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Made the tests less bad

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This commit is contained in:
karai17 2016-07-24 10:04:29 -03:00
parent 8386474db0
commit c4fabe7f19
5 changed files with 776 additions and 759 deletions
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126
modules/mat4.lua
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@ -46,8 +46,8 @@ end
-- Statically allocate a temporary variable used in some of our functions.
local tmp = new()
local t44 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
local t41 = { 0, 0, 0, 0 }
local tm4 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
local tv4 = { 0, 0, 0, 0 }
function mat4.new(a)
local out = new()
@ -268,63 +268,63 @@ function mat4.clone(a)
end
function mat4.mul(out, a, b)
t44[1] = a[1] * b[1] + a[2] * b[5] + a[3] * b[9] + a[4] * b[13]
t44[2] = a[1] * b[2] + a[2] * b[6] + a[3] * b[10] + a[4] * b[14]
t44[3] = a[1] * b[3] + a[2] * b[7] + a[3] * b[11] + a[4] * b[15]
t44[4] = a[1] * b[4] + a[2] * b[8] + a[3] * b[12] + a[4] * b[16]
t44[5] = a[5] * b[1] + a[6] * b[5] + a[7] * b[9] + a[8] * b[13]
t44[6] = a[5] * b[2] + a[6] * b[6] + a[7] * b[10] + a[8] * b[14]
t44[7] = a[5] * b[3] + a[6] * b[7] + a[7] * b[11] + a[8] * b[15]
t44[8] = a[5] * b[4] + a[6] * b[8] + a[7] * b[12] + a[8] * b[16]
t44[9] = a[9] * b[1] + a[10] * b[5] + a[11] * b[9] + a[12] * b[13]
t44[10] = a[9] * b[2] + a[10] * b[6] + a[11] * b[10] + a[12] * b[14]
t44[11] = a[9] * b[3] + a[10] * b[7] + a[11] * b[11] + a[12] * b[15]
t44[12] = a[9] * b[4] + a[10] * b[8] + a[11] * b[12] + a[12] * b[16]
t44[13] = a[13] * b[1] + a[14] * b[5] + a[15] * b[9] + a[16] * b[13]
t44[14] = a[13] * b[2] + a[14] * b[6] + a[15] * b[10] + a[16] * b[14]
t44[15] = a[13] * b[3] + a[14] * b[7] + a[15] * b[11] + a[16] * b[15]
t44[16] = a[13] * b[4] + a[14] * b[8] + a[15] * b[12] + a[16] * b[16]
tm4[1] = a[1] * b[1] + a[2] * b[5] + a[3] * b[9] + a[4] * b[13]
tm4[2] = a[1] * b[2] + a[2] * b[6] + a[3] * b[10] + a[4] * b[14]
tm4[3] = a[1] * b[3] + a[2] * b[7] + a[3] * b[11] + a[4] * b[15]
tm4[4] = a[1] * b[4] + a[2] * b[8] + a[3] * b[12] + a[4] * b[16]
tm4[5] = a[5] * b[1] + a[6] * b[5] + a[7] * b[9] + a[8] * b[13]
tm4[6] = a[5] * b[2] + a[6] * b[6] + a[7] * b[10] + a[8] * b[14]
tm4[7] = a[5] * b[3] + a[6] * b[7] + a[7] * b[11] + a[8] * b[15]
tm4[8] = a[5] * b[4] + a[6] * b[8] + a[7] * b[12] + a[8] * b[16]
tm4[9] = a[9] * b[1] + a[10] * b[5] + a[11] * b[9] + a[12] * b[13]
tm4[10] = a[9] * b[2] + a[10] * b[6] + a[11] * b[10] + a[12] * b[14]
tm4[11] = a[9] * b[3] + a[10] * b[7] + a[11] * b[11] + a[12] * b[15]
tm4[12] = a[9] * b[4] + a[10] * b[8] + a[11] * b[12] + a[12] * b[16]
tm4[13] = a[13] * b[1] + a[14] * b[5] + a[15] * b[9] + a[16] * b[13]
tm4[14] = a[13] * b[2] + a[14] * b[6] + a[15] * b[10] + a[16] * b[14]
tm4[15] = a[13] * b[3] + a[14] * b[7] + a[15] * b[11] + a[16] * b[15]
tm4[16] = a[13] * b[4] + a[14] * b[8] + a[15] * b[12] + a[16] * b[16]
for i=1, 16 do
out[i] = t44[i]
out[i] = tm4[i]
end
return out
end
function mat4.mul_mat4x1(out, a, b)
t41[1] = b[1] * a[1] + b[2] * a[5] + b [3] * a[9] + b[4] * a[13]
t41[2] = b[1] * a[2] + b[2] * a[6] + b [3] * a[10] + b[4] * a[14]
t41[3] = b[1] * a[3] + b[2] * a[7] + b [3] * a[11] + b[4] * a[15]
t41[4] = b[1] * a[4] + b[2] * a[8] + b [3] * a[12] + b[4] * a[16]
function mat4.mul_vec4(out, a, b)
tv4[1] = b[1] * a[1] + b[2] * a[5] + b [3] * a[9] + b[4] * a[13]
tv4[2] = b[1] * a[2] + b[2] * a[6] + b [3] * a[10] + b[4] * a[14]
tv4[3] = b[1] * a[3] + b[2] * a[7] + b [3] * a[11] + b[4] * a[15]
tv4[4] = b[1] * a[4] + b[2] * a[8] + b [3] * a[12] + b[4] * a[16]
for i=1, 4 do
out[i] = t41[i]
out[i] = tv4[i]
end
return out
end
function mat4.invert(out, a)
t44[1] = a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
t44[2] = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
t44[3] = a[2] * a[7] * a[16] - a[2] * a[8] * a[15] - a[6] * a[3] * a[16] + a[6] * a[4] * a[15] + a[14] * a[3] * a[8] - a[14] * a[4] * a[7]
t44[4] = -a[2] * a[7] * a[12] + a[2] * a[8] * a[11] + a[6] * a[3] * a[12] - a[6] * a[4] * a[11] - a[10] * a[3] * a[8] + a[10] * a[4] * a[7]
t44[5] = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9] * a[7] * a[16] - a[9] * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
t44[6] = a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9] * a[3] * a[16] + a[9] * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
t44[7] = -a[1] * a[7] * a[16] + a[1] * a[8] * a[15] + a[5] * a[3] * a[16] - a[5] * a[4] * a[15] - a[13] * a[3] * a[8] + a[13] * a[4] * a[7]
t44[8] = a[1] * a[7] * a[12] - a[1] * a[8] * a[11] - a[5] * a[3] * a[12] + a[5] * a[4] * a[11] + a[9] * a[3] * a[8] - a[9] * a[4] * a[7]
t44[9] = a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9] * a[6] * a[16] + a[9] * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
t44[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9] * a[2] * a[16] - a[9] * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
t44[11] = a[1] * a[6] * a[16] - a[1] * a[8] * a[14] - a[5] * a[2] * a[16] + a[5] * a[4] * a[14] + a[13] * a[2] * a[8] - a[13] * a[4] * a[6]
t44[12] = -a[1] * a[6] * a[12] + a[1] * a[8] * a[10] + a[5] * a[2] * a[12] - a[5] * a[4] * a[10] - a[9] * a[2] * a[8] + a[9] * a[4] * a[6]
t44[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9] * a[6] * a[15] - a[9] * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
t44[14] = a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9] * a[2] * a[15] + a[9] * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
t44[15] = -a[1] * a[6] * a[15] + a[1] * a[7] * a[14] + a[5] * a[2] * a[15] - a[5] * a[3] * a[14] - a[13] * a[2] * a[7] + a[13] * a[3] * a[6]
t44[16] = a[1] * a[6] * a[11] - a[1] * a[7] * a[10] - a[5] * a[2] * a[11] + a[5] * a[3] * a[10] + a[9] * a[2] * a[7] - a[9] * a[3] * a[6]
tm4[1] = a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
