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Unifying operators in Matrix3x3, Matrix3x4 and Matrix4x4

Browse Source 
- Add operators +, -, * and / too all matrix classes
- Add RetrieveScaleSq and GetReciprocalScaled to all matrix classes
- Add unit tests to all matrix classes
- Fix a bug that causes release configuration not to compile.
This commit is contained in:
Aaron Ruiz Mora
2021-05-04 19:12:01 +01:00
committed by GitHub
parent 1f6ec22e6e
commit f770e4aa7a
10 changed files with 746 additions and 227 deletions
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Code/Framework/AzCore/Tests/Math/Matrix3x3Tests.cpp
+84 -47
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@@ -14,6 +14,7 @@
#include <AzCore/Math/Transform.h>
#include <AzCore/Math/Quaternion.h>
#include <AzCore/UnitTest/TestTypes.h>
#include <AZTestShared/Math/MathTestHelpers.h>
using namespace AZ;
@@ -251,19 +252,19 @@ namespace UnitTest
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
Matrix3x3 m3 = m1 * m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(66.0f, 72.0f, 78.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(156.0f, 171.0f, 186.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(246.0f, 270.0f, 294.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(66.0f, 72.0f, 78.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(156.0f, 171.0f, 186.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(246.0f, 270.0f, 294.0f)));
Matrix3x3 m4 = m1;
m4 *= m2;
AZ_TEST_ASSERT(m4.GetRow(0).IsClose(Vector3(66.0f, 72.0f, 78.0f)));
AZ_TEST_ASSERT(m4.GetRow(1).IsClose(Vector3(156.0f, 171.0f, 186.0f)));
AZ_TEST_ASSERT(m4.GetRow(2).IsClose(Vector3(246.0f, 270.0f, 294.0f)));
EXPECT_THAT(m4.GetRow(0), IsClose(Vector3(66.0f, 72.0f, 78.0f)));
EXPECT_THAT(m4.GetRow(1), IsClose(Vector3(156.0f, 171.0f, 186.0f)));
EXPECT_THAT(m4.GetRow(2), IsClose(Vector3(246.0f, 270.0f, 294.0f)));
m3 = m1.TransposedMultiply(m2);
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(138.0f, 150.0f, 162.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(168.0f, 183.0f, 198.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(198.0f, 216.0f, 234.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(138.0f, 150.0f, 162.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(168.0f, 183.0f, 198.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(198.0f, 216.0f, 234.0f)));
}
TEST(MATH_Matrix3x3, TestVectorMultiplication)
@@ -277,11 +278,11 @@ namespace UnitTest
m2.SetRow(1, 10.0f, 11.0f, 12.0f);
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
AZ_TEST_ASSERT((m1 * Vector3(1.0f, 2.0f, 3.0f)).IsClose(Vector3(14.0f, 32.0f, 50.0f)));
EXPECT_THAT((m1 * Vector3(1.0f, 2.0f, 3.0f)), IsClose(Vector3(14.0f, 32.0f, 50.0f)));
Vector3 v1(1.0f, 2.0f, 3.0f);
AZ_TEST_ASSERT((v1 * m1).IsClose(Vector3(30.0f, 36.0f, 42.0f)));
EXPECT_THAT((v1 * m1), IsClose(Vector3(30.0f, 36.0f, 42.0f)));
v1 *= m1;
AZ_TEST_ASSERT(v1.IsClose(Vector3(30.0f, 36.0f, 42.0f)));
EXPECT_THAT(v1, IsClose(Vector3(30.0f, 36.0f, 42.0f)));
}
TEST(MATH_Matrix3x3, TestSum)
@@ -296,15 +297,15 @@ namespace UnitTest
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
Matrix3x3 m3 = m1 + m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(20.0f, 22.0f, 24.0f)));
m3 = m1;
m3 += m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(20.0f, 22.0f, 24.0f)));
}
TEST(MATH_Matrix3x3, TestDifference)
@@ -319,14 +320,14 @@ namespace UnitTest
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
Matrix3x3 m3 = m1 - m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
m3 = m1;
m3 -= m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(-6.0f, -6.0f, -6.0f)));
