226,8 +256,6 @@ TEST(Vector2, Scale) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Multiply) {
|
||||
bool r = false;
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
float f = 3;
|
||||
Vector2 v = Vector2::zero;
|
||||
@ -257,8 +285,6 @@ TEST(Vector2, Multiply) {
|
||||
}
|
||||
|
||||
TEST(Vector2, Divide) {
|
||||
bool r = false;
|
||||
|
||||
Vector2 v1 = Vector2(4, 5);
|
||||
float f = 2;
|
||||
Vector2 v = Vector2::zero;
|
||||
@ -399,11 +425,11 @@ TEST(Vector2, SignedAngle) {
|
||||
bool r = false;
|
||||
|
||||
f = Vector2::SignedAngle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 12.09476F) << "SignedAngle(4 5, 1 2)";
|
||||
EXPECT_FLOAT_EQ(f, -12.09476F) << "SignedAngle(4 5, 1 2)";
|
||||
|
||||
v2 = Vector2(-1, -2);
|
||||
f = Vector2::SignedAngle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, -167.9052F) << "SignedAngle(4 5, -1 -2)";
|
||||
EXPECT_FLOAT_EQ(f, 167.9052F) << "SignedAngle(4 5, -1 -2)";
|
||||
|
||||
v2 = Vector2(0, 0);
|
||||
f = Vector2::SignedAngle(v1, v2);
|
||||
@ -420,22 +446,32 @@ TEST(Vector2, SignedAngle) {
|
||||
r = isnan(f);
|
||||
EXPECT_TRUE(r) << "SignedAngle(4 5, -INFINITY -INFINITY)";
|
||||
}
|
||||
|
||||
v1 = Vector2(0, 1);
|
||||
v2 = Vector2(1, 0);
|
||||
f = Vector2::SignedAngle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 90.0F) << "SignedAngle(0 1, 1 0)";
|
||||
|
||||
v1 = Vector2(0, 1);
|
||||
v2 = Vector2(0, -1);
|
||||
f = Vector2::SignedAngle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 180.0F) << "SignedAngle(0 1, 1 0)";
|
||||
}
|
||||
|
||||
TEST(Vector2, Rotate) {
|
||||
Vector2 v1 = Vector2(1, 2);
|
||||
Vector2 r = Vector2(0, 0);
|
||||
|
||||
r = Vector2::Rotate(v1, 0);
|
||||
r = Vector2::Rotate(v1, AngleSingle::Degrees(0));
|
||||
EXPECT_FLOAT_EQ(Vector2::Distance(r, v1), 0);
|
||||
|
||||
r = Vector2::Rotate(v1, 180);
|
||||
r = Vector2::Rotate(v1, AngleSingle::Degrees(180));
|
||||
EXPECT_NEAR(Vector2::Distance(r, Vector2(-1, -2)), 0, 1.0e-06);
|
||||
|
||||
r = Vector2::Rotate(v1, -90);
|
||||
r = Vector2::Rotate(v1, AngleSingle::Degrees(-90));
|
||||
EXPECT_NEAR(Vector2::Distance(r, Vector2(2, -1)), 0, 1.0e-06);
|
||||
|
||||
r = Vector2::Rotate(v1, 270);
|
||||
r = Vector2::Rotate(v1, AngleSingle::Degrees(270));
|
||||
EXPECT_NEAR(Vector2::Distance(r, Vector2(2, -1)), 0, 1.0e-06);
|
||||
}
|
||||
|
||||
@ -460,6 +496,4 @@ TEST(Vector2, Lerp) {
|
||||
EXPECT_FLOAT_EQ(Vector2::Distance(r, Vector2(-2.0, -1.0f)), 0);
|
||||
}
|
||||
|
||||
TEST(Vector2, DISABLED_ToFactor) {}
|
||||
|
||||
#endif
|
||||
@ -7,6 +7,32 @@
|
||||
|
||||
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
|
||||
|
||||
TEST(Vector3, FromSpherical) {
|
||||
Vector3 v = Vector3(0, 0, 1);
|
||||
SphericalOf<float> s = SphericalOf<float>::FromVector3(v);
|
||||
Vector3 r = Vector3(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 0 1";
|
||||
EXPECT_NEAR(r.Up(), 0.0F, 1.0e-06) << "toVector3.y 0 0 1";
|
||||
EXPECT_FLOAT_EQ(r.Forward(), 1.0F) << "toVector3.z 0 0 1";
|
||||
|
||||
v = Vector3(0, 1, 0);
|
||||
s = SphericalOf<float>::FromVector3(v);
|
||||
r = Vector3(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 1 0";
|
||||
EXPECT_FLOAT_EQ(r.Up(), 1.0F) << "toVector3.y 0 1 0";
|
||||
EXPECT_NEAR(r.Forward(), 0.0F, 1.0e-06) << "toVector3.z 0 1 0";
|
||||
|
||||
v = Vector3(1, 0, 0);
|
||||
s = SphericalOf<float>::FromVector3(v);
|
||||
r = Vector3(s);
|
||||
|
||||
EXPECT_FLOAT_EQ(r.Right(), 1.0F) << "toVector3.x 1 0 0";
|
||||
EXPECT_NEAR(r.Up(), 0.0F, 1.0e-06) << "toVector3.y 1 0 0";
|
||||
