| #[macro_use] |
| mod support; |
| |
| macro_rules! impl_mat3_tests { |
| ($t:ident, $newmat3:ident, $mat3:ident, $mat2:ident, $mat4:ident, $quat:ident, $newvec3:ident, $vec3:ident, $vec2:ident) => { |
| use core::$t::INFINITY; |
| use core::$t::NAN; |
| use core::$t::NEG_INFINITY; |
| |
| const IDENTITY: [[$t; 3]; 3] = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]; |
| |
| const MATRIX: [[$t; 3]; 3] = [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0], [7.0, 8.0, 9.0]]; |
| |
| const MATRIX1D: [$t; 9] = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]; |
| |
| glam_test!(test_const, { |
| const M0: $mat3 = $mat3::from_cols( |
| $newvec3(1.0, 2.0, 3.0), |
| $newvec3(4.0, 5.0, 6.0), |
| $newvec3(7.0, 8.0, 9.0), |
| ); |
| const M1: $mat3 = $mat3::from_cols_array(&MATRIX1D); |
| const M2: $mat3 = $mat3::from_cols_array_2d(&MATRIX); |
| |
| assert_eq!(MATRIX1D, M0.to_cols_array()); |
| assert_eq!(MATRIX1D, M1.to_cols_array()); |
| assert_eq!(MATRIX1D, M2.to_cols_array()); |
| }); |
| |
| glam_test!(test_mat3_identity, { |
| assert_eq!( |
| $mat3::IDENTITY, |
| $mat3::from_cols_array(&[ |
| 1., 0., 0., // |
| 0., 1., 0., // |
| 0., 0., 1., // |
| ]) |
| ); |
| let identity = $mat3::IDENTITY; |
| assert_eq!(IDENTITY, identity.to_cols_array_2d()); |
| assert_eq!($mat3::from_cols_array_2d(&IDENTITY), identity); |
| assert_eq!(identity, identity * identity); |
| assert_eq!(identity, $mat3::default()); |
| assert_eq!(identity, $mat3::from_diagonal($vec3::ONE)); |
| }); |
| |
| glam_test!(test_mat3_zero, { |
| assert_eq!( |
| $mat3::ZERO, |
| $mat3::from_cols_array(&[0., 0., 0., 0., 0., 0., 0., 0., 0.]) |
| ); |
| }); |
| |
| glam_test!(test_mat3_nan, { |
| assert!($mat3::NAN.is_nan()); |
| assert!(!$mat3::NAN.is_finite()); |
| }); |
| |
| glam_test!(test_mat3_accessors, { |
| let mut m = $mat3::ZERO; |
| m.x_axis = $newvec3(1.0, 2.0, 3.0); |
| m.y_axis = $newvec3(4.0, 5.0, 6.0); |
| m.z_axis = $newvec3(7.0, 8.0, 9.0); |
| assert_eq!($mat3::from_cols_array_2d(&MATRIX), m); |
| assert_eq!($newvec3(1.0, 2.0, 3.0), m.x_axis); |
| assert_eq!($newvec3(4.0, 5.0, 6.0), m.y_axis); |
| assert_eq!($newvec3(7.0, 8.0, 9.0), m.z_axis); |
| |
| assert_eq!($newvec3(1.0, 2.0, 3.0), m.col(0)); |
| assert_eq!($newvec3(4.0, 5.0, 6.0), m.col(1)); |
| assert_eq!($newvec3(7.0, 8.0, 9.0), m.col(2)); |
| |
| assert_eq!($newvec3(1.0, 4.0, 7.0), m.row(0)); |
| assert_eq!($newvec3(2.0, 5.0, 8.0), m.row(1)); |
| assert_eq!($newvec3(3.0, 6.0, 9.0), m.row(2)); |
| |
| *m.col_mut(0) = m.col(0).zyx(); |
| *m.col_mut(1) = m.col(1).zyx(); |
| *m.col_mut(2) = m.col(2).zyx(); |
| assert_eq!($newvec3(3.0, 2.0, 1.0), m.col(0)); |
| assert_eq!($newvec3(6.0, 5.0, 4.0), m.col(1)); |
| assert_eq!($newvec3(9.0, 8.0, 7.0), m.col(2)); |
| |
| should_panic!({ $mat3::ZERO.col(3) }); |
| should_panic!({ |
| let mut m = $mat3::ZERO; |
| m.col_mut(3); |
| }); |
| should_panic!({ $mat3::ZERO.row(3) }); |
| }); |
| |
| glam_test!(test_mat3_from_axes, { |
