#[macro_use]
mod support;
macro_rules! impl_mat3_tests {
($t:ident, $const_new:ident, $newmat3:ident, $mat3:ident, $mat4: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]];
#[test]
fn test_const() {
const M0: $mat3 = $const_new!([0.0; 9]);
const M1: $mat3 = $const_new!([1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]);
const M2: $mat3 = $const_new!([1.0, 2.0, 3.0], [4.0, 5.0, 6.0], [7.0, 8.0, 9.0]);
assert_eq!($mat3::ZERO, M0);
assert_eq!(
$mat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]),
M1
);
assert_eq!(
$mat3::from_cols_array(&[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0]),
M2
);
}
#[test]
fn 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());
}
#[test]
fn test_mat3_zero() {
assert_eq!(
$mat3::ZERO,
$mat3::from_cols_array(&[0., 0., 0., 0., 0., 0., 0., 0., 0.])
);
}
#[test]
fn 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));
}
#[test]
fn 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);
}
#[test]
fn 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_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_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);
}
#[test]
fn 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))
);
}
#[test]
fn 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));
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());
}
#[test]
fn 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);
let yxz0 = y0 * x0 * z0;
let yxz1 = $mat3::from_euler(EulerRot::YXZ, yaw, pitch, roll);
assert_approx_eq!(yxz0, yxz1, 1e-6);
}
#[test]
fn 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);
}
#[test]
fn 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(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
);
}
#[test]
fn 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);
}
#[test]
fn 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()
);
}
#[test]
fn test_mat3_inverse() {
let inv = $mat3::IDENTITY.inverse();
assert_approx_eq!($mat3::IDENTITY, inv);
let rotz = $mat3::from_rotation_z(deg(90.0));
let rotz_inv = rotz.inverse();
assert_approx_eq!($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_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_approx_eq!($mat3::IDENTITY, m * m_inv);
assert_approx_eq!($mat3::IDENTITY, m_inv * m);
assert_approx_eq!(m_inv, rotz_inv * scale_inv);
}
#[test]
fn test_mat3_ops() {
let m0 = $mat3::from_cols_array_2d(&MATRIX);
let m0x2 = $mat3::from_cols_array_2d(&[
[2.0, 4.0, 6.0],
[8.0, 10.0, 12.0],
[14.0, 16.0, 18.0],
]);
assert_eq!(m0x2, m0 * 2.0);
assert_eq!(m0x2, 2.0 * m0);
assert_eq!(m0x2, m0 + m0);
assert_eq!($mat3::ZERO, m0 - m0);
assert_approx_eq!(m0, m0 * $mat3::IDENTITY);
assert_approx_eq!(m0, $mat3::IDENTITY * m0);
}
#[test]
fn test_mat3_fmt() {
let a = $mat3::from_cols_array_2d(&MATRIX);
assert_eq!(format!("{}", a), "[[1, 2, 3], [4, 5, 6], [7, 8, 9]]");
}
#[cfg(feature = "std")]
#[test]
fn test_sum() {
let id = $mat3::IDENTITY;
assert_eq!(vec![id, id].iter().sum::<$mat3>(), id + id);
}
#[cfg(feature = "std")]
#[test]
fn test_product() {
let two = $mat3::IDENTITY + $mat3::IDENTITY;
assert_eq!(vec![two, two].iter().product::<$mat3>(), two * two);
}
#[test]
fn 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());
}
};
}
mod mat3 {
use super::support::deg;
use glam::{const_mat3, mat3, vec3, vec3a, Mat3, Mat4, Vec2, Vec3, Vec3A};
#[test]
fn test_align() {
use std::mem;
assert_eq!(36, mem::size_of::<Mat3>());
assert_eq!(4, mem::align_of::<Mat3>());
}
#[test]
fn 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));
}
#[test]
fn 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_f64()
);
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_f32()
);
}
impl_mat3_tests!(f32, const_mat3, mat3, Mat3, Mat4, vec3, Vec3, Vec2);
}
mod mat3a {
use super::support::deg;
use glam::{const_mat3a, mat3a, vec3a, Mat3A, Mat4, Vec2, Vec3, Vec3A};
#[test]
fn test_align() {
use std::mem;
assert_eq!(48, mem::size_of::<Mat3A>());
assert_eq!(16, mem::align_of::<Mat3A>());
}
#[test]
fn 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));
}
#[test]
fn 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_f64()
);
}
impl_mat3_tests!(f32, const_mat3a, mat3a, Mat3A, Mat4, vec3a, Vec3, Vec2);
}
mod dmat3 {
use super::support::deg;
use glam::{const_dmat3, dmat3, dvec3, DMat3, DMat4, DVec2, DVec3};
#[test]
fn test_align() {
use std::mem;
assert_eq!(72, mem::size_of::<DMat3>());
assert_eq!(8, mem::align_of::<DMat3>());
}
impl_mat3_tests!(f64, const_dmat3, dmat3, DMat3, DMat4, dvec3, DVec3, DVec2);
}