EXPECT_NEAR(r.Forward(), 0.0F, 1.0e-06) << "toVector3.z 1 0 0";
|
||||
}
|
||||
|
||||
TEST(Vector3, Magnitude) {
|
||||
Vector3 v = Vector3(1, 2, 3);
|
||||
float m = 0;
|
||||
@ -92,19 +118,17 @@ TEST(Vector3, Normalize) {
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v1 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
v = v1.normalized();
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "v.normalized INFINITY INFINITY INFINITY";
|
||||
|
||||
v1 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
v = v1.normalized();
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "v.normalized -INFINITY -INFINITY -INFINITY";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(Vector3, Negate) {
|
||||
bool r = false;
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v = Vector3::zero;
|
||||
|
||||
@ -133,8 +157,6 @@ TEST(Vector3, Negate) {
|
||||
}
|
||||
|
||||
TEST(Vector3, Subtract) {
|
||||
bool r = false;
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v2 = Vector3(1, 2, 3);
|
||||
Vector3 v = Vector3::zero;
|
||||
@ -168,11 +190,9 @@ TEST(Vector3, Subtract) {
|
||||
}
|
||||
|
||||
TEST(Vector3, Addition) {
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v2 = Vector3(1, 2, 3);
|
||||
Vector3 v = Vector3::zero;
|
||||
bool r = false;
|
||||
|
||||
v = v1 + v2;
|
||||
EXPECT_TRUE(v == Vector3(5, 7, 9)) << "4 5 6 + 1 2 3";
|
||||
@ -199,8 +219,6 @@ TEST(Vector3, Addition) {
|
||||
}
|
||||
|
||||
TEST(Vector3, Scale) {
|
||||
bool r = false;
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v2 = Vector3(1, 2, 3);
|
||||
Vector3 v = Vector3::zero;
|
||||
@ -230,8 +248,6 @@ TEST(Vector3, Scale) {
|
||||
}
|
||||
|
||||
TEST(Vector3, Multiply) {
|
||||
bool r = false;
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
float f = 3;
|
||||
Vector3 v = Vector3::zero;
|
||||
@ -261,8 +277,6 @@ TEST(Vector3, Multiply) {
|
||||
}
|
||||
|
||||
TEST(Vector3, Divide) {
|
||||
bool r = false;
|
||||
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
float f = 2;
|
||||
Vector3 v = Vector3::zero;
|
||||
@ -395,12 +409,12 @@ TEST(Vector3, Cross) {
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
v = Vector3::Cross(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "Cross(4 5 6, INFINITY INFINITY INFINITY)";
|
||||
|
||||
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
v = Vector3::Cross(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "Cross(4 5 6, -INFINITY -INFINITY -INFINITY)";
|
||||
}
|
||||
}
|
||||
@ -428,12 +442,12 @@ TEST(Vector3, Project) {
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
v = Vector3::Project(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "Project(4 5 6, INFINITY INFINITY INFINITY)";
|
||||
|
||||
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
v = Vector3::Project(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "Project(4 5 6, -INFINITY -INFINITY -INFINITY)";
|
||||
}
|
||||
}
|
||||
@ -461,12 +475,12 @@ TEST(Vector3, ProjectOnPlane) {
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
v = Vector3::ProjectOnPlane(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, INFINITY INFINITY INFINITY)";
|
||||
|
||||
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
v = Vector3::ProjectOnPlane(v1, v2);
|
||||
r = isnan(v.x) && isnan(v.y) && isnan(v.z);
|
||||
r = isnan(v.Right()) && isnan(v.Up()) && isnan(v.Forward());
|
||||
EXPECT_TRUE(r) << "ProjectOnPlane(4 5 6, -INFINITY -INFINITY -INFINITY)";
|
||||
}
|
||||
}
|
||||
@ -474,29 +488,29 @@ TEST(Vector3, ProjectOnPlane) {
|
||||
TEST(Vector3, Angle) {
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v2 = Vector3(1, 2, 3);