}
TEST(MATH_Matrix3x3, TestScalarMultiplication)
@@ -341,18 +342,18 @@ namespace UnitTest
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
Matrix3x3 m3 = m1 * 2.0f;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(2.0f, 4.0f, 6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(2.0f, 4.0f, 6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
m3 = m1;
m3 *= 2.0f;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(2.0f, 4.0f, 6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(2.0f, 4.0f, 6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
m3 = 2.0f * m1;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(2.0f, 4.0f, 6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(2.0f, 4.0f, 6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
}
TEST(MATH_Matrix3x3, TestScalarDivision)
@@ -367,18 +368,32 @@ namespace UnitTest
m2.SetRow(2, 13.0f, 14.0f, 15.0f);
Matrix3x3 m3 = m1 / 0.5f;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(2.0f, 4.0f, 6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(2.0f, 4.0f, 6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
m3 = m1;
m3 /= 0.5f;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(2.0f, 4.0f, 6.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(8.0f, 10.0f, 12.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(14.0f, 16.0f, 18.0f)));
m3 = -m1;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector3(-1.0f, -2.0f, -3.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector3(-4.0f, -5.0f, -6.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector3(-7.0f, -8.0f, -9.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector3(2.0f, 4.0f, 6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector3(8.0f, 10.0f, 12.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector3(14.0f, 16.0f, 18.0f)));
}
TEST(MATH_Matrix3x3, TestNegation)
{
Matrix3x3 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f);
m1.SetRow(1, 4.0f, 5.0f, 6.0f);
m1.SetRow(2, 7.0f, 8.0f, 9.0f);
EXPECT_THAT(-(-m1), IsClose(m1));
EXPECT_THAT(-Matrix3x3::CreateZero(), IsClose(Matrix3x3::CreateZero()));
Matrix3x3 m2 = -m1;
EXPECT_THAT(m2.GetRow(0), IsClose(Vector3(-1.0f, -2.0f, -3.0f)));
EXPECT_THAT(m2.GetRow(1), IsClose(Vector3(-4.0f, -5.0f, -6.0f)));
EXPECT_THAT(m2.GetRow(2), IsClose(Vector3(-7.0f, -8.0f, -9.0f)));
Matrix3x3 m3 = m1 + (-m1);
EXPECT_THAT(m3, IsClose(Matrix3x3::CreateZero()));
}
TEST(MATH_Matrix3x3, TestTranspose)
@@ -425,11 +440,33 @@ namespace UnitTest
TEST(MATH_Matrix3x3, TestScaleAccess)
{
Matrix3x3 m1 = Matrix3x3::CreateRotationX(DegToRad(40.0f)) * Matrix3x3::CreateScale(Vector3(2.0f, 3.0f, 4.0f));
AZ_TEST_ASSERT(m1.RetrieveScale().IsClose(Vector3(2.0f, 3.0f, 4.0f)));
AZ_TEST_ASSERT(m1.ExtractScale().IsClose(Vector3(2.0f, 3.0f, 4.0f)));
AZ_TEST_ASSERT(m1.RetrieveScale().IsClose(Vector3::CreateOne()));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3(2.0f, 3.0f, 4.0f)));
EXPECT_THAT(m1.ExtractScale(), IsClose(Vector3(2.0f, 3.0f, 4.0f)));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3::CreateOne()));
m1.MultiplyByScale(Vector3(3.0f, 4.0f, 5.0f));
AZ_TEST_ASSERT(m1.RetrieveScale().IsClose(Vector3(3.0f, 4.0f, 5.0f)));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3(3.0f, 4.0f, 5.0f)));
}
TEST(MATH_Matrix3x3, TestScaleSqAccess)
{
Matrix3x3 m1 = Matrix3x3::CreateRotationX(DegToRad(40.0f)) * Matrix3x3::CreateScale(Vector3(2.0f, 3.0f, 4.0f));
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3(4.0f, 9.0f, 16.0f)));
m1.ExtractScale();
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3::CreateOne()));
