forked from bartvdbraak/blender
Alembic: Renamed create_rotation_matrix to create_swapped_rotation_matrix and more:
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.
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@ -132,15 +132,28 @@ void split(const std::string &s, const char delim, std::vector<std::string> &tok
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}
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}
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/* Create a rotation matrix for each axis from euler angles.
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* Euler angles are swaped to change coordinate system. */
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static void create_rotation_matrix(
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void create_swapped_rotation_matrix(
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float rot_x_mat[3][3], float rot_y_mat[3][3],
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float rot_z_mat[3][3], const float euler[3], const bool to_yup)
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float rot_z_mat[3][3], const float euler[3],
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AbcAxisSwapMode mode)
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{
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const float rx = euler[0];
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const float ry = (to_yup) ? euler[2] : -euler[2];
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const float rz = (to_yup) ? -euler[1] : euler[1];
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float ry;
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float rz;
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/* Apply transformation */
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switch(mode) {
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case ABC_ZUP_FROM_YUP:
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ry = -euler[2];
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rz = euler[1];
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break;
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case ABC_YUP_FROM_ZUP:
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ry = euler[2];
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rz = -euler[1];
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break;
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default:
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BLI_assert(false);
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}
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unit_m3(rot_x_mat);
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unit_m3(rot_y_mat);
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@ -190,12 +203,11 @@ void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMod
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mat3_to_eulO(euler, ROT_MODE_XYZ, src_rot);
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/* Create X, Y, Z rotation matrices from euler angles. */
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create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
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mode == ABC_YUP_FROM_ZUP);
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create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, mode);
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/* Concatenate rotation matrices. */
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mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
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mul_m3_m3m3(dst_rot, dst_rot, rot_z_mat);
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mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
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mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat);
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mat3_to_eulO(euler, ROT_MODE_XYZ, dst_rot);
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@ -155,6 +155,13 @@ typedef enum {
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ABC_YUP_FROM_ZUP = 2,
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} AbcAxisSwapMode;
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/* Create a rotation matrix for each axis from euler angles.
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* Euler angles are swaped to change coordinate system. */
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void create_swapped_rotation_matrix(
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float rot_x_mat[3][3], float rot_y_mat[3][3],
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float rot_z_mat[3][3], const float euler[3],
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AbcAxisSwapMode mode);
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void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMode mode);
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/* *************************** */
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@ -14,5 +14,7 @@ if(WITH_GTESTS)
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add_subdirectory(blenlib)
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add_subdirectory(guardedalloc)
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add_subdirectory(bmesh)
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if(WITH_ALEMBIC)
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add_subdirectory(alembic)
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endif()
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endif()
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43
tests/gtests/alembic/CMakeLists.txt
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43
tests/gtests/alembic/CMakeLists.txt
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@ -0,0 +1,43 @@
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# ***** BEGIN GPL LICENSE BLOCK *****
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#
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# This program is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation; either version 2
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# of the License, or (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software Foundation,
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# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#
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# The Original Code is Copyright (C) 2014, Blender Foundation
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# All rights reserved.
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#
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# Contributor(s): Sybren A. Stüvel
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#
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# ***** END GPL LICENSE BLOCK *****
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set(INC
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.
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..
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../../../source/blender/blenlib
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../../../source/blender/alembic
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${ALEMBIC_INCLUDE_DIRS}
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${BOOST_INCLUDE_DIR}
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${HDF5_INCLUDE_DIRS}
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${OPENEXR_INCLUDE_DIRS}
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)
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include_directories(${INC})
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setup_libdirs()
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get_property(BLENDER_SORTED_LIBS GLOBAL PROPERTY BLENDER_SORTED_LIBS_PROP)
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# For motivation on doubling BLENDER_SORTED_LIBS, see ../bmesh/CMakeLists.txt
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BLENDER_SRC_GTEST(abc_matrix "abc_matrix_test.cc" "${BLENDER_SORTED_LIBS};${BLENDER_SORTED_LIBS}")
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setup_liblinks(abc_matrix_test)
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150
tests/gtests/alembic/abc_matrix_test.cc
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150
tests/gtests/alembic/abc_matrix_test.cc
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@ -0,0 +1,150 @@
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#include "testing/testing.h"
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// Keep first since utildefines defines AT which conflicts with fucking STL
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#include "intern/abc_util.h"
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extern "C" {
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#include "BLI_utildefines.h"
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#include "BLI_math.h"
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}
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#define EXPECT_M3_NEAR(a, b, eps) {\
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EXPECT_V3_NEAR(a[0], b[0], eps); \
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EXPECT_V3_NEAR(a[1], b[1], eps); \
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EXPECT_V3_NEAR(a[2], b[2], eps); \
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}
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TEST(abc_matrix, CreateRotationMatrixY_YfromZ) {