tm4[2] = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
tm4[3] = a[2] * a[7] * a[16] - a[2] * a[8] * a[15] - a[6] * a[3] * a[16] + a[6] * a[4] * a[15] + a[14] * a[3] * a[8] - a[14] * a[4] * a[7]
tm4[4] = -a[2] * a[7] * a[12] + a[2] * a[8] * a[11] + a[6] * a[3] * a[12] - a[6] * a[4] * a[11] - a[10] * a[3] * a[8] + a[10] * a[4] * a[7]
tm4[5] = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9] * a[7] * a[16] - a[9] * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
tm4[6] = a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9] * a[3] * a[16] + a[9] * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
tm4[7] = -a[1] * a[7] * a[16] + a[1] * a[8] * a[15] + a[5] * a[3] * a[16] - a[5] * a[4] * a[15] - a[13] * a[3] * a[8] + a[13] * a[4] * a[7]
tm4[8] = a[1] * a[7] * a[12] - a[1] * a[8] * a[11] - a[5] * a[3] * a[12] + a[5] * a[4] * a[11] + a[9] * a[3] * a[8] - a[9] * a[4] * a[7]
tm4[9] = a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9] * a[6] * a[16] + a[9] * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
tm4[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9] * a[2] * a[16] - a[9] * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
tm4[11] = a[1] * a[6] * a[16] - a[1] * a[8] * a[14] - a[5] * a[2] * a[16] + a[5] * a[4] * a[14] + a[13] * a[2] * a[8] - a[13] * a[4] * a[6]
tm4[12] = -a[1] * a[6] * a[12] + a[1] * a[8] * a[10] + a[5] * a[2] * a[12] - a[5] * a[4] * a[10] - a[9] * a[2] * a[8] + a[9] * a[4] * a[6]
tm4[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9] * a[6] * a[15] - a[9] * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
tm4[14] = a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9] * a[2] * a[15] + a[9] * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
tm4[15] = -a[1] * a[6] * a[15] + a[1] * a[7] * a[14] + a[5] * a[2] * a[15] - a[5] * a[3] * a[14] - a[13] * a[2] * a[7] + a[13] * a[3] * a[6]
tm4[16] = a[1] * a[6] * a[11] - a[1] * a[7] * a[10] - a[5] * a[2] * a[11] + a[5] * a[3] * a[10] + a[9] * a[2] * a[7] - a[9] * a[3] * a[6]
for i=1, 16 do
out[i] = t44[i]
out[i] = tm4[i]
end
local det = a[1] * out[1] + a[2] * out[5] + a[3] * out[9] + a[4] * out[13]
@ -423,25 +423,25 @@ function mat4.look_at(out, a, eye, center, up)
end
function mat4.transpose(out, a)
t44[1] = a[1]
t44[2] = a[5]
t44[3] = a[9]
t44[4] = a[13]
t44[5] = a[2]
t44[6] = a[6]
t44[7] = a[10]
t44[8] = a[14]
t44[9] = a[3]
t44[10] = a[7]
t44[11] = a[11]
t44[12] = a[15]
t44[13] = a[4]
t44[14] = a[8]
t44[15] = a[12]
t44[16] = a[16]
tm4[1] = a[1]
tm4[2] = a[5]
tm4[3] = a[9]
tm4[4] = a[13]
tm4[5] = a[2]
tm4[6] = a[6]
tm4[7] = a[10]
tm4[8] = a[14]
tm4[9] = a[3]
tm4[10] = a[7]
tm4[11] = a[11]
tm4[12] = a[15]
tm4[13] = a[4]
tm4[14] = a[8]
tm4[15] = a[12]
tm4[16] = a[16]
for i=1, 16 do
out[i] = t44[i]
out[i] = tm4[i]
end
return out
@ -452,8 +452,8 @@ end
function mat4.project(obj, view, projection, viewport)
local position = { obj.x, obj.y, obj.z, 1 }
mat4.mul_mat4x1(position, view, position)
mat4.mul_mat4x1(position, projection, position)
mat4.mul_vec4(position, view, position)
mat4.mul_vec4(position, projection, position)
position[1] = position[1] / position[4] * 0.5 + 0.5
position[2] = position[2] / position[4] * 0.5 + 0.5
@ -478,7 +478,7 @@ function mat4.unproject(win, view, projection, viewport)
position[3] = position[3] * 2 - 1
tmp:mul(projection, view):invert(tmp)
mat4.mul_mat4x1(position, tmp, position)
mat4.mul_vec4(position, tmp, position)
position[1] = position[1] / position[4]
position[2] = position[2] / position[4]
@ -692,7 +692,7 @@ function mat4_mt.__mul(a, b)
return new():mul(a, b)
end
return mat4.mul_mat4x1({}, a, b)
return mat4.mul_vec4({}, a, b)
end
if status then

514
spec/mat4_spec.lua
View File

@ -3,192 +3,190 @@ local vec3 = require "modules.vec3"
local utils = require "modules.utils"
describe("mat4:", function()
it("tests new matrices", function()
it("creates an identity matrix", function()
local a = mat4()
assert.is.equal(a[1], 1)
assert.is.equal(a[2], 0)
assert.is.equal(a[3], 0)
assert.is.equal(a[4], 0)
assert.is.equal(a[5], 0)
assert.is.equal(a[6], 1)
assert.is.equal(a[7], 0)
assert.is.equal(a[8], 0)
assert.is.equal(a[9], 0)
assert.is.equal(a[10], 0)
assert.is.equal(a[11], 1)
assert.is.equal(a[12], 0)
assert.is.equal(a[13], 0)
assert.is.equal(a[14], 0)
assert.is.equal(a[15], 0)
assert.is.equal(a[16], 1)
assert.is.equal(1, a[1])
assert.is.equal(0, a[2])
assert.is.equal(0, a[3])
assert.is.equal(0, a[4])
assert.is.equal(0, a[5])
assert.is.equal(1, a[6])
assert.is.equal(0, a[7])
assert.is.equal(0, a[8])
assert.is.equal(0, a[9])
assert.is.equal(0, a[10])
assert.is.equal(1, a[11])
assert.is.equal(0, a[12])
assert.is.equal(0, a[13])
assert.is.equal(0, a[14])
assert.is.equal(0, a[15])
assert.is.equal(1, a[16])
assert.is_true(a:is_mat4())
end)
local b = mat4 {
it("creates a filled matrix", function()
local a = mat4 {
3, 3, 3, 3,
4, 4, 4, 4,
5, 5, 5, 5,
6, 6, 6, 6
}
assert.is.equal(b[1], 3)
assert.is.equal(b[2], 3)
assert.is.equal(b[3], 3)
assert.is.equal(b[4], 3)
assert.is.equal(b[5], 4)
assert.is.equal(b[6], 4)
assert.is.equal(b[7], 4)
assert.is.equal(b[8], 4)
assert.is.equal(b[9], 5)
assert.is.equal(b[10], 5)
assert.is.equal(b[11], 5)
assert.is.equal(b[12], 5)
assert.is.equal(b[13], 6)
assert.is.equal(b[14], 6)
assert.is.equal(b[15], 6)
assert.is.equal(b[16], 6)
assert.is.equal(3, a[1])
assert.is.equal(3, a[2])
assert.is.equal(3, a[3])
assert.is.equal(3, a[4])
assert.is.equal(4, a[5])
assert.is.equal(4, a[6])
assert.is.equal(4, a[7])
assert.is.equal(4, a[8])
assert.is.equal(5, a[9])
assert.is.equal(5, a[10])
assert.is.equal(5, a[11])
assert.is.equal(5, a[12])
assert.is.equal(6, a[13])
assert.is.equal(6, a[14])
assert.is.equal(6, a[15])
assert.is.equal(6, a[16])
end)
local c = mat4 {
it("creates a filled matrix from vec4s", function()
local a = mat4 {
{ 3, 3, 3, 3 },
{ 4, 4, 4, 4 },
{ 5, 5, 5, 5 },
{ 6, 6, 6, 6 }
}
assert.is.equal(c[1], 3)
assert.is.equal(c[2], 3)
assert.is.equal(c[3], 3)