|
||||
float f = 0;
|
||||
AngleOf<float> f = AngleOf<float>::Degrees(0);
|
||||
bool r = false;
|
||||
|
||||
f = Vector3::Angle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 12.9331388F) << "Angle(4 5 6, 1 2 3)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 12.9331388F) << "Angle(4 5 6, 1 2 3)";
|
||||
|
||||
v2 = Vector3(-1, -2, -3);
|
||||
f = Vector3::Angle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 167.066864F) << "Angle(4 5 6, -1 -2 -3)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 167.066864F) << "Angle(4 5 6, -1 -2 -3)";
|
||||
|
||||
v2 = Vector3(0, 0, 0);
|
||||
f = Vector3::Angle(v1, v2);
|
||||
EXPECT_FLOAT_EQ(f, 0) << "Angle(4 5 6, 0 0 0)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "Angle(4 5 6, 0 0 0)";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
f = Vector3::Angle(v1, v2);
|
||||
r = isnan(f);
|
||||
r = isnan(f.InDegrees());
|
||||
EXPECT_TRUE(r) << "Angle(4 5 6, INFINITY INFINITY INFINITY)";
|
||||
|
||||
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
f = Vector3::Angle(v1, v2);
|
||||
r = isnan(f);
|
||||
r = isnan(f.InDegrees());
|
||||
EXPECT_TRUE(r) << "Angle(4 5 6, -INFINITY -INFINITY -INFINITY)";
|
||||
}
|
||||
}
|
||||
@ -505,39 +519,42 @@ TEST(Vector3, SignedAngle) {
|
||||
Vector3 v1 = Vector3(4, 5, 6);
|
||||
Vector3 v2 = Vector3(1, 2, 3);
|
||||
Vector3 v3 = Vector3(7, 8, -9);
|
||||
float f = 0;
|
||||
AngleOf<float> f = AngleOf<float>::Degrees(0);
|
||||
bool r = false;
|
||||
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
EXPECT_FLOAT_EQ(f, -12.9331388F) << "SignedAngle(4 5 6, 1 2 3, 7 8 -9)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), -12.9331388F)
|
||||
<< "SignedAngle(4 5 6, 1 2 3, 7 8 -9)";
|
||||
|
||||
v2 = Vector3(-1, -2, -3);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
EXPECT_FLOAT_EQ(f, 167.066864F) << "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 167.066864F)
|
||||
<< "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)";
|
||||
|
||||
v2 = Vector3(0, 0, 0);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
EXPECT_FLOAT_EQ(f, 0) << "SignedAngle(4 5 6, 0 0 0, 7 8 -9 )";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "SignedAngle(4 5 6, 0 0 0, 7 8 -9 )";
|
||||
|
||||
v2 = Vector3(1, 2, 3);
|
||||
|
||||
v3 = Vector3(-7, -8, 9);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
EXPECT_FLOAT_EQ(f, 12.9331388F) << "SignedAngle(4 5 6, 1 2 3, -7 -8 9)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 12.9331388F)
|
||||
<< "SignedAngle(4 5 6, 1 2 3, -7 -8 9)";
|
||||
|
||||
v3 = Vector3(0, 0, 0);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
EXPECT_FLOAT_EQ(f, 0) << "SignedAngle(4 5 6, 1 2 3, 0 0 0)";
|
||||
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "SignedAngle(4 5 6, 1 2 3, 0 0 0)";
|
||||
|
||||
if (std::numeric_limits<float>::is_iec559) {
|
||||
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
r = isnan(f);
|
||||
r = isnan(f.InDegrees());
|
||||
EXPECT_TRUE(r) << "SignedAngle(4 5 6, INFINITY INFINITY INFINITY)";
|
||||
|
||||
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
|
||||
f = Vector3::SignedAngle(v1, v2, v3);
|
||||
r = isnan(f);
|
||||
r = isnan(f.InDegrees());
|
||||
EXPECT_TRUE(r) << "SignedAngle(4 5 6, -INFINITY -INFINITY -INFINITY)";
|
||||
}
|
||||
}
|
||||
@ -562,4 +579,5 @@ TEST(Vector3, Lerp) {
|
||||
r = Vector3::Lerp(v1, v2, 2);
|
||||
EXPECT_FLOAT_EQ(Vector3::Distance(r, Vector3(-2.0, -1.0f, 0.0f)), 0);
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
x
Reference in New Issue
Block a user