m1.MultiplyByScale(Vector3(3.0f, 4.0f, 5.0f));
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3(9.0f, 16.0f, 25.0f)));
}
TEST(MATH_Matrix3x3, TestReciprocalScaled)
{
Matrix3x3 orthogonalMatrix = Matrix3x3::CreateRotationX(DegToRad(40.0f));
EXPECT_THAT(orthogonalMatrix.GetReciprocalScaled(), IsClose(orthogonalMatrix));
const AZ::Vector3 scale(2.8f, 0.7f, 1.3f);
AZ::Matrix3x3 scaledMatrix = orthogonalMatrix;
scaledMatrix.MultiplyByScale(scale);
AZ::Matrix3x3 reciprocalScaledMatrix = orthogonalMatrix;
reciprocalScaledMatrix.MultiplyByScale(scale.GetReciprocal());
EXPECT_THAT(scaledMatrix.GetReciprocalScaled(), IsClose(reciprocalScaledMatrix));
}
TEST(MATH_Matrix3x3, TestPolarDecomposition)
Code/Framework/AzCore/Tests/Math/Matrix3x4Tests.cpp
+123 -40
View File
@@ -467,53 +467,136 @@ namespace UnitTest
EXPECT_THAT(matrix.Multiply3x3(axisDirection), IsClose(forwardDirection));
}
TEST(MATH_Matrix3x4, MultiplyByMatrix3x4)
TEST(MATH_Matrix3x4, TestMatrixMultiplication)
{
const AZ::Matrix3x4 matrix1 = AZ::Matrix3x4::CreateFromValue(1.2f);
const AZ::Matrix3x4 matrix2 = AZ::Matrix3x4::CreateDiagonal(AZ::Vector3(1.3f, 1.5f, 0.4f));
const AZ::Matrix3x4 matrix3 = AZ::Matrix3x4::CreateFromQuaternionAndTranslation(
AZ::Quaternion(0.42f, 0.46f, -0.66f, 0.42f), AZ::Vector3(2.8f, -3.7f, 1.6f));
const AZ::Matrix3x4 matrix4 = AZ::Matrix3x4::CreateRotationX(-0.7f) * AZ::Matrix3x4::CreateScale(AZ::Vector3(0.6f, 1.3f, 0.7f));
AZ::Matrix3x4 matrix5 = matrix1;
matrix5 *= matrix4;
const AZ::Vector3 vector(1.9f, 2.3f, 0.2f);
EXPECT_TRUE((matrix1 * (matrix2 * matrix3)).IsClose((matrix1 * matrix2) * matrix3));
EXPECT_THAT((matrix3 * matrix4) * vector, IsClose(matrix3 * (matrix4 * vector)));
EXPECT_TRUE((matrix2 * AZ::Matrix3x4::Identity()).IsClose(matrix2));
EXPECT_TRUE((matrix3 * AZ::Matrix3x4::Identity()).IsClose(AZ::Matrix3x4::Identity() * matrix3));
EXPECT_TRUE(matrix5.IsClose(matrix1 * matrix4));
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
AZ::Matrix3x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
AZ::Matrix3x4 m3 = m1 * m2;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(74.0f, 80.0f, 86.0f, 96.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(206.0f, 224.0f, 242.0f, 268.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(338.0f, 368.0f, 398.0f, 440.0f)));
AZ::Matrix3x4 m4 = m1;
m4 *= m2;
EXPECT_THAT(m4.GetRow(0), IsClose(AZ::Vector4(74.0f, 80.0f, 86.0f, 96.0f)));
EXPECT_THAT(m4.GetRow(1), IsClose(AZ::Vector4(206.0f, 224.0f, 242.0f, 268.0f)));
EXPECT_THAT(m4.GetRow(2), IsClose(AZ::Vector4(338.0f, 368.0f, 398.0f, 440.0f)));
}
TEST(MATH_Matrix3x4, AddMatrix3x4)
TEST(MATH_Matrix3x4, TestSum)
{
const AZ::Matrix3x4 matrix1 = AZ::Matrix3x4::CreateFromValue(1.2f);
const AZ::Matrix3x4 matrix2 = AZ::Matrix3x4::CreateDiagonal(AZ::Vector3(1.3f, 1.5f, 0.4f));
const AZ::Matrix3x4 matrix3 = AZ::Matrix3x4::CreateFromQuaternionAndTranslation(
AZ::Quaternion(0.42f, 0.46f, -0.66f, 0.42f), AZ::Vector3(2.8f, -3.7f, 1.6f));
const AZ::Matrix3x4 matrix4 = AZ::Matrix3x4::CreateRotationX(-0.7f) * AZ::Matrix3x4::CreateScale(AZ::Vector3(0.6f, 1.3f, 0.7f));
AZ::Matrix3x4 matrix5 = matrix1;
matrix5 += matrix4;
EXPECT_THAT(matrix1 + (matrix2 + matrix3), IsClose((matrix1 + matrix2) + matrix3));
EXPECT_THAT(matrix2 + AZ::Matrix3x4::CreateZero(), IsClose(matrix2));
EXPECT_THAT(matrix3 + AZ::Matrix3x4::CreateZero(), IsClose(AZ::Matrix3x4::CreateZero() + matrix3));
EXPECT_THAT(matrix3 + matrix3, IsClose(matrix3 * 2.0f));
EXPECT_THAT(matrix5, IsClose(matrix1 + matrix4));
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
AZ::Matrix3x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