assert.is.equal(c[4], 3)
assert.is.equal(c[5], 4)
assert.is.equal(c[6], 4)
assert.is.equal(c[7], 4)
assert.is.equal(c[8], 4)
assert.is.equal(c[9], 5)
assert.is.equal(c[10], 5)
assert.is.equal(c[11], 5)
assert.is.equal(c[12], 5)
assert.is.equal(c[13], 6)
assert.is.equal(c[14], 6)
assert.is.equal(c[15], 6)
assert.is.equal(c[16], 6)
assert.is.equal(3, a[1])
assert.is.equal(3, a[2])
assert.is.equal(3, a[3])
assert.is.equal(3, a[4])
assert.is.equal(4, a[5])
assert.is.equal(4, a[6])
assert.is.equal(4, a[7])
assert.is.equal(4, a[8])
assert.is.equal(5, a[9])
assert.is.equal(5, a[10])
assert.is.equal(5, a[11])
assert.is.equal(5, a[12])
assert.is.equal(6, a[13])
assert.is.equal(6, a[14])
assert.is.equal(6, a[15])
assert.is.equal(6, a[16])
end)
local d = mat4 {
it("creates a filled matrix from a 3x3 matrix", function()
local a = mat4 {
3, 3, 3,
4, 4, 4,
5, 5, 5
}
assert.is.equal(d[1], 3)
assert.is.equal(d[2], 3)
assert.is.equal(d[3], 3)
assert.is.equal(d[4], 0)
assert.is.equal(d[5], 4)
assert.is.equal(d[6], 4)
assert.is.equal(d[7], 4)
assert.is.equal(d[8], 0)
assert.is.equal(d[9], 5)
assert.is.equal(d[10], 5)
assert.is.equal(d[11], 5)
assert.is.equal(d[12], 0)
assert.is.equal(d[13], 0)
assert.is.equal(d[14], 0)
assert.is.equal(d[15], 0)
assert.is.equal(d[16], 1)
local e = mat4.identity()
assert.is.equal(a, e)
local f = c:clone()
assert.is.equal(c, f)
assert.is.equal(3, a[1])
assert.is.equal(3, a[2])
assert.is.equal(3, a[3])
assert.is.equal(0, a[4])
assert.is.equal(4, a[5])
assert.is.equal(4, a[6])
assert.is.equal(4, a[7])
assert.is.equal(0, a[8])
assert.is.equal(5, a[9])
assert.is.equal(5, a[10])
assert.is.equal(5, a[11])
assert.is.equal(0, a[12])
assert.is.equal(0, a[13])
assert.is.equal(0, a[14])
assert.is.equal(0, a[15])
assert.is.equal(1, a[16])
end)
it("tests multiplication", function()
-- 4x4 * 4x4
do
local a = mat4 {
1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16
}
local b = mat4 {
1, 5, 9, 13,
2, 6, 10, 14,
3, 7, 11, 15,
4, 8, 12, 16
}
local c = mat4():mul(a, b)
assert.is.equal(c[1], 30)
assert.is.equal(c[2], 70)
assert.is.equal(c[3], 110)
assert.is.equal(c[4], 150)
assert.is.equal(c[5], 70)
assert.is.equal(c[6], 174)
assert.is.equal(c[7], 278)
assert.is.equal(c[8], 382)
assert.is.equal(c[9], 110)
assert.is.equal(c[10], 278)
assert.is.equal(c[11], 446)
assert.is.equal(c[12], 614)
assert.is.equal(c[13], 150)
assert.is.equal(c[14], 382)
assert.is.equal(c[15], 614)
assert.is.equal(c[16], 846)
end
-- 4x4 * 4x1
do
local a = mat4 {
1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16
}
local b = { 10, 20, 30, 40 }
local c = mat4.mul_mat4x1({}, a, b)
assert.is.equal(c[1], 900)
assert.is.equal(c[2], 1000)
assert.is.equal(c[3], 1100)
assert.is.equal(c[4], 1200)
end
it("clones a matrix", function()
local a = mat4.identity()
local b = a:clone()
assert.is.equal(a, b)
end)
it("tests transforms", function()
it("multiplies two 4x4 matrices", function()
local a = mat4 {
1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16
}
local b = mat4 {
1, 5, 9, 13,
2, 6, 10, 14,
3, 7, 11, 15,
4, 8, 12, 16
}
local c = mat4():mul(a, b)
assert.is.equal(30, c[1])
assert.is.equal(70, c[2])
assert.is.equal(110, c[3])
assert.is.equal(150, c[4])
assert.is.equal(70, c[5])
assert.is.equal(174, c[6])
assert.is.equal(278, c[7])
assert.is.equal(382, c[8])
assert.is.equal(110, c[9])
assert.is.equal(278, c[10])
assert.is.equal(446, c[11])
assert.is.equal(614, c[12])
assert.is.equal(150, c[13])
assert.is.equal(382, c[14])
assert.is.equal(614, c[15])
assert.is.equal(846, c[16])
end)
it("multiplies a matrix and a vec4", function()
local a = mat4 {
1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16
}
local b = { 10, 20, 30, 40 }
local c = mat4.mul_vec4({}, a, b)
assert.is.equal(900, c[1])
assert.is.equal(1000, c[2])
assert.is.equal(1100, c[3])
assert.is.equal(1200, c[4])
end)
it("scales a matrix", function()
local a = mat4()
-- Scale matrix
do
local b = mat4():scale(a, vec3(5, 5, 5))
assert.is.equal(b[1], 5)
assert.is.equal(b[6], 5)
assert.is.equal(b[11], 5)
end
-- Rotate matrix
do
local b = mat4():rotate(a, math.rad(45), vec3.unit_z)
assert.is_true(utils.tolerance( 0.7071-b[1], 0.001))
assert.is_true(utils.tolerance( 0.7071-b[2], 0.001))
assert.is_true(utils.tolerance(-0.7071-b[5], 0.001))
assert.is_true(utils.tolerance( 0.7071-b[6], 0.001))
end
-- Translate matrix
do
local b = mat4():translate(a, vec3(5, 5, 5))
assert.is.equal(b[13], 5)
assert.is.equal(b[14], 5)
assert.is.equal(b[15], 5)
end
local b = mat4():scale(a, vec3(5, 5, 5))
assert.is.equal(5, b[1])
assert.is.equal(5, b[6])
assert.is.equal(5, b[11])
end)
it("tests inversion", function()
it("rotates a matrix", function()
local a = mat4()
local b = mat4():rotate(a, math.rad(45), vec3.unit_z)
assert.is_true(utils.tolerance( 0.7071-b[1], 0.001))
assert.is_true(utils.tolerance( 0.7071-b[2], 0.001))
assert.is_true(utils.tolerance(-0.7071-b[5], 0.001))
assert.is_true(utils.tolerance( 0.7071-b[6], 0.001))
end)
it("translates a matrix", function()
local a = mat4()
local b = mat4():translate(a, vec3(5, 5, 5))
assert.is.equal(5, b[13])
assert.is.equal(5, b[14])
assert.is.equal(5, b[15])
end)
it("inverts a matrix", function()
local a = mat4()
a:rotate(a, math.pi/4, vec3.unit_y)
a:translate(a, vec3(4, 5, 6))
local b = mat4():invert(a)
local c = mat4():mul(a, b)
assert.is.equal(c, mat4())
assert.is.equal(mat4(), c)
end)
it("tests transpose", function()
it("transposes a matrix", function()
local a = mat4 {
1, 1, 1, 1,
2, 2, 2, 2,
@ -196,144 +194,138 @@ describe("mat4:", function()
4, 4, 4, 4
}
local b = mat4():transpose(a)
assert.is.equal(b[1], 1)
assert.is.equal(b[2], 2)
assert.is.equal(b[3], 3)
assert.is.equal(b[4], 4)
assert.is.equal(b[5], 1)
assert.is.equal(b[6], 2)
assert.is.equal(b[7], 3)
assert.is.equal(b[8], 4)
assert.is.equal(b[9], 1)
assert.is.equal(b[10], 2)
assert.is.equal(b[11], 3)
assert.is.equal(b[12], 4)
assert.is.equal(b[13], 1)
assert.is.equal(b[14], 2)