| let a = $mat3::from_cols_array_2d(&[[1.0, 2.0, 3.0], [4.0, 5.0, 6.0], [7.0, 8.0, 9.0]]); |
| assert_eq!(MATRIX, a.to_cols_array_2d()); |
| let b = $mat3::from_cols( |
| $newvec3(1.0, 2.0, 3.0), |
| $newvec3(4.0, 5.0, 6.0), |
| $newvec3(7.0, 8.0, 9.0), |
| ); |
| assert_eq!(a, b); |
| let c = $newmat3( |
| $newvec3(1.0, 2.0, 3.0), |
| $newvec3(4.0, 5.0, 6.0), |
| $newvec3(7.0, 8.0, 9.0), |
| ); |
| assert_eq!(a, c); |
| let d = b.to_cols_array(); |
| let f = $mat3::from_cols_array(&d); |
| assert_eq!(b, f); |
| }); |
| |
| glam_test!(test_from_rotation, { |
| let rot_x1 = $mat3::from_rotation_x(deg(180.0)); |
| let rot_x2 = $mat3::from_axis_angle($vec3::X, deg(180.0)); |
| assert_approx_eq!(rot_x1, rot_x2); |
| let rot_x3 = $mat3::from_quat($quat::from_rotation_x(deg(180.0))); |
| assert_approx_eq!(rot_x1, rot_x3); |
| |
| let rot_y1 = $mat3::from_rotation_y(deg(180.0)); |
| let rot_y2 = $mat3::from_axis_angle($vec3::Y, deg(180.0)); |
| assert_approx_eq!(rot_y1, rot_y2); |
| let rot_y3 = $mat3::from_quat($quat::from_rotation_y(deg(180.0))); |
| assert_approx_eq!(rot_y1, rot_y3); |
| |
| let rot_z1 = $mat3::from_rotation_z(deg(180.0)); |
| let rot_z2 = $mat3::from_axis_angle($vec3::Z, deg(180.0)); |
| assert_approx_eq!(rot_z1, rot_z2); |
| let rot_z3 = $mat3::from_quat($quat::from_rotation_z(deg(180.0))); |
| assert_approx_eq!(rot_z1, rot_z3); |
| |
| should_glam_assert!({ $mat3::from_axis_angle($vec3::ZERO, 0.0) }); |
| should_glam_assert!({ $mat3::from_quat($quat::from_xyzw(0.0, 0.0, 0.0, 0.0)) }); |
| }); |
| |
| glam_test!(test_mat3_mul, { |
| let mat_a = $mat3::from_axis_angle($vec3::Z, deg(90.0)); |
| assert_approx_eq!($newvec3(-1.0, 0.0, 0.0), mat_a * $newvec3(0.0, 1.0, 0.0)); |
| assert_approx_eq!( |
| $vec3::new(-1.0, 0.0, 0.0), |
| mat_a.mul_vec3($vec3::new(0.0, 1.0, 0.0)) |
| ); |
| }); |
| |
| glam_test!(test_mat3_transform2d, { |
| let m = $mat3::from_translation($vec2::new(2.0, 4.0)); |
| assert_eq!($vec2::ZERO, m.transform_vector2($vec2::ZERO)); |
| assert_eq!($vec2::new(2.0, 4.0), m.transform_point2($vec2::ZERO)); |
| assert_eq!($vec2::ZERO, m.transform_point2($vec2::new(-2.0, -4.0))); |
| |
| let m = $mat3::from_angle($t::to_radians(90.0)); |
| assert_approx_eq!($vec2::Y, m.transform_vector2($vec2::X), 1e-7); |
| assert_approx_eq!($vec2::Y, m.transform_point2($vec2::X), 1e-7); |
| |
| let m = $mat3::from_scale($vec2::new(2.0, 4.0)); |
| assert_eq!($vec2::new(2.0, 0.0), m.transform_vector2($vec2::X)); |
| assert_eq!($vec2::new(0.0, 4.0), m.transform_vector2($vec2::Y)); |
| assert_eq!($vec2::new(2.0, 0.0), m.transform_point2($vec2::X)); |
| assert_eq!($vec2::new(0.0, 4.0), m.transform_point2($vec2::Y)); |
| |
| should_glam_assert!({ $mat3::from_scale($vec2::ZERO) }); |
| |
| let m = $mat3::from_scale_angle_translation( |
| $vec2::new(0.5, 1.5), |
| $t::to_radians(90.0), |
| $vec2::new(1.0, 2.0), |
| ); |
| let result2 = m.transform_vector2($vec2::Y); |
| assert_approx_eq!($vec2::new(-1.5, 0.0), result2, 1.0e-6); |
