Added orthogonality check in matrix class, based on a patch by Halifax. Also...

Added orthogonality check in matrix class, based on a patch by Halifax. Also added some (rather trivial) testcases, corner cases have to be identified...

git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/trunk@2029 dfc29bdd-3216-0410-991c-e03cc46cb475

include/irrMath.h

@@ -195,10 +195,16 @@ namespace core
 	}
 
 
+	//! returns if a equals zero, taking rounding errors into account
+	inline bool iszero(const f64 a, const f64 tolerance = ROUNDING_ERROR_64)
+	{
+		return fabs(a) <= tolerance;
+	}
+
 	//! returns if a equals zero, taking rounding errors into account
 	inline bool iszero(const f32 a, const f32 tolerance = ROUNDING_ERROR_32)
 	{
-		return fabsf ( a ) <= tolerance;
+		return fabsf(a) <= tolerance;
 	}
 
 	//! returns if a equals zero, taking rounding errors into account
@@ -213,21 +219,21 @@ namespace core
 		return a <= tolerance;
 	}
 
-	inline s32 s32_min ( s32 a, s32 b)
+	inline s32 s32_min(s32 a, s32 b)
 	{
-		s32 mask = (a - b) >> 31;
+		const s32 mask = (a - b) >> 31;
 		return (a & mask) | (b & ~mask);
 	}
 
-	inline s32 s32_max ( s32 a, s32 b)
+	inline s32 s32_max(s32 a, s32 b)
 	{
-		s32 mask = (a - b) >> 31;
+		const s32 mask = (a - b) >> 31;
 		return (b & mask) | (a & ~mask);
 	}
 
 	inline s32 s32_clamp (s32 value, s32 low, s32 high)
 	{
-		return s32_min (s32_max(value,low), high);
+		return s32_min(s32_max(value,low), high);
 	}
 
 	/*

include/matrix4.h

@@ -110,6 +110,9 @@ namespace core
 			//! Returns true if the matrix is the identity matrix
 			inline bool isIdentity() const;
 
+			//! Returns true if the matrix is orthogonal
+			inline bool isOrthogonal() const;
+
 			//! Returns true if the matrix is the identity matrix
 			bool isIdentity_integer_base () const;
 
@@ -818,6 +821,31 @@ namespace core
 		return true;
 	}
 
+
+	/* Check orthogonality of matrix. */
+	template <class T>
+    inline bool CMatrix4<T>::isOrthogonal() const
+    {
+        T dp = M[0] * M[4 ] + M[1] * M[5 ] + M[2 ] * M[6 ] + M[3 ] * M[7 ];
+		if (!iszero(dp))
+			return false;
+        dp = M[0] * M[8 ] + M[1] * M[9 ] + M[2 ] * M[10] + M[3 ] * M[11];
+		if (!iszero(dp))
+			return false;
+        dp = M[0] * M[12] + M[1] * M[13] + M[2 ] * M[14] + M[3 ] * M[15];
+		if (!iszero(dp))
+			return false;
+        dp = M[4] * M[8 ] + M[5] * M[9 ] + M[6 ] * M[10] + M[7 ] * M[11];
+		if (!iszero(dp))
+			return false;
+        dp = M[4] * M[12] + M[5] * M[13] + M[6 ] * M[14] + M[7 ] * M[15];
+		if (!iszero(dp))
+			return false;
+        dp = M[8] * M[12] + M[9] * M[13] + M[10] * M[14] + M[11] * M[15];
+		return (iszero(dp));
+    }
+
+
 	/*
 		doesn't solve floating range problems..
 		but takes care on +/- 0 on translation because we are changing it..

tests/irrCoreEquals.cpp

@@ -7,6 +7,7 @@
 
 bool irrCoreEquals(void)
 {
+	// float tests
 	if(!irr::core::equals(99.f, 99.f))
 	{
 		logTestString("irr::core::equals(f32, f32 (, default)) failed.\n");
@@ -19,6 +20,7 @@ bool irrCoreEquals(void)
 		return false;
 	}
 
+	// double tests
 	if(!irr::core::equals(99.0, 99.0))
 	{
 		logTestString("irr::core::equals(f64, f64 (,default)) failed.\n");
@@ -31,6 +33,7 @@ bool irrCoreEquals(void)
 		return false;
 	}
 
+	// int tests
 	if(!irr::core::equals(99, 99))
 	{
 		logTestString("irr::core::equals(s32, s32 (,default)) failed.\n");
@@ -79,6 +82,65 @@ bool irrCoreEquals(void)
 		return false;
 	}
 