assert.is.equal(b[15], 3)
assert.is.equal(b[16], 4)
assert.is.equal(1, b[1])
assert.is.equal(2, b[2])
assert.is.equal(3, b[3])
assert.is.equal(4, b[4])
assert.is.equal(1, b[5])
assert.is.equal(2, b[6])
assert.is.equal(3, b[7])
assert.is.equal(4, b[8])
assert.is.equal(1, b[9])
assert.is.equal(2, b[10])
assert.is.equal(3, b[11])
assert.is.equal(4, b[12])
assert.is.equal(1, b[13])
assert.is.equal(2, b[14])
assert.is.equal(3, b[15])
assert.is.equal(4, b[16])
end)
it("tests shear", function()
it("shears a matrix", function()
local a = mat4()
local yx, zx, xy, zy, xz, yz = 1, 1, 1, -1, -1, -1
local b = mat4():shear(a, yx, zx, xy, zy, xz, yz)
assert.is.equal(b[1], 1)
assert.is.equal(b[2], 1)
assert.is.equal(b[3], 1)
assert.is.equal(b[4], 0)
assert.is.equal(b[5], 1)
assert.is.equal(b[6], 1)
assert.is.equal(b[7], -1)
assert.is.equal(b[8], 0)
assert.is.equal(b[9], -1)
assert.is.equal(b[10], -1)
assert.is.equal(b[11], 1)
assert.is.equal(b[12], 0)
assert.is.equal(b[13], 0)
assert.is.equal(b[14], 0)
assert.is.equal(b[15], 0)
assert.is.equal(b[16], 1)
assert.is.equal( 1, b[2])
assert.is.equal( 1, b[3])
assert.is.equal( 1, b[5])
assert.is.equal(-1, b[7])
assert.is.equal(-1, b[9])
assert.is.equal(-1, b[10])
end)
it("tests projections", function()
it("projects a matrix into screen space", function()
local v = vec3(0, 0, 10)
local a = mat4()
local b = mat4.from_perspective(45, 1, 0.1, 1000)
local v = vec3(0, 0, 10)
local vp = { 0, 0, 400, 400 }
-- Project to pixel space
local c = mat4.project(v, a, b, vp)
assert.is.equal(c.x, 200)
assert.is.equal(c.y, 200)
assert.is.equal(200, c.x)
assert.is.equal(200, c.y)
assert.is_true(utils.tolerance(1.0101-c.z, 0.001))
end)
-- Unproject to vector space
it("unprojects a matrix into world space", function()
local v = vec3(0, 0, 10)
local a = mat4()
local b = mat4.from_perspective(45, 1, 0.1, 1000)
local vp = { 0, 0, 400, 400 }
local c = mat4.project(v, a, b, vp)
local d = mat4.unproject(c, a, b, vp)
assert.is_true(utils.tolerance(v.x-d.x, 0.001))
assert.is_true(utils.tolerance(v.y-d.y, 0.001))
assert.is_true(utils.tolerance(v.z-d.z, 0.001))
end)
it("tests convertions", function()
it("converts a matrix to vec4s", function()
local a = mat4()
local v = a:to_vec4s()
assert.is_true(type(v) == "table")
assert.is_true(type(v[1]) == "table")
assert.is_true(type(v[2]) == "table")
assert.is_true(type(v[3]) == "table")
assert.is_true(type(v[4]) == "table")
-- Convert to vec4s
do
local v = a:to_vec4s()
assert.is_true(type(v) == "table")
assert.is_true(type(v[1]) == "table")
assert.is_true(type(v[2]) == "table")
assert.is_true(type(v[3]) == "table")
assert.is_true(type(v[4]) == "table")
assert.is.equal(v[1][1], 1)
assert.is.equal(v[1][2], 0)
assert.is.equal(v[1][3], 0)
assert.is.equal(v[1][4], 0)
assert.is.equal(v[2][1], 0)
assert.is.equal(v[2][2], 1)
assert.is.equal(v[2][3], 0)
assert.is.equal(v[2][4], 0)
assert.is.equal(v[3][1], 0)
assert.is.equal(v[3][2], 0)
assert.is.equal(v[3][3], 1)
assert.is.equal(v[3][4], 0)
assert.is.equal(v[4][1], 0)
assert.is.equal(v[4][2], 0)
assert.is.equal(v[4][3], 0)
assert.is.equal(v[4][4], 1)
end
assert.is.equal(1, v[1][1])
assert.is.equal(0, v[1][2])
assert.is.equal(0, v[1][3])
assert.is.equal(0, v[1][4])
-- Convert to quaternion
do
local b = mat4 {
0, 0, 1, 0,
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 0, 0
}
local q = b:to_quat()
assert.is.equal(q.x, -0.5)
assert.is.equal(q.y, -0.5)
assert.is.equal(q.z, -0.5)
assert.is.equal(q.w, 0.5)
end
assert.is.equal(0, v[2][1])
assert.is.equal(1, v[2][2])
assert.is.equal(0, v[2][3])
assert.is.equal(0, v[2][4])
-- Convert to frustum
do
local b = mat4.from_perspective(45, 1, 0.1, 1000)
local f = mat4():mul(b, a):to_frustum()
assert.is.equal(0, v[3][1])
assert.is.equal(0, v[3][2])
assert.is.equal(1, v[3][3])
assert.is.equal(0, v[3][4])
assert.is_true(utils.tolerance( 0.9239-f.left.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.left.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.left.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.left.d, 0.001))
assert.is.equal(0, v[4][1])
assert.is.equal(0, v[4][2])
assert.is.equal(0, v[4][3])
assert.is.equal(1, v[4][4])
end)
assert.is_true(utils.tolerance(-0.9239-f.right.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.right.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.right.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.right.d, 0.001))
it("converts a matrix to a quaternion", function()
local a = mat4()
local b = mat4 {
0, 0, 1, 0,
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 0, 0
}
local q = b:to_quat()
assert.is.equal(-0.5, q.x)
assert.is.equal(-0.5, q.y)
assert.is.equal(-0.5, q.z)
assert.is.equal( 0.5, q.w)
end)
assert.is_true(utils.tolerance( 0 -f.bottom.a, 0.001))
assert.is_true(utils.tolerance( 0.9239-f.bottom.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.bottom.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.bottom.d, 0.001))
it("converts a matrix to a frustum", function()
local a = mat4()
local b = mat4.from_perspective(45, 1, 0.1, 1000)
local f = mat4():mul(b, a):to_frustum()
assert.is_true(utils.tolerance( 0 -f.top.a, 0.001))
assert.is_true(utils.tolerance(-0.9239-f.top.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.top.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.top.d, 0.001))
assert.is_true(utils.tolerance( 0.9239-f.left.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.left.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.left.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.left.d, 0.001))
assert.is_true(utils.tolerance( 0 -f.near.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.near.b, 0.001))
assert.is_true(utils.tolerance(-1 -f.near.c, 0.001))
assert.is_true(utils.tolerance(-0.1-f.near.d, 0.001))
assert.is_true(utils.tolerance(-0.9239-f.right.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.right.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.right.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.right.d, 0.001))
