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Alembic: Renamed create_rotation_matrix to create_swapped_rotation_matrix and more:

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Also replaced the bool param "to_yup" with "AbcAxisSwapMode mode", so that
it's more explicit that axes are swapped.

Also added unittests for create_swapped_rotation_matrix.
This commit is contained in:
Sybren A. Stüvel 2017-04-05 15:05:24 +02:00
parent 8ae656bf22
commit c2fec0f1b0
5 changed files with 224 additions and 10 deletions
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30
source/blender/alembic/intern/abc_util.cc
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@ -132,15 +132,28 @@ void split(const std::string &s, const char delim, std::vector<std::string> &tok
}
}
/* Create a rotation matrix for each axis from euler angles.
* Euler angles are swaped to change coordinate system. */
static void create_rotation_matrix(
void create_swapped_rotation_matrix(
float rot_x_mat[3][3], float rot_y_mat[3][3],
float rot_z_mat[3][3], const float euler[3], const bool to_yup)
float rot_z_mat[3][3], const float euler[3],
AbcAxisSwapMode mode)
{
const float rx = euler[0];
const float ry = (to_yup) ? euler[2] : -euler[2];
const float rz = (to_yup) ? -euler[1] : euler[1];
float ry;
float rz;
/* Apply transformation */
switch(mode) {
case ABC_ZUP_FROM_YUP:
ry = -euler[2];
rz = euler[1];
break;
case ABC_YUP_FROM_ZUP:
ry = euler[2];
rz = -euler[1];
break;
default:
BLI_assert(false);
}
unit_m3(rot_x_mat);
unit_m3(rot_y_mat);
@ -190,12 +203,11 @@ void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMod
mat3_to_eulO(euler, ROT_MODE_XYZ, src_rot);
/* Create X, Y, Z rotation matrices from euler angles. */
create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
mode == ABC_YUP_FROM_ZUP);
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, mode);
/* Concatenate rotation matrices. */
mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_z_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat);
mat3_to_eulO(euler, ROT_MODE_XYZ, dst_rot);

7
source/blender/alembic/intern/abc_util.h
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@ -155,6 +155,13 @@ typedef enum {
ABC_YUP_FROM_ZUP = 2,
} AbcAxisSwapMode;
/* Create a rotation matrix for each axis from euler angles.
* Euler angles are swaped to change coordinate system. */
void create_swapped_rotation_matrix(
float rot_x_mat[3][3], float rot_y_mat[3][3],
float rot_z_mat[3][3], const float euler[3],
AbcAxisSwapMode mode);
void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMode mode);
/* *************************** */

4
tests/gtests/CMakeLists.txt
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@ -14,5 +14,7 @@ if(WITH_GTESTS)
add_subdirectory(blenlib)
add_subdirectory(guardedalloc)
add_subdirectory(bmesh)
if(WITH_ALEMBIC)
add_subdirectory(alembic)
endif()
endif()

43
tests/gtests/alembic/CMakeLists.txt Normal file
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@ -0,0 +1,43 @@
# ***** BEGIN GPL LICENSE BLOCK *****
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
# The Original Code is Copyright (C) 2014, Blender Foundation
# All rights reserved.
#
# Contributor(s): Sybren A. Stüvel
#
# ***** END GPL LICENSE BLOCK *****
set(INC
.
..
../../../source/blender/blenlib
../../../source/blender/alembic
${ALEMBIC_INCLUDE_DIRS}
${BOOST_INCLUDE_DIR}
${HDF5_INCLUDE_DIRS}
${OPENEXR_INCLUDE_DIRS}
)
include_directories(${INC})
setup_libdirs()
get_property(BLENDER_SORTED_LIBS GLOBAL PROPERTY BLENDER_SORTED_LIBS_PROP)
# For motivation on doubling BLENDER_SORTED_LIBS, see ../bmesh/CMakeLists.txt
BLENDER_SRC_GTEST(abc_matrix "abc_matrix_test.cc" "${BLENDER_SORTED_LIBS};${BLENDER_SORTED_LIBS}")
setup_liblinks(abc_matrix_test)