+	// iszero is a specialized equals method
+	// float tests
+	if(!irr::core::iszero(.0f))
+	{
+		logTestString("irr::core::iszero(f32 (,default)) failed.\n");
+		return false;
+	}
+
+	if(irr::core::iszero(-1.0f))
+	{
+		logTestString("irr::core::iszero(f32 (,default)) failed.\n");
+		return false;
+	}
+
+	if(!irr::core::iszero(1.0f, 1.0f))
+	{
+		logTestString("irr::core::iszero(f32, f32) failed.\n");
+		return false;
+	}
+
+	// double tests
+	if(!irr::core::iszero(0.0))
+	{
+		logTestString("irr::core::iszero(f64 (,default)) failed.\n");
+		return false;
+	}
+
+	if(irr::core::iszero(-1.0))
+	{
+		logTestString("irr::core::iszero(f64 (,default)) failed.\n");
+		return false;
+	}
+
+	if(!irr::core::iszero(-2.0, -2.0))
+	{
+		logTestString("irr::core::iszero(f64, f64) failed.\n");
+		return false;
+	}
+
+	// int tests
+	if(!irr::core::iszero(0))
+	{
+		logTestString("irr::core::iszero(s32 (,default)) failed.\n");
+		return false;
+	}
+
+	if(irr::core::iszero(-1))
+	{
+		logTestString("irr::core::iszero(s32 (,default)) failed.\n");
+		return false;
+	}
+
+	if(!irr::core::iszero(1, 1))
+	{
+		logTestString("irr::core::iszero(s32, s32) failed.\n");
+		return false;
+	}
+
 
 	return true;
-}
\ No newline at end of file
+}
+

tests/main.cpp

@@ -56,6 +56,7 @@ int main(int argumentCount, char * arguments[])
 	extern bool textureRenderStates(void);
 	extern bool burningsVideo(void);
 	extern bool makeColorKeyTexture(void);
+	extern bool matrixOps(void);
 
 	typedef struct _STest
 	{
@@ -71,6 +72,7 @@ int main(int argumentCount, char * arguments[])
 		TEST(exports),
 		TEST(testVector3d),
 		TEST(testVector2d),
+		TEST(matrixOps),
 		TEST(planeMatrix),
 		TEST(fast_atof),
 		TEST(line2dIntersectWith),

tests/matrixOps.cpp

+// Copyright (C) 2008 Colin MacDonald
+// No rights reserved: this software is in the public domain.
+
+#include "testUtils.h"
+#include "irrlicht.h"
+#include <assert.h>
+
+using namespace irr;
+using namespace core;
+using namespace scene;
+using namespace video;
+using namespace io;
+using namespace gui;
+
+// Test some matrix ops.
+bool matrixOps(void)
+{
+	matrix4 rotationMatrix;
+	if (!rotationMatrix.isOrthogonal())
+	{
+		logTestString("irr::core::matrix4::isOrthogonal() failed with Identity.\n");
+		return false;
+	}
+
+	rotationMatrix.setRotationDegrees(vector3df(90, 0, 0));
+	if (rotationMatrix.isOrthogonal())
+	{
+		logTestString("irr::core::matrix4::isOrthogonal() failed with rotation.\n");
+		return false;
+	}
+
+	matrix4 translationMatrix;
+	translationMatrix.setTranslation(vector3df(0, 3, 0));
+	if (translationMatrix.isOrthogonal())
+	{
+		logTestString("irr::core::matrix4::isOrthogonal() failed with translation.\n");
+		return false;
+	}
+
+	matrix4 scaleMatrix;
+	scaleMatrix.setScale(vector3df(1, 2, 3));
+	if (scaleMatrix.isOrthogonal())
+	{
+		logTestString("irr::core::matrix4::isOrthogonal() failed with scale.\n");
+		return false;
+	}
+
+	return true;
+}

tests/tests-last-passed-at.txt

-Test suite pass at GMT Sat Jan 03 23:29:59 2009
+Test suite pass at GMT Sun Jan 04 14:29:01 2009
 

tests/tests.cbp

@@ -49,6 +49,7 @@
 		<Unit filename="line2dIntersectWith.cpp" />
 		<Unit filename="main.cpp" />
 		<Unit filename="makeColorKeyTexture.cpp" />
+		<Unit filename="matrixOps.cpp" />
 		<Unit filename="md2Animation.cpp" />
 		<Unit filename="planeMatrix.cpp" />
 		<Unit filename="sceneCollisionManager.cpp" />

tests/tests_vc8.vcproj

@@ -217,6 +217,10 @@
 				RelativePath=".\makeColorKeyTexture.cpp"
 				>
 			</File>
+			<File
+				RelativePath=".\matrixOps.cpp"
+				>
+			</File>
 			<File
 				RelativePath=".\md2Animation.cpp"
 				>

tests/tests_vc9.vcproj

@@ -196,11 +196,11 @@
 				>
 			</File>
 			<File
-				RelativePath=".\irrCoreEquals.cpp"
+				RelativePath=".\guiDisabledMenu.cpp"
 				>
 			</File>
 			<File
-				RelativePath=".\guiDisabledMenu.cpp"
+				RelativePath=".\irrCoreEquals.cpp"
 				>
 			</File>
 			<File
@@ -215,6 +215,10 @@
 				RelativePath=".\makeColorKeyTexture.cpp"
 				>
 			</File>
+			<File
+				RelativePath=".\matrixOps.cpp"
+				>
+			</File>
 			<File
 				RelativePath=".\md2Animation.cpp"
 				>