assert.is_true(utils.tolerance( 0 -f.far.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.far.b, 0.001))
assert.is_true(utils.tolerance( 1 -f.far.c, 0.001))
assert.is_true(utils.tolerance( 1000-f.far.d, 0.001))
end
assert.is_true(utils.tolerance( 0 -f.bottom.a, 0.001))
assert.is_true(utils.tolerance( 0.9239-f.bottom.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.bottom.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.bottom.d, 0.001))
assert.is_true(utils.tolerance( 0 -f.top.a, 0.001))
assert.is_true(utils.tolerance(-0.9239-f.top.b, 0.001))
assert.is_true(utils.tolerance(-0.3827-f.top.c, 0.001))
assert.is_true(utils.tolerance( 0 -f.top.d, 0.001))
assert.is_true(utils.tolerance( 0 -f.near.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.near.b, 0.001))
assert.is_true(utils.tolerance(-1 -f.near.c, 0.001))
assert.is_true(utils.tolerance(-0.1-f.near.d, 0.001))
assert.is_true(utils.tolerance( 0 -f.far.a, 0.001))
assert.is_true(utils.tolerance( 0 -f.far.b, 0.001))
assert.is_true(utils.tolerance( 1 -f.far.c, 0.001))
assert.is_true(utils.tolerance( 1000-f.far.d, 0.001))
end)
end)

402
spec/quat_spec.lua
View File

@ -1,233 +1,247 @@
local quat = require "modules.quat"
local vec3 = require "modules.vec3"
local quat = require "modules.quat"
local vec3 = require "modules.vec3"
local utils = require "modules.utils"
describe("quat:", function()
it("tests creating new quaternions", function()
it("creates an identity quaternion", function()
local a = quat()
assert.is.equal(a.x, 0)
assert.is.equal(a.y, 0)
assert.is.equal(a.z, 0)
assert.is.equal(a.w, 1)
assert.is.equal(0, a.x)
assert.is.equal(0, a.y)
assert.is.equal(0, a.z)
assert.is.equal(1, a.w)
assert.is_true(a:is_quat())
assert.is_true(a:is_real())
local b = quat(0, 0, 0, 0)
assert.is.equal(b.x, 0)
assert.is.equal(b.y, 0)
assert.is.equal(b.z, 0)
assert.is.equal(b.w, 0)
assert.is_true(b:is_zero())
assert.is_true(b:is_imaginary())
local c = quat { 2, 3, 4, 1 }
assert.is.equal(c.x, 2)
assert.is.equal(c.y, 3)
assert.is.equal(c.z, 4)
assert.is.equal(c.w, 1)
local d = quat { x=2, y=3, z=4, w=1 }
assert.is.equal(d.x, 2)
assert.is.equal(d.y, 3)
assert.is.equal(d.z, 4)
assert.is.equal(d.w, 1)
local e = quat.from_angle_axis(math.pi, vec3.unit_z)
local angle, axis = e:to_angle_axis()
assert.is.equal(angle, math.pi)
assert.is.equal(axis, vec3.unit_z)
local f = quat.from_direction(vec3():normalize(vec3(5, 10, 15)), vec3.unit_z)
--assert.is.equal(f.x, 0)
--assert.is.equal(f.y, 0)
--assert.is.equal(f.z, 0)
--assert.is.equal(f.w, 0)
local g = a:clone()
assert.is.equal(g.x, a.x)
assert.is.equal(g.y, a.y)
assert.is.equal(g.z, a.z)
assert.is.equal(g.w, a.w)
end)
it("tests standard operators", function()
it("creates a quaternion from numbers", function()
local a = quat(0, 0, 0, 0)
assert.is.equal(0, a.x)
assert.is.equal(0, a.y)
assert.is.equal(0, a.z)
assert.is.equal(0, a.w)
assert.is_true(a:is_zero())
assert.is_true(a:is_imaginary())
end)
it("creates a quaternion from a list", function()
local a = quat { 2, 3, 4, 1 }
assert.is.equal(2, a.x)
assert.is.equal(3, a.y)
assert.is.equal(4, a.z)
assert.is.equal(1, a.w)
end)
it("creates a quaternion from a record", function()
local a = quat { x=2, y=3, z=4, w=1 }
assert.is.equal(2, a.x)
assert.is.equal(3, a.y)
assert.is.equal(4, a.z)
assert.is.equal(1, a.w)
end)
it("creates a quaternion from a direction", function()
local v = vec3():normalize(vec3(-80, 80, -80))
local a = quat.from_direction(v, vec3.unit_z)
assert.is_true(utils.tolerance(-0.577-a.x, 0.001))
assert.is_true(utils.tolerance(-0.577-a.y, 0.001))
assert.is_true(utils.tolerance( 0 -a.z, 0.001))
assert.is_true(utils.tolerance( 0.423-a.w, 0.001))
end)
it("clones a quaternion", function()
local a = quat()
local b = a:clone()
assert.is.equal(a.x, b.x)
assert.is.equal(a.y, b.y)
assert.is.equal(a.z, b.z)
assert.is.equal(a.w, b.w)
end)
it("adds a quaternion to another", function()
local a = quat(2, 3, 4, 1)
local b = quat(3, 6, 9, 1)
do
local c = quat():add(a, b)
assert.is.equal(c.x, 5)
assert.is.equal(c.y, 9)
assert.is.equal(c.z, 13)
assert.is.equal(c.w, 2)
local d = a + b
assert.is.equal(c.x, d.x)
assert.is.equal(c.y, d.y)
assert.is.equal(c.z, d.z)
assert.is.equal(c.w, d.w)
end
do
local c = quat():sub(a, b)
assert.is.equal(c.x, -1)
assert.is.equal(c.y, -3)
assert.is.equal(c.z, -5)
assert.is.equal(c.w, 0)
local d = a - b
assert.is.equal(c.x, d.x)
assert.is.equal(c.y, d.y)
assert.is.equal(c.z, d.z)
assert.is.equal(c.w, d.w)
end
do
local c = quat():mul(a, b)
assert.is.equal(c.x, 8)
assert.is.equal(c.y, 3)
assert.is.equal(c.z, 16)
assert.is.equal(c.w, -59)
local d = a * b
assert.is.equal(c.x, d.x)
assert.is.equal(c.y, d.y)
assert.is.equal(c.z, d.z)
assert.is.equal(c.w, d.w)
end
do
local c = quat():scale(a, 3)
assert.is.equal(c.x, 6)
assert.is.equal(c.y, 9)
assert.is.equal(c.z, 12)
assert.is.equal(c.w, 3)
local d = a * 3
assert.is.equal(c.x, d.x)
assert.is.equal(c.y, d.y)
assert.is.equal(c.z, d.z)
assert.is.equal(c.w, d.w)
local e = -a
assert.is.equal(e.x, -a.x)
assert.is.equal(e.y, -a.y)
assert.is.equal(e.z, -a.z)
assert.is.equal(e.w, -a.w)
end
do
local v = vec3(3, 4, 5)
local c = quat.mul_vec3(vec3(), a, v)
--assert.is.equal(c.x, 0)
--assert.is.equal(c.y, 0)
--assert.is.equal(c.z, 0)
--assert.is.equal(c.w, 0)
local d = a * v
--assert.is.equal(c.x, d.x)
--assert.is.equal(c.y, d.y)
--assert.is.equal(c.z, d.z)
--assert.is.equal(c.w, d.w)
end
do
local c = quat():pow(a, 2)
--assert.is.equal(c.x, 0)
--assert.is.equal(c.y, 0)
--assert.is.equal(c.z, 0)
--assert.is.equal(c.w, 0)
local d = a^2
--assert.is.equal(c.x, d.x)
--assert.is.equal(c.y, d.y)
--assert.is.equal(c.z, d.z)
--assert.is.equal(c.w, d.w)
end
local c = quat():add(a, b)
local d = a + b
assert.is.equal(5, c.x)
assert.is.equal(9, c.y)
assert.is.equal(13, c.z)
assert.is.equal(2, c.w)
assert.is.equal(c, d)
end)