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// Input variables
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float rot_x_mat[3][3];
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float rot_y_mat[3][3];
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float rot_z_mat[3][3];
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float euler[3] = {0.f, M_PI_4, 0.f};
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// Construct expected matrices
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float unit[3][3];
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float rot_z_min_quart_pi[3][3]; // rotation of -pi/4 radians over z-axis
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unit_m3(unit);
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unit_m3(rot_z_min_quart_pi);
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rot_z_min_quart_pi[0][0] = M_SQRT1_2;
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rot_z_min_quart_pi[0][1] = -M_SQRT1_2;
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rot_z_min_quart_pi[1][0] = M_SQRT1_2;
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rot_z_min_quart_pi[1][1] = M_SQRT1_2;
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// Run tests
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create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
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ABC_YUP_FROM_ZUP);
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EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f);
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EXPECT_M3_NEAR(rot_y_mat, unit, 1e-5f);
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EXPECT_M3_NEAR(rot_z_mat, rot_z_min_quart_pi, 1e-5f);
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}
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TEST(abc_matrix, CreateRotationMatrixZ_YfromZ) {
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// Input variables
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float rot_x_mat[3][3];
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float rot_y_mat[3][3];
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float rot_z_mat[3][3];
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float euler[3] = {0.f, 0.f, M_PI_4};
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// Construct expected matrices
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float unit[3][3];
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float rot_y_quart_pi[3][3]; // rotation of pi/4 radians over y-axis
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unit_m3(unit);
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unit_m3(rot_y_quart_pi);
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rot_y_quart_pi[0][0] = M_SQRT1_2;
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rot_y_quart_pi[0][2] = -M_SQRT1_2;
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rot_y_quart_pi[2][0] = M_SQRT1_2;
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rot_y_quart_pi[2][2] = M_SQRT1_2;
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// Run tests
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create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
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ABC_YUP_FROM_ZUP);
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EXPECT_M3_NEAR(rot_x_mat, unit, 1e-5f);
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EXPECT_M3_NEAR(rot_y_mat, rot_y_quart_pi, 1e-5f);
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EXPECT_M3_NEAR(rot_z_mat, unit, 1e-5f);
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}
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TEST(abc_matrix, CreateRotationMatrixXYZ_YfromZ) {
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// Input variables
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float rot_x_mat[3][3];
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float rot_y_mat[3][3];
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float rot_z_mat[3][3];
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// in degrees: X=10, Y=20, Z=30
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float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
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// Construct expected matrices
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float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis
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float rot_y_p30[3][3]; // rotation of +30 degrees over y-axis
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float rot_z_m20[3][3]; // rotation of -20 degrees over z-axis
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unit_m3(rot_x_p10);
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rot_x_p10[1][1] = 0.9848077297210693f;
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rot_x_p10[1][2] = 0.1736481785774231f;
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rot_x_p10[2][1] = -0.1736481785774231f;
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rot_x_p10[2][2] = 0.9848077297210693f;
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unit_m3(rot_y_p30);
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rot_y_p30[0][0] = 0.8660253882408142f;
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rot_y_p30[0][2] = -0.5f;
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rot_y_p30[2][0] = 0.5f;
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rot_y_p30[2][2] = 0.8660253882408142f;
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unit_m3(rot_z_m20);
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rot_z_m20[0][0] = 0.9396926164627075f;
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rot_z_m20[0][1] = -0.3420201241970062f;
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rot_z_m20[1][0] = 0.3420201241970062f;
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rot_z_m20[1][1] = 0.9396926164627075f;
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// Run tests
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create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
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ABC_YUP_FROM_ZUP);
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EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f);
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EXPECT_M3_NEAR(rot_y_mat, rot_y_p30, 1e-5f);
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EXPECT_M3_NEAR(rot_z_mat, rot_z_m20, 1e-5f);
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}
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TEST(abc_matrix, CreateRotationMatrixXYZ_ZfromY) {
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// Input variables
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float rot_x_mat[3][3];
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float rot_y_mat[3][3];
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float rot_z_mat[3][3];
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// in degrees: X=10, Y=20, Z=30
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float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f};
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// Construct expected matrices
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float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis
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float rot_y_m30[3][3]; // rotation of -30 degrees over y-axis
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float rot_z_p20[3][3]; // rotation of +20 degrees over z-axis
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unit_m3(rot_x_p10);
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rot_x_p10[1][1] = 0.9848077297210693f;
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rot_x_p10[1][2] = 0.1736481785774231f;
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rot_x_p10[2][1] = -0.1736481785774231f;
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rot_x_p10[2][2] = 0.9848077297210693f;
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unit_m3(rot_y_m30);
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rot_y_m30[0][0] = 0.8660253882408142f;
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rot_y_m30[0][2] = 0.5f;
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rot_y_m30[2][0] = -0.5f;
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rot_y_m30[2][2] = 0.8660253882408142f;
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unit_m3(rot_z_p20);
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rot_z_p20[0][0] = 0.9396926164627075f;
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rot_z_p20[0][1] = 0.3420201241970062f;
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rot_z_p20[1][0] = -0.3420201241970062f;
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rot_z_p20[1][1] = 0.9396926164627075f;
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// Run tests
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create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler,
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ABC_ZUP_FROM_YUP);
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EXPECT_M3_NEAR(rot_x_mat, rot_x_p10, 1e-5f);
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EXPECT_M3_NEAR(rot_y_mat, rot_y_m30, 1e-5f);
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EXPECT_M3_NEAR(rot_z_mat, rot_z_p20, 1e-5f);
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}
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