150
tests/gtests/alembic/abc_matrix_test.cc Normal file
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@ -0,0 +1,150 @@
#include "testing/testing.h"
// Keep first since utildefines defines AT which conflicts with fucking STL
#include "intern/abc_util.h"
extern "C" {
#include "BLI_utildefines.h"
#include "BLI_math.h"
}
#define EXPECT_M3_NEAR(a, b, eps) {\
EXPECT_V3_NEAR(a[0], b[0], eps); \
EXPECT_V3_NEAR(a[1], b[1], eps); \
EXPECT_V3_NEAR(a[2], b[2], eps); \
}
TEST(abc_matrix, CreateRotationMatrixY_YfromZ) {
// Input variables
float rot_x_mat[3][3];
float rot_y_mat[3][3];
float rot_z_mat[3][3];
float euler[3] = {0.f, M_PI_4, 0.f};
// Construct expected matrices
float unit[3][3];
float rot_z_min_quart_pi[3][3]; // rotation of -pi/4 radians over z-axis
unit_m3(unit);
unit_m3(rot_z_min_quart_pi);
rot_z_min_quart_pi[0][0] = M_SQRT1_2;
rot_z_min_quart_pi[0][1] = -M_SQRT1_2;
rot_z_min_quart_pi[1][0] = M_SQRT1_2;
rot_z_min_quart_pi[1][1] = M_SQRT1_2;
// Run tests
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
ABC_YUP_FROM_ZUP);
EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f);
EXPECT_M3_NEAR(rot_y_mat, unit, 1e-5f);
EXPECT_M3_NEAR(rot_z_mat, rot_z_min_quart_pi, 1e-5f);
}
TEST(abc_matrix, CreateRotationMatrixZ_YfromZ) {
// Input variables
float rot_x_mat[3][3];
float rot_y_mat[3][3];
float rot_z_mat[3][3];
float euler[3] = {0.f, 0.f, M_PI_4};
// Construct expected matrices
float unit[3][3];
float rot_y_quart_pi[3][3]; // rotation of pi/4 radians over y-axis
unit_m3(unit);
unit_m3(rot_y_quart_pi);
rot_y_quart_pi[0][0] = M_SQRT1_2;
rot_y_quart_pi[0][2] = -M_SQRT1_2;
rot_y_quart_pi[2][0] = M_SQRT1_2;
rot_y_quart_pi[2][2] = M_SQRT1_2;
// Run tests
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
ABC_YUP_FROM_ZUP);
EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f);
EXPECT_M3_NEAR(rot_y_mat, rot_y_quart_pi, 1e-5f);
EXPECT_M3_NEAR(rot_z_mat, unit, 1e-5f);
}
TEST(abc_matrix, CreateRotationMatrixXYZ_YfromZ) {
// Input variables
float rot_x_mat[3][3];
float rot_y_mat[3][3];
float rot_z_mat[3][3];
// in degrees: X=10, Y=20, Z=30
float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
// Construct expected matrices
float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis
float rot_y_p30[3][3]; // rotation of +30 degrees over y-axis
float rot_z_m20[3][3]; // rotation of -20 degrees over z-axis
unit_m3(rot_x_p10);
rot_x_p10[1][1] = 0.9848077297210693f;
rot_x_p10[1][2] = 0.1736481785774231f;
rot_x_p10[2][1] = -0.1736481785774231f;
rot_x_p10[2][2] = 0.9848077297210693f;
unit_m3(rot_y_p30);
rot_y_p30[0][0] = 0.8660253882408142f;
rot_y_p30[0][2] = -0.5f;
rot_y_p30[2][0] = 0.5f;
rot_y_p30[2][2] = 0.8660253882408142f;
unit_m3(rot_z_m20);
rot_z_m20[0][0] = 0.9396926164627075f;
rot_z_m20[0][1] = -0.3420201241970062f;
rot_z_m20[1][0] = 0.3420201241970062f;
rot_z_m20[1][1] = 0.9396926164627075f;
// Run tests
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
ABC_YUP_FROM_ZUP);
EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f);
EXPECT_M3_NEAR(rot_y_mat, rot_y_p30, 1e-5f);
EXPECT_M3_NEAR(rot_z_mat, rot_z_m20, 1e-5f);
}
TEST(abc_matrix, CreateRotationMatrixXYZ_ZfromY) {
// Input variables
float rot_x_mat[3][3];
float rot_y_mat[3][3];
float rot_z_mat[3][3];
// in degrees: X=10, Y=20, Z=30
float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
// Construct expected matrices
float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis
float rot_y_m30[3][3]; // rotation of -30 degrees over y-axis
float rot_z_p20[3][3]; // rotation of +20 degrees over z-axis
unit_m3(rot_x_p10);
rot_x_p10[1][1] = 0.9848077297210693f;
rot_x_p10[1][2] = 0.1736481785774231f;
rot_x_p10[2][1] = -0.1736481785774231f;
rot_x_p10[2][2] = 0.9848077297210693f;
unit_m3(rot_y_m30);
rot_y_m30[0][0] = 0.8660253882408142f;
rot_y_m30[0][2] = 0.5f;
rot_y_m30[2][0] = -0.5f;
rot_y_m30[2][2] = 0.8660253882408142f;
unit_m3(rot_z_p20);
rot_z_p20[0][0] = 0.9396926164627075f;
rot_z_p20[0][1] = 0.3420201241970062f;
rot_z_p20[1][0] = -0.3420201241970062f;
rot_z_p20[1][1] = 0.9396926164627075f;
// Run tests
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
ABC_ZUP_FROM_YUP);
EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f);
EXPECT_M3_NEAR(rot_y_mat, rot_y_m30, 1e-5f);
EXPECT_M3_NEAR(rot_z_mat, rot_z_p20, 1e-5f);
}