it("tests normal, dot", function()
it("subtracts a quaternion from another", function()
local a = quat(2, 3, 4, 1)
local b = quat(3, 6, 9, 1)
local c = quat():sub(a, b)
local d = a - b
assert.is.equal(-1, c.x)
assert.is.equal(-3, c.y)
assert.is.equal(-5, c.z)
assert.is.equal( 0, c.w)
assert.is.equal(c, d)
end)
it("multiplies a quaternion by another", function()
local a = quat(2, 3, 4, 1)
local b = quat(3, 6, 9, 1)
local c = quat():mul(a, b)
local d = a * b
assert.is.equal( 8, c.x)
assert.is.equal( 3, c.y)
assert.is.equal( 16, c.z)
assert.is.equal(-59, c.w)
assert.is.equal(c, d)
end)
it("multiplies a quaternion by a scale factor", function()
local a = quat(2, 3, 4, 1)
local s = 3
local b = quat():scale(a, s)
local c = a * s
assert.is.equal(6, b.x)
assert.is.equal(9, b.y)
assert.is.equal(12, b.z)
assert.is.equal(3, b.w)
assert.is.equal(b, c)
end)
it("inverts a quaternion", function()
local a = quat(2, 3, 4, 1)
local b = -a
assert.is.equal(-a.x, b.x)
assert.is.equal(-a.y, b.y)
assert.is.equal(-a.z, b.z)
assert.is.equal(-a.w, b.w)
end)
it("multiplies a quaternion by a vec3", function()
local a = quat(2, 3, 4, 1)
local v = vec3(3, 4, 5)
local b = quat.mul_vec3(vec3(), a, v)
local c = a * v
assert.is.equal(-21, c.x)
assert.is.equal( 4, c.y)
assert.is.equal( 17, c.z)
assert.is.equal(b, c)
end)
it("multiplies a quaternion by an exponent", function()
local a = quat(2, 3, 4, 1)
local e = 2
local b = quat():pow(a, e)
local c = a^e
assert.is.equal( 4, b.x)
assert.is.equal( 14, b.y)
assert.is.equal( 24, b.z)
assert.is.equal(-145, b.w)
assert.is.equal(b, c)
end)
it("inverts a quaternion", function()
local a = quat(1, 1, 1, 1)
local b = quat():inverse(a)
assert.is.equal(-0.5, b.x)
assert.is.equal(-0.5, b.y)
assert.is.equal(-0.5, b.z)
assert.is.equal( 0.5, b.w)
end)
it("normalizes a quaternion", function()
local a = quat(1, 1, 1, 1)
local b = quat():normalize(a)
assert.is.equal(0.5, b.x)
assert.is.equal(0.5, b.y)
assert.is.equal(0.5, b.z)
assert.is.equal(0.5, b.w)
end)
it("dots two quaternions", function()
local a = quat(1, 1, 1, 1)
local b = quat(4, 4, 4, 4)
local c = quat():normalize(a)
local d = a:dot(b)
assert.is.equal(c.x, 0.5)
assert.is.equal(c.y, 0.5)
assert.is.equal(c.z, 0.5)
assert.is.equal(c.w, 0.5)
assert.is.equal(d, 16)
local c = a:dot(b)
assert.is.equal(16, c)
end)
it("tests length", function()
it("gets the length of a quaternion", function()
local a = quat(2, 3, 4, 5)
local b = a:len()
local c = a:len2()
assert.is.equal(b, math.sqrt(54))
assert.is.equal(c, 54)
assert.is.equal(math.sqrt(54), b)
end)
it("tests interpolation", function()
it("gets the square length of a quaternion", function()
local a = quat(2, 3, 4, 5)
local b = a:len2()
assert.is.equal(54, b)
end)
it("interpolates between two quaternions", function()
local a = quat(3, 3, 3, 3)
local b = quat(6, 6, 6, 6)
local s = 0.1
local c = quat():lerp(a, b, s)
assert.is.equal(c.x, 0.5)
assert.is.equal(c.y, 0.5)
assert.is.equal(c.z, 0.5)
assert.is.equal(c.w, 0.5)
local d = quat():slerp(a, b, s)
assert.is.equal(d.x, 0.5)
assert.is.equal(d.y, 0.5)
assert.is.equal(d.z, 0.5)
assert.is.equal(d.w, 0.5)
assert.is.equal(0.5, c.x)
assert.is.equal(0.5, c.y)
assert.is.equal(0.5, c.z)
assert.is.equal(0.5, c.w)
end)
it("tests extraction", function()
it("interpolates between two quaternions (spherical)", function()
local a = quat(3, 3, 3, 3)
local b = quat(6, 6, 6, 6)
local s = 0.1
local c = quat():slerp(a, b, s)
assert.is.equal(0.5, c.x)
assert.is.equal(0.5, c.y)
assert.is.equal(0.5, c.z)
assert.is.equal(0.5, c.w)
end)
it("unpacks a quaternion", function()
local a = quat(2, 3, 4, 1)
local x, y, z, w = a:unpack()
assert.is.equal(x, 2)
assert.is.equal(y, 3)
assert.is.equal(z, 4)
assert.is.equal(w, 1)
local v = a:to_vec3()
assert.is.equal(v.x, 2)
assert.is.equal(v.y, 3)
assert.is.equal(v.z, 4)
assert.is.equal(2, x)
assert.is.equal(3, y)
assert.is.equal(4, z)
assert.is.equal(1, w)
end)
it("tests conjugate", function()
it("converts quaternion to a vec3", function()
local a = quat(2, 3, 4, 1)
local v = a:to_vec3()
assert.is.equal(2, v.x)
assert.is.equal(3, v.y)
assert.is.equal(4, v.z)
end)
it("gets the conjugate quaternion", function()
local a = quat(2, 3, 4, 1)
local b = quat():conjugate(a)
assert.is.equal(b.x, -2)
assert.is.equal(b.y, -3)
assert.is.equal(b.z, -4)
assert.is.equal(b.w, 1)
assert.is.equal(-2, b.x)
assert.is.equal(-3, b.y)
assert.is.equal(-4, b.z)
assert.is.equal( 1, b.w)
end)
it("tests inverse", function()
local a = quat(1, 1, 1, 1)
local b = quat():inverse(a)
assert.is.equal(b.x, -0.5)
assert.is.equal(b.y, -0.5)
assert.is.equal(b.z, -0.5)
assert.is.equal(b.w, 0.5)
end)
it("tests reciprocal", function()
it("gets the reciprocal quaternion", function()
local a = quat(1, 1, 1, 1)
local b = quat():reciprocal(a)
local c = quat():reciprocal(b)
assert.is.equal(c.x, a.x)
assert.is.equal(c.y, a.y)
assert.is.equal(c.z, a.z)
assert.is.equal(c.w, a.w)
assert.is_not.equal(a.x, b.x)
assert.is_not.equal(a.y, b.y)
assert.is_not.equal(a.z, b.z)
assert.is_not.equal(a.w, b.w)
assert.is.equal(a.x, c.x)
assert.is.equal(a.y, c.y)
assert.is.equal(a.z, c.z)
assert.is.equal(a.w, c.w)
end)
it("converts between a quaternion and angle/axis", function()
local a = quat.from_angle_axis(math.pi, vec3.unit_z)
local angle, axis = a:to_angle_axis()
assert.is.equal(math.pi, angle)
assert.is.equal(vec3.unit_z, axis)
end)
end)

234
spec/vec2_spec.lua
View File

@ -3,171 +3,175 @@ local DBL_EPSILON = require("modules.constants").DBL_EPSILON
local abs, sqrt = math.abs, math.sqrt
describe("vec2:", function()
it("tests creating vectors", function()
-- new empty vector
it("creates an empty vector", function()
local a = vec2()
assert.is.equal(a.x, 0)
assert.is.equal(a.y, 0)
assert.is.equal(0, a.x)
assert.is.equal(0, a.y)
assert.is_true(a:is_vec2())
assert.is_true(a:is_zero())
-- new vector from table
local b = vec2 { 0, 0 }
assert.is.equal(b.x, 0)
assert.is.equal(b.y, 0)