| assert_approx_eq!(result2, (m * $vec2::Y.extend(0.0)).truncate()); |
| |
| let result2 = m.transform_point2($vec2::Y); |
| assert_approx_eq!($vec2::new(-0.5, 2.0), result2, 1.0e-6); |
| assert_approx_eq!(result2, (m * $vec2::Y.extend(1.0)).truncate()); |
| }); |
| |
| glam_test!(test_from_ypr, { |
| use glam::EulerRot; |
| let zero = deg(0.0); |
| let yaw = deg(30.0); |
| let pitch = deg(60.0); |
| let roll = deg(90.0); |
| let y0 = $mat3::from_rotation_y(yaw); |
| let y1 = $mat3::from_euler(EulerRot::YXZ, yaw, zero, zero); |
| assert_approx_eq!(y0, y1); |
| |
| let x0 = $mat3::from_rotation_x(pitch); |
| let x1 = $mat3::from_euler(EulerRot::YXZ, zero, pitch, zero); |
| assert_approx_eq!(x0, x1); |
| |
| let z0 = $mat3::from_rotation_z(roll); |
| let z1 = $mat3::from_euler(EulerRot::YXZ, zero, zero, roll); |
| assert_approx_eq!(z0, z1); |
| |
| let yx0 = y0 * x0; |
| let yx1 = $mat3::from_euler(EulerRot::YXZ, yaw, pitch, zero); |
| assert_approx_eq!(yx0, yx1, 1e-6); |
| |
| let yxz0 = y0 * x0 * z0; |
| let yxz1 = $mat3::from_euler(EulerRot::YXZ, yaw, pitch, roll); |
| assert_approx_eq!(yxz0, yxz1, 1e-6); |
| }); |
| |
| glam_test!(test_from_diagonal, { |
| let m = $mat3::from_diagonal($vec3::new(2.0, 4.0, 8.0)); |
| assert_approx_eq!(m * $vec3::new(1.0, 1.0, 1.0), $vec3::new(2.0, 4.0, 8.0)); |
| assert_approx_eq!($newvec3(2.0, 0.0, 0.0), m.x_axis); |
| assert_approx_eq!($newvec3(0.0, 4.0, 0.0), m.y_axis); |
| assert_approx_eq!($newvec3(0.0, 0.0, 8.0), m.z_axis); |
| }); |
| |
| glam_test!(test_from_mat2, { |
| let m2 = $mat2::from_cols_array_2d(&[[1.0, 2.0], [3.0, 4.0]]); |
| let m3 = $mat3::from_mat2(m2); |
| assert_eq!( |
| $mat3::from_cols_array_2d(&[[1.0, 2.0, 0.0], [3.0, 4.0, 0.0], [0.0, 0.0, 1.0]]), |
| m3 |
| ); |
| }); |
| |
| glam_test!(test_from_mat4, { |
| let m4 = $mat4::from_cols_array_2d(&[ |
| [1.0, 2.0, 3.0, 4.0], |
| [5.0, 6.0, 7.0, 8.0], |
| [9.0, 10.0, 11.0, 12.0], |
| [13.0, 14.0, 15.0, 16.0], |
| ]); |
| let m3 = $mat3::from_mat4(m4); |
| assert_eq!( |
| $mat3::from_cols_array_2d(&[[1.0, 2.0, 3.0], [5.0, 6.0, 7.0], [9.0, 10.0, 11.0]]), |
| m3 |
| ); |
| }); |
| |
| glam_test!(test_mat3_transpose, { |
| let m = $newmat3( |
| $newvec3(1.0, 2.0, 3.0), |
| $newvec3(4.0, 5.0, 6.0), |
| $newvec3(7.0, 8.0, 9.0), |
| ); |
| let mt = m.transpose(); |
| assert_eq!($newvec3(1.0, 4.0, 7.0), mt.x_axis); |
| assert_eq!($newvec3(2.0, 5.0, 8.0), mt.y_axis); |
| assert_eq!($newvec3(3.0, 6.0, 9.0), mt.z_axis); |
| }); |
| |
| glam_test!(test_mat3_det, { |
| assert_eq!(0.0, $mat3::ZERO.determinant()); |
| assert_eq!(1.0, $mat3::IDENTITY.determinant()); |
| assert_eq!(1.0, $mat3::from_rotation_x(deg(90.0)).determinant()); |
| assert_eq!(1.0, $mat3::from_rotation_y(deg(180.0)).determinant()); |
| assert_eq!(1.0, $mat3::from_rotation_z(deg(270.0)).determinant()); |
| assert_eq!( |
| 2.0 * 2.0 * 2.0, |
| $mat3::from_diagonal($vec3::new(2.0, 2.0, 2.0)).determinant() |
| ); |
| }); |
| |
