added tests for Vector Math, modified Makefile, added helper include files
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ejcoumans
163
Extras/vectormathlibrary/tests/main_vmtest.cpp
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163
Extras/vectormathlibrary/tests/main_vmtest.cpp
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///Testfile to test differences between vectormath and Bullet LinearMath
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#ifdef __PPU__
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#include "include/vectormath/ppu/cpp/vectormath_aos.h"
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#elif defined __SPU__
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#include "include/vectormath/spu/cpp/vectormath_aos.h"
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#else
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#include "include/vectormath/SSE/cpp/vectormath_aos.h"
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//#include "include/vectormath/scalar/cpp/vectormath_aos.h"
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#endif
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#include "../../src/LinearMath/btTransform.h"
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#include <stdio.h>
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//Bullet, a btVector can be used for both points and vectors.
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//it is up to the user/developer to use the right multiplication: btTransform for points, and btQuaternion or btMatrix3x3 for vectors.
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void BulletTest()
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{
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printf("Bullet Linearmath\n");
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(10,0,0));
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//initialization
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btVector3 pointA(0,0,0);
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btVector3 pointB,pointC,pointD,pointE;
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//assignment
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pointB = pointA;
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//in-place initialization
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pointB.setValue(1,2,3);
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//transform over tr
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pointB = tr * pointA;
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printf("pointB = tr * pointA = (%f,%f,%f)\n",pointB.getX(),pointB.getY(),pointB.getZ());
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//transform over tr
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pointE = tr(pointA);
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//inverse transform
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pointC = tr.inverse() * pointA;
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printf("pointC = tr.inverse() * pointA = (%f,%f,%f)\n",pointC.getX(),pointC.getY(),pointC.getZ());
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//inverse transform
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pointD = tr.invXform( pointA );
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btScalar x;
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//dot product
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x = pointD.dot(pointE);
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//square length
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x = pointD.length2();
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//length
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x = pointD.length();
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const btVector3& constPointD = pointD;
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//get a normalized vector from constPointD, without changing constPointD
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btVector3 norm = constPointD.normalized();
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//in-place normalize pointD
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pointD.normalize();
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//quaternions & matrices
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btQuaternion quat(0,0,0,1);
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btQuaternion quat1(btVector3(0,1,0),90.f * SIMD_RADS_PER_DEG);
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btMatrix3x3 mat0(quat1);
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btMatrix3x3 mat1 = mat0.inverse();
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btMatrix3x3 mat2 = mat0.transpose();
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btTransform tr1(mat2,btVector3(0,10,0));
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btTransform tr2 =tr1.inverse();
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btVector3 pt0(1,1,1);
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btVector3 pt1 = tr2 * pt0;
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printf("btVector3 pt1 = tr2 * pt0 = (%f,%f,%f)\n",pt1.getX(),pt1.getY(),pt1.getZ());
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btVector3 pt2 = tr2.getBasis() * pt0;
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btVector3 pt3 = pt0 * tr2.getBasis();
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btVector3 pt4 = tr2.getBasis().inverse() * pt0;
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btTransform tr3 = tr2.inverseTimes(tr2);
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}
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//vectormath makes a difference between point and vector.
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void VectormathTest()
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{
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printf("Vectormath\n");
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Vectormath::Aos::Transform3 tr;
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tr = Vectormath::Aos::Transform3::identity();
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tr.setTranslation(Vectormath::Aos::Vector3(10,0,0));
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//initialization
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Vectormath::Aos::Point3 pointA(0,0,0);
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Vectormath::Aos::Point3 pointB,pointC,pointE;
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Vectormath::Aos::Vector3 pointD;
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//assignment
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pointB = pointA;
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//in-place initialization
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pointB = Vectormath::Aos::Point3(1,2,3); //or
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pointB.setElem(0,1); //or
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pointB.setX(1);
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//transform over tr
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pointB = tr * pointA;
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printf("pointB = tr * pointA = (%f,%f,%f)\n",(float)pointB.getX(),(float)pointB.getY(),(float)pointB.getZ());
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//transform over tr
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//pointE = tr(pointA);
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//inverse transform
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pointC = Vectormath::Aos::inverse(tr) * pointA;
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printf("Vectormath::Aos::inverse(tr) * pointA = (%f,%f,%f)\n",(float)pointC.getX(),(float)pointC.getY(),(float)pointC.getZ());
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btScalar x;
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//dot product
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x = Vectormath::Aos::dot(Vectormath::Aos::Vector3(pointD),Vectormath::Aos::Vector3(pointE));
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//square length
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x = Vectormath::Aos::lengthSqr(Vectormath::Aos::Vector3(pointD));
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//length
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x = Vectormath::Aos::length(Vectormath::Aos::Vector3(pointD));
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const Vectormath::Aos::Vector3& constPointD = (Vectormath::Aos::Vector3&)pointD;
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//get a normalized vector from constPointD, without changing constPointD
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Vectormath::Aos::Vector3 norm = Vectormath::Aos::normalize(constPointD);
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//in-place normalize pointD
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pointD = Vectormath::Aos::normalize(Vectormath::Aos::Vector3(pointD));
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//quaternions & matrices
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Vectormath::Aos::Quat quat(0,0,0,1);
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Vectormath::Aos::Quat quat1;
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quat1 = Vectormath::Aos::Quat::rotationY(90.f * SIMD_RADS_PER_DEG);
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Vectormath::Aos::Matrix3 mat0(quat1);
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Vectormath::Aos::Matrix3 mat1 = Vectormath::Aos::inverse(mat0);
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Vectormath::Aos::Matrix3 mat2 = Vectormath::Aos::transpose(mat0);
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Vectormath::Aos::Transform3 tr1(mat2,Vectormath::Aos::Vector3(0,10,0));
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Vectormath::Aos::Transform3 tr2 = Vectormath::Aos::inverse(tr1);
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Vectormath::Aos::Point3 pt0(1,1,1);
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Vectormath::Aos::Point3 pt1 = tr2 * pt0;
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printf("Vectormath::Aos::Vector3 pt1 = tr2 * pt0; = (%f,%f,%f)\n",(float)pt1.getX(),(float)pt1.getY(),(float)pt1.getZ());
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Vectormath::Aos::Vector3 pt2 = tr2.getUpper3x3() * Vectormath::Aos::Vector3(pt0);
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//Vectormath::Aos::Vector3 pt3 = pt0 * tr2.getUpper3x3();
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Vectormath::Aos::Vector3 pt3 = Vectormath::Aos::inverse(tr2.getUpper3x3()) * Vectormath::Aos::Vector3(pt0);
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Vectormath::Aos::Vector3 pt4 = Vectormath::Aos::inverse(tr2.getUpper3x3()) * Vectormath::Aos::Vector3(pt0);
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Vectormath::Aos::Transform3 tr3 = Vectormath::Aos::inverse(tr2) * tr2;
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}
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int main()
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{
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BulletTest();
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VectormathTest();
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return 0;
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}
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