local c = vec2 { x=0, y=0 }
assert.is.equal(c.x, 0)
assert.is.equal(c.y, 0)
-- new vector from numbers
local d = vec2(3.14159, -2.808)
assert.is.equal(d.x, 3.14159)
assert.is.equal(d.y, -2.808)
-- new vector from other vector
local e = d:clone()
assert.is.equal(d, e)
end)
it("tests basic operators", function()
it("creates a vector from numbers", function()
local a = vec2(3, 5)
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
end)
it("creates a vector from a list", function()
local a = vec2 { 3, 5 }
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
end)
it("creates a vector from a record", function()
local a = vec2 { x=3, y=5 }
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
end)
it("clones a vector", function()
local a = vec2(3, 5)
local b = a:clone()
assert.is.equal(a, b)
end)
it("adds a vector to another", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local s = 2
-- Add
do
local c = vec2():add(a, b)
local d = a + b
assert.is.equal(c.x, 10)
assert.is.equal(c.y, 9)
assert.is.equal(c, d)
end
-- Subtract
do
local c = vec2():sub(a, b)
local d = a - b
assert.is.equal(c.x, -4)
assert.is.equal(c.y, 1)
assert.is.equal(c, d)
end
-- Multiply
do
local c = vec2():mul(a, s)
local d = a * s
assert.is.equal(c.x, 6)
assert.is.equal(c.y, 10)
assert.is.equal(c, d)
end
-- Divide
do
local c = vec2():div(a, s)
local d = a / s
assert.is.equal(c.x, 1.5)
assert.is.equal(c.y, 2.5)
assert.is.equal(c, d)
end
-- Sign flip
do
local c = -a
assert.is.equal(c.x, -3)
assert.is.equal(c.y, -5)
end
local c = vec2():add(a, b)
local d = a + b
assert.is.equal(10, c.x)
assert.is.equal(9, c.y)
assert.is.equal(c, d)
end)
it("tests normal, trim, length", function()
it("subracts a vector from another", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local c = vec2():sub(a, b)
local d = a - b
assert.is.equal(-4, c.x)
assert.is.equal( 1, c.y)
assert.is.equal( c, d)
end)
it("multiplies a vector by a scale factor", function()
local a = vec2(3, 5)
local s = 2
local c = vec2():mul(a, s)
local d = a * s
assert.is.equal(6, c.x)
assert.is.equal(10, c.y)
assert.is.equal(c, d)
end)
it("divides a vector by a scale factor", function()
local a = vec2(3, 5)
local s = 2
local c = vec2():div(a, s)
local d = a / s
assert.is.equal(1.5, c.x)
assert.is.equal(2.5, c.y)
assert.is.equal(c, d)
end)
it("inverts a vector", function()
local a = vec2(3, -5)
local b = -a
assert.is.equal(-a.x, b.x)
assert.is.equal(-a.y, b.y)
end)
it("gets the length of a vector", function()
local a = vec2(3, 5)
assert.is.equal(sqrt(34), a:len())
end)
it("gets the square length of a vector", function()
local a = vec2(3, 5)
assert.is.equal(34, a:len2())
end)
it("normalizes a vector", function()
local a = vec2(3, 5)
local b = vec2():normalize(a)
local c = vec2():trim(a, 0.5)
assert.is_true(abs(b:len()-1) < DBL_EPSILON)
end)
assert.is_true(abs(b:len() - 1) < DBL_EPSILON)
assert.is_true(abs(b:len() - 1) < DBL_EPSILON)
assert.is_true(abs(b:len2() - 1) < DBL_EPSILON * 2)
assert.is_true(abs(c:len() - 0.5) < DBL_EPSILON)
it("trims the length of a vector", function()
local a = vec2(3, 5)
local b = vec2():trim(a, 0.5)
assert.is_true(abs(b:len()-0.5) < DBL_EPSILON)
end)
it("tests distance", function()
it("gets the distance between two vectors", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
-- Distance
do
local c = a:dist(b)
assert.is.equal(c, sqrt(17))
end
-- Distance Squared
do
local c = a:dist2(b)
assert.is.equal(c, 17)
end
local c = a:dist(b)
assert.is.equal(sqrt(17), c)
end)
it("tests cross product", function()
it("gets the square distance between two vectors", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local c = a:dist2(b)
assert.is.equal(17, c)
end)
it("crosses two vectors", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local c = a:cross(b)
assert.is.equal(c, -23)
assert.is.equal(-23, c)
end)
it("tests dot product", function()
it("dots two vectors", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local c = a:dot(b)
assert.is.equal(c, 41)
assert.is.equal(41, c)
end)
it("tests lerp", function()
it("interpolates between two vectors", function()
local a = vec2(3, 5)
local b = vec2(7, 4)
local s = 0.1
local c = vec2():lerp(a, b, s)
assert.is.equal(c.x, 3.4)
assert.is.equal(c.y, 4.9)
assert.is.equal(3.4, c.x)
assert.is.equal(4.9, c.y)
end)
it("tests unpack", function()
it("unpacks a vector", function()
local a = vec2(3, 5)
local x, y = a:unpack()
assert.is.equal(x, 3)
assert.is.equal(y, 5)
assert.is.equal(3, x)
assert.is.equal(5, y)
end)
it("tests rotate", function()
it("rotates a vector", function()
local a = vec2(3, 5)
local b = vec2():rotate(a, math.pi)
local c = vec2():rotate(b, -math.pi)
assert.is.equal(c.x, 3)
assert.is.equal(c.y, 5)
assert.is_not.equal(3, b.x)
assert.is_not.equal(5, b.y)
assert.is.equal(3, c.x)
assert.is.equal(5, c.y)
end)
it("tests converting coordinates", function()
it("converts between polar and cartesian coordinates", function()
local a = vec2(3, 5)
local r, t = a:to_polar()
local b = vec2.from_cartesian(r, t)
assert.is.equal(b.x, a.x)
assert.is.equal(b.y, a.y)
assert.is.equal(a.x, b.x)
assert.is.equal(a.y, b.y)
end)
it("tests perpendicular", function()
it("gets a perpendicular vector", function()
local a = vec2(3, 5)
local b = vec2():perpendicular(a)
assert.is.equal(b.x, -5)
assert.is.equal(b.y, 3)
assert.is.equal(-5, b.x)
assert.is.equal( 3, b.y)
end)
end)

259
spec/vec3_spec.lua
View File

@ -3,176 +3,183 @@ local DBL_EPSILON = require("modules.constants").DBL_EPSILON
local abs, sqrt = math.abs, math.sqrt
describe("vec3:", function()
it("tests creating vectors", function()
-- new empty vector
it("creates an empty vector", function()
local a = vec3()
assert.is.equal(a.x, 0)
assert.is.equal(a.y, 0)
assert.is.equal(a.z, 0)
assert.is.equal(0, a.x)
assert.is.equal(0, a.y)
assert.is.equal(0, a.z)
assert.is_true(a:is_vec3())
assert.is_true(a:is_zero())
-- new vector from table
local b = vec3 { 0, 0, 0 }
assert.is.equal(b.x, 0)