AZ::Matrix3x4 m3 = m1 + m2;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(8.0f, 10.0f, 12.0f, 14.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(16.0f, 18.0f, 20.0f, 22.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(24.0f, 26.0f, 28.0f, 30.0f)));
m3 = m1;
m3 += m2;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(8.0f, 10.0f, 12.0f, 14.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(16.0f, 18.0f, 20.0f, 22.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(24.0f, 26.0f, 28.0f, 30.0f)));
}
TEST(MATH_Matrix3x4, MultiplyByScalar)
TEST(MATH_Matrix3x4, TestDifference)
{
const AZ::Vector4 row0(1.488f, 2.56f, 0.096f, 2.3f);
const AZ::Vector4 row1(0.384f, -1.92f, 0.428f, -1.6f);
const AZ::Vector4 row2(1.28f, -2.4f, -0.24f, 3.7f);
const float scalar = 3.2f;
const AZ::Vector4 row0Result = row0 * scalar;
const AZ::Vector4 row1Result = row1 * scalar;
const AZ::Vector4 row2Result = row2 * scalar;
AZ::Matrix3x4 matrix = AZ::Matrix3x4::CreateFromRows(row0, row1, row2);
EXPECT_THAT(matrix * 0.0f, IsClose(AZ::Matrix3x4::CreateZero()));
EXPECT_THAT(matrix * 1.0f, IsClose(matrix));
EXPECT_THAT(matrix * scalar, IsClose(AZ::Matrix3x4::CreateFromRows(row0Result, row1Result, row2Result)));
EXPECT_THAT(matrix * 2.0f, IsClose(matrix + matrix));
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
AZ::Matrix3x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
AZ::Matrix3x4 m3 = m1 - m2;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
m3 = m1;
m3 -= m2;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
}
TEST(MATH_Matrix3x4, TestScalarMultiplication)
{
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
AZ::Matrix3x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
AZ::Matrix3x4 m3 = m1 * 2.0f;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
m3 = m1;
m3 *= 2.0f;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
m3 = 2.0f * m1;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
}
TEST(MATH_Matrix3x4, TestScalarDivision)
{
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
AZ::Matrix3x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
AZ::Matrix3x4 m3 = m1 / 0.5f;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
m3 = m1;
m3 /= 0.5f;
EXPECT_THAT(m3.GetRow(0), IsClose(AZ::Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(AZ::Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(AZ::Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
}
TEST(MATH_Matrix3x4, TestNegation)
{
AZ::Matrix3x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
EXPECT_THAT(-(-m1), IsClose(m1));
EXPECT_THAT(-AZ::Matrix3x4::CreateZero(), IsClose(AZ::Matrix3x4::CreateZero()));
AZ::Matrix3x4 m2 = -m1;
EXPECT_THAT(m2.GetRow(0), IsClose(AZ::Vector4(-1.0f, -2.0f, -3.0f, -4.0f)));
EXPECT_THAT(m2.GetRow(1), IsClose(AZ::Vector4(-5.0f, -6.0f, -7.0f, -8.0f)));
EXPECT_THAT(m2.GetRow(2), IsClose(AZ::Vector4(-9.0f, -10.0f, -11.0f, -12.0f)));
AZ::Matrix3x4 m3 = m1 + (-m1);
EXPECT_THAT(m3, IsClose(AZ::Matrix3x4::CreateZero()));
}
TEST(MATH_Matrix3x4, MultiplyByVector3)
Code/Framework/AzCore/Tests/Math/Matrix4x4Tests.cpp
+178 -16
View File
@@ -246,16 +246,16 @@ namespace UnitTest
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
m2.SetRow(3, 19.0f, 20.0f, 21.0f, 22.0f);
Matrix4x4 m3 = m1 * m2;
AZ_TEST_ASSERT(m3.GetRow(0).IsClose(Vector4(150.0f, 160.0f, 170.0f, 180.0f)));
AZ_TEST_ASSERT(m3.GetRow(1).IsClose(Vector4(358.0f, 384.0f, 410.0f, 436.0f)));
AZ_TEST_ASSERT(m3.GetRow(2).IsClose(Vector4(566.0f, 608.0f, 650.0f, 692.0f)));
AZ_TEST_ASSERT(m3.GetRow(3).IsClose(Vector4(774.0f, 832.0f, 890.0f, 948.0f)));