| glam_test!(test_mat3_inverse, { |
| // assert_eq!(None, $mat3::ZERO.inverse()); |
| let inv = $mat3::IDENTITY.inverse(); |
| // assert_ne!(None, inv); |
| assert_approx_eq!($mat3::IDENTITY, inv); |
| |
| let rotz = $mat3::from_rotation_z(deg(90.0)); |
| let rotz_inv = rotz.inverse(); |
| // assert_ne!(None, rotz_inv); |
| // let rotz_inv = rotz_inv.unwrap(); |
| assert_approx_eq!($mat3::IDENTITY, rotz * rotz_inv); |
| assert_approx_eq!($mat3::IDENTITY, rotz_inv * rotz); |
| |
| let scale = $mat3::from_diagonal($vec3::new(4.0, 5.0, 6.0)); |
| let scale_inv = scale.inverse(); |
| // assert_ne!(None, scale_inv); |
| // let scale_inv = scale_inv.unwrap(); |
| assert_approx_eq!($mat3::IDENTITY, scale * scale_inv); |
| assert_approx_eq!($mat3::IDENTITY, scale_inv * scale); |
| |
| let m = scale * rotz; |
| let m_inv = m.inverse(); |
| // assert_ne!(None, m_inv); |
| // let m_inv = m_inv.unwrap(); |
| assert_approx_eq!($mat3::IDENTITY, m * m_inv); |
| assert_approx_eq!($mat3::IDENTITY, m_inv * m); |
| assert_approx_eq!(m_inv, rotz_inv * scale_inv); |
| |
| should_glam_assert!({ $mat3::ZERO.inverse() }); |
| }); |
| |
| glam_test!(test_mat3_ops, { |
| let m0 = $mat3::from_cols_array_2d(&MATRIX); |
| let m0x2 = $mat3::from_cols_array_2d(&[ |
| [2.0, 4.0, 6.0], |
| [8.0, 10.0, 12.0], |
| [14.0, 16.0, 18.0], |
| ]); |
| let m0_neg = $mat3::from_cols_array_2d(&[ |
| [-1.0, -2.0, -3.0], |
| [-4.0, -5.0, -6.0], |
| [-7.0, -8.0, -9.0], |
| ]); |
| assert_eq!(m0x2, m0 * 2.0); |
| assert_eq!(m0x2, 2.0 * m0); |
| assert_eq!(m0x2, m0 + m0); |
| assert_eq!($mat3::ZERO, m0 - m0); |
| assert_eq!(m0_neg, -m0); |
| assert_approx_eq!(m0, m0 * $mat3::IDENTITY); |
| assert_approx_eq!(m0, $mat3::IDENTITY * m0); |
| |
| let mut m1 = m0; |
| m1 *= 2.0; |
| assert_eq!(m0x2, m1); |
| |
| let mut m1 = m0; |
| m1 += m0; |
| assert_eq!(m0x2, m1); |
| |
| let mut m1 = m0; |
| m1 -= m0; |
| assert_eq!($mat3::ZERO, m1); |
| |
| let mut m1 = $mat3::IDENTITY; |
| m1 *= m0; |
| assert_approx_eq!(m0, m1); |
| }); |
| |
| glam_test!(test_mat3_fmt, { |
| let a = $mat3::from_cols_array_2d(&MATRIX); |
| assert_eq!(format!("{}", a), "[[1, 2, 3], [4, 5, 6], [7, 8, 9]]"); |
| }); |
| |
| glam_test!(test_mat3_to_from_slice, { |
| let m = $mat3::from_cols_slice(&MATRIX1D); |
| assert_eq!($mat3::from_cols_array(&MATRIX1D), m); |
| let mut out: [$t; 9] = Default::default(); |
| m.write_cols_to_slice(&mut out); |
| assert_eq!(MATRIX1D, out); |
| |
| should_panic!({ $mat3::from_cols_slice(&[0.0; 8]) }); |
| should_panic!({ $mat3::IDENTITY.write_cols_to_slice(&mut [0.0; 8]) }); |
| }); |
| |
| glam_test!(test_sum, { |
| let id = $mat3::IDENTITY; |
| assert_eq!([id, id].iter().sum::<$mat3>(), id + id); |
| assert_eq!([id, id].into_iter().sum::<$mat3>(), id + id); |
| }); |
| |
| glam_test!(test_product, { |
| let two = $mat3::IDENTITY + $mat3::IDENTITY; |
| assert_eq!([two, two].iter().product::<$mat3>(), two * two); |
| assert_eq!([two, two].into_iter().product::<$mat3>(), two * two); |