assert.is.equal(b.y, 0)
assert.is.equal(b.z, 0)
local c = vec3 { x=0, y=0, z=0 }
assert.is.equal(c.x, 0)
assert.is.equal(c.y, 0)
assert.is.equal(c.z, 0)
-- new vector from numbers
local d = vec3(3.14159, -2.808, 1.337)
assert.is.equal(d.x, 3.14159)
assert.is.equal(d.y, -2.808)
assert.is.equal(d.z, 1.337)
-- new vector from other vector
local e = d:clone()
assert.is.equal(d, e)
end)
it("tests basic operators", function()
it("creates a vector from numbers", function()
local a = vec3(3, 5, 7)
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
assert.is.equal(7, a.z)
end)
it("creates a vector from a list", function()
local a = vec3 { 3, 5, 7 }
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
assert.is.equal(7, a.z)
end)
it("creates a vector from a record", function()
local a = vec3 { x=3, y=5, z=7 }
assert.is.equal(3, a.x)
assert.is.equal(5, a.y)
assert.is.equal(7, a.z)
end)
it("clones a vector", function()
local a = vec3(3, 5, 7)
local b = a:clone()
assert.is.equal(a, b)
end)
it("adds a vector to another", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local s = 2
-- Add
do
local c = vec3():add(a, b)
local d = a + b
assert.is.equal(c.x, 10)
assert.is.equal(c.y, 9)
assert.is.equal(c.z, 8)
assert.is.equal(c, d)
end
-- Subtract
do
local c = vec3():sub(a, b)
local d = a - b
assert.is.equal(c.x, -4)
assert.is.equal(c.y, 1)
assert.is.equal(c.z, 6)
assert.is.equal(c, d)
end
-- Multiply
do
local c = vec3():mul(a, s)
local d = a * s
assert.is.equal(c.x, 6)
assert.is.equal(c.y, 10)
assert.is.equal(c.z, 14)
assert.is.equal(c, d)
end
-- Divide
do
local c = vec3():div(a, s)
local d = a / s
assert.is.equal(c.x, 1.5)
assert.is.equal(c.y, 2.5)
assert.is.equal(c.z, 3.5)
assert.is.equal(c, d)
end
-- Sign flip
do
local c = -a
assert.is.equal(c.x, -3)
assert.is.equal(c.y, -5)
assert.is.equal(c.z, -7)
end
local c = vec3():add(a, b)
local d = a + b
assert.is.equal(10, c.x)
assert.is.equal(9, c.y)
assert.is.equal(8, c.z)
assert.is.equal(c, d)
end)
it("tests normal, trim, length", function()
it("subracts a vector from another", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local c = vec3():sub(a, b)
local d = a - b
assert.is.equal(-4, c.x)
assert.is.equal( 1, c.y)
assert.is.equal( 6, c.z)
assert.is.equal( c, d)
end)
it("multiplies a vector by a scale factor", function()
local a = vec3(3, 5, 7)
local s = 2
local c = vec3():mul(a, s)
local d = a * s
assert.is.equal(6, c.x)
assert.is.equal(10, c.y)
assert.is.equal(14, c.z)
assert.is.equal(c, d)
end)
it("divides a vector by a scale factor", function()
local a = vec3(3, 5, 7)
local s = 2
local c = vec3():div(a, s)
local d = a / s
assert.is.equal(1.5, c.x)
assert.is.equal(2.5, c.y)
assert.is.equal(3.5, c.z)
assert.is.equal(c, d)
end)
it("inverts a vector", function()
local a = vec3(3, -5, 7)
local b = -a
assert.is.equal(-a.x, b.x)
assert.is.equal(-a.y, b.y)
assert.is.equal(-a.z, b.z)
end)
it("gets the length of a vector", function()
local a = vec3(3, 5, 7)
assert.is.equal(sqrt(83), a:len())
end)
it("gets the square length of a vector", function()
local a = vec3(3, 5, 7)
assert.is.equal(83, a:len2())
end)
it("normalizes a vector", function()
local a = vec3(3, 5, 7)
local b = vec3():normalize(a)
local c = vec3():trim(a, 0.5)
assert.is_true(abs(b:len()-1) < DBL_EPSILON)
end)
assert.is_true(abs(b:len() - 1) < DBL_EPSILON)
assert.is_true(abs(b:len() - 1) < DBL_EPSILON)
assert.is_true(abs(b:len2() - 1) < DBL_EPSILON * 2)
assert.is_true(abs(c:len() - 0.5) < DBL_EPSILON)
it("trims the length of a vector", function()
local a = vec3(3, 5, 7)
local b = vec3():trim(a, 0.5)
assert.is_true(abs(b:len()-0.5) < DBL_EPSILON)
end)
it("tests distance", function()
it("gets the distance between two vectors", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
-- Distance
do
local c = a:dist(b)
assert.is.equal(c, sqrt(53))
end
-- Distance Squared
do
local c = a:dist2(b)
assert.is.equal(c, 53)
end
local c = a:dist(b)
assert.is.equal(sqrt(53), c)
end)
it("tests cross product", function()
it("gets the square distance between two vectors", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local c = a:dist2(b)
assert.is.equal(53, c)
end)
it("crosses two vectors", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local c = vec3():cross(a, b)
assert.is.equal(c.x, -23)
assert.is.equal(c.y, 46)
assert.is.equal(c.z, -23)
assert.is.equal(-23, c.x)
assert.is.equal( 46, c.y)
assert.is.equal(-23, c.z)
end)
it("tests dot product", function()
it("dots two vectors", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local c = a:dot(b)
assert.is.equal(c, 48)
assert.is.equal(48, c)
end)
it("tests lerp", function()
it("interpolates between two vectors", function()
local a = vec3(3, 5, 7)
local b = vec3(7, 4, 1)
local s = 0.1
local c = vec3():lerp(a, b, s)
assert.is.equal(c.x, 3.4)
assert.is.equal(c.y, 4.9)
assert.is.equal(c.z, 6.4)
assert.is.equal(3.4, c.x)
assert.is.equal(4.9, c.y)
assert.is.equal(6.4, c.z)
end)
it("tests unpack", function()
local a = vec3(3, 5, 7)
it("unpacks a vector", function()
local a = vec3(3, 5, 7)
local x, y, z = a:unpack()
assert.is.equal(x, 3)
assert.is.equal(y, 5)
assert.is.equal(z, 7)
assert.is.equal(3, x)
assert.is.equal(5, y)
assert.is.equal(7, z)
end)
it("tests rotate", function()
it("rotates a vector", function()
local a = vec3(3, 5, 7)
local b = vec3():rotate(a, math.pi, vec3.unit_z)
local c = vec3():rotate(b, -math.pi, vec3.unit_z)
assert.is.equal(c.x, 3)
assert.is.equal(c.y, 5)
assert.is.equal(c.z, 7)
assert.is_not.equal(3, b.x)
assert.is_not.equal(5, b.y)
assert.is.equal(7, b.z)
assert.is.equal(3, c.x)
assert.is.equal(5, c.y)
assert.is.equal(7, c.z)
end)
it("tests perpendicular", function()
it("gets a perpendicular vector", function()
local a = vec3(3, 5, 7)
local b = vec3():perpendicular(a)
assert.is.equal(b.x, -5)
assert.is.equal(b.y, 3)
assert.is.equal(b.z, 0)
assert.is.equal(-5, b.x)
assert.is.equal( 3, b.y)
assert.is.equal( 0, b.z)
end)
end)