| }); |
| |
| glam_test!(test_mat3_is_finite, { |
| assert!($mat3::IDENTITY.is_finite()); |
| assert!(!($mat3::IDENTITY * INFINITY).is_finite()); |
| assert!(!($mat3::IDENTITY * NEG_INFINITY).is_finite()); |
| assert!(!($mat3::IDENTITY * NAN).is_finite()); |
| }); |
| }; |
| } |
| |
| macro_rules! impl_as_ref_tests { |
| ($mat:ident) => { |
| glam_test!(test_as_ref, { |
| let m = $mat::from_cols_array_2d(&MATRIX); |
| assert_eq!(MATRIX1D, *m.as_ref()); |
| }); |
| glam_test!(test_as_mut, { |
| let mut m = $mat::ZERO; |
| *m.as_mut() = MATRIX1D; |
| assert_eq!($mat::from_cols_array_2d(&MATRIX), m); |
| }); |
| }; |
| } |
| |
| mod mat3 { |
| use super::support::deg; |
| use glam::{mat3, swizzles::*, vec3, vec3a, Mat2, Mat3, Mat4, Quat, Vec2, Vec3, Vec3A}; |
| |
| glam_test!(test_align, { |
| use std::mem; |
| assert_eq!(36, mem::size_of::<Mat3>()); |
| assert_eq!(mem::align_of::<Vec3>(), mem::align_of::<Mat3>()); |
| }); |
| |
| glam_test!(test_mul_vec3a, { |
| let mat_a = Mat3::from_axis_angle(Vec3::Z, deg(90.0)); |
| assert_approx_eq!(vec3a(-1.0, 0.0, 0.0), mat_a * Vec3A::Y); |
| assert_approx_eq!(vec3a(-1.0, 0.0, 0.0), mat_a.mul_vec3a(Vec3A::Y)); |
| }); |
| |
| glam_test!(test_as, { |
| use glam::DMat3; |
| assert_eq!( |
| DMat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]), |
| Mat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]).as_dmat3() |
| ); |
| assert_eq!( |
| Mat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]), |
| DMat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]).as_mat3() |
| ); |
| }); |
| |
| impl_mat3_tests!(f32, mat3, Mat3, Mat2, Mat4, Quat, vec3, Vec3, Vec2); |
| impl_as_ref_tests!(Mat3); |
| } |
| |
| mod mat3a { |
| use super::support::deg; |
| use glam::{mat3a, swizzles::*, vec3a, Mat2, Mat3A, Mat4, Quat, Vec2, Vec3, Vec3A}; |
| |
| glam_test!(test_align, { |
| use std::mem; |
| assert_eq!(48, mem::size_of::<Mat3A>()); |
| assert_eq!(mem::align_of::<Vec3A>(), mem::align_of::<Mat3A>()); |
| }); |
| |
| glam_test!(test_mul_vec3a, { |
| let mat_a = Mat3A::from_axis_angle(Vec3::Z, deg(90.0)); |
| assert_approx_eq!(vec3a(-1.0, 0.0, 0.0), mat_a * Vec3A::Y); |
| assert_approx_eq!(vec3a(-1.0, 0.0, 0.0), mat_a.mul_vec3a(Vec3A::Y)); |
| }); |
| |
| glam_test!(test_as, { |
| use glam::DMat3; |
| assert_eq!( |
| DMat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]), |
| Mat3A::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]).as_dmat3() |
| ); |
| }); |
| |
| impl_mat3_tests!(f32, mat3a, Mat3A, Mat2, Mat4, Quat, vec3a, Vec3, Vec2); |
| } |
| |
| mod dmat3 { |
| use super::support::deg; |
| use glam::{dmat3, dvec3, swizzles::*, DMat2, DMat3, DMat4, DQuat, DVec2, DVec3}; |
| |
| glam_test!(test_align, { |
| use std::mem; |
| assert_eq!(72, mem::size_of::<DMat3>()); |
| assert_eq!(mem::align_of::<DVec3>(), mem::align_of::<DMat3>()); |
| }); |
| |
| impl_mat3_tests!(f64, dmat3, DMat3, DMat2, DMat4, DQuat, dvec3, DVec3, DVec2); |
| impl_as_ref_tests!(DMat3); |
| } |