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(150.0f, 160.0f, 170.0f, 180.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(358.0f, 384.0f, 410.0f, 436.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(566.0f, 608.0f, 650.0f, 692.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(774.0f, 832.0f, 890.0f, 948.0f)));
Matrix4x4 m4 = m1;
m4 *= m2;
AZ_TEST_ASSERT(m4.GetRow(0).IsClose(Vector4(150.0f, 160.0f, 170.0f, 180.0f)));
AZ_TEST_ASSERT(m4.GetRow(1).IsClose(Vector4(358.0f, 384.0f, 410.0f, 436.0f)));
AZ_TEST_ASSERT(m4.GetRow(2).IsClose(Vector4(566.0f, 608.0f, 650.0f, 692.0f)));
AZ_TEST_ASSERT(m4.GetRow(3).IsClose(Vector4(774.0f, 832.0f, 890.0f, 948.0f)));
EXPECT_THAT(m4.GetRow(0), IsClose(Vector4(150.0f, 160.0f, 170.0f, 180.0f)));
EXPECT_THAT(m4.GetRow(1), IsClose(Vector4(358.0f, 384.0f, 410.0f, 436.0f)));
EXPECT_THAT(m4.GetRow(2), IsClose(Vector4(566.0f, 608.0f, 650.0f, 692.0f)));
EXPECT_THAT(m4.GetRow(3), IsClose(Vector4(774.0f, 832.0f, 890.0f, 948.0f)));
}
TEST(MATH_Matrix4x4, TestVectorMultiplication)
@@ -265,18 +265,148 @@ namespace UnitTest
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
AZ_TEST_ASSERT((m1 * Vector3(1.0f, 2.0f, 3.0f)).IsClose(Vector3(18.0f, 46.0f, 74.0f)));
AZ_TEST_ASSERT((m1 * Vector4(1.0f, 2.0f, 3.0f, 4.0f)).IsClose(Vector4(30.0f, 70.0f, 110.0f, 150.0f)));
AZ_TEST_ASSERT(m1.TransposedMultiply3x3(Vector3(1.0f, 2.0f, 3.0f)).IsClose(Vector3(38.0f, 44.0f, 50.0f)));
AZ_TEST_ASSERT(m1.Multiply3x3(Vector3(1.0f, 2.0f, 3.0f)).IsClose(Vector3(14.0f, 38.0f, 62.0f)));
EXPECT_THAT((m1 * Vector3(1.0f, 2.0f, 3.0f)), IsClose(Vector3(18.0f, 46.0f, 74.0f)));
EXPECT_THAT((m1 * Vector4(1.0f, 2.0f, 3.0f, 4.0f)), IsClose(Vector4(30.0f, 70.0f, 110.0f, 150.0f)));
EXPECT_THAT(m1.TransposedMultiply3x3(Vector3(1.0f, 2.0f, 3.0f)), IsClose(Vector3(38.0f, 44.0f, 50.0f)));
EXPECT_THAT(m1.Multiply3x3(Vector3(1.0f, 2.0f, 3.0f)), IsClose(Vector3(14.0f, 38.0f, 62.0f)));
Vector3 v1(1.0f, 2.0f, 3.0f);
AZ_TEST_ASSERT((v1 * m1).IsClose(Vector3(51.0f, 58.0f, 65.0f)));
EXPECT_THAT((v1 * m1), IsClose(Vector3(51.0f, 58.0f, 65.0f)));
v1 *= m1;
AZ_TEST_ASSERT(v1.IsClose(Vector3(51.0f, 58.0f, 65.0f)));
EXPECT_THAT(v1, IsClose(Vector3(51.0f, 58.0f, 65.0f)));
Vector4 v2(1.0f, 2.0f, 3.0f, 4.0f);
AZ_TEST_ASSERT((v2 * m1).IsClose(Vector4(90.0f, 100.0f, 110.0f, 120.0f)));
EXPECT_THAT((v2 * m1), IsClose(Vector4(90.0f, 100.0f, 110.0f, 120.0f)));
v2 *= m1;
AZ_TEST_ASSERT(v2.IsClose(Vector4(90.0f, 100.0f, 110.0f, 120.0f)));
EXPECT_THAT(v2, IsClose(Vector4(90.0f, 100.0f, 110.0f, 120.0f)));
}
TEST(MATH_Matrix4x4, TestSum)
{
Matrix4x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
Matrix4x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
m2.SetRow(3, 19.0f, 20.0f, 21.0f, 22.0f);
Matrix4x4 m3 = m1 + m2;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(8.0f, 10.0f, 12.0f, 14.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(16.0f, 18.0f, 20.0f, 22.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(24.0f, 26.0f, 28.0f, 30.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(32.0f, 34.0f, 36.0f, 38.0f)));
m3 = m1;
m3 += m2;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(8.0f, 10.0f, 12.0f, 14.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(16.0f, 18.0f, 20.0f, 22.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(24.0f, 26.0f, 28.0f, 30.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(32.0f, 34.0f, 36.0f, 38.0f)));
}
TEST(MATH_Matrix4x4, TestDifference)
{
Matrix4x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
Matrix4x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
m2.SetRow(3, 19.0f, 20.0f, 21.0f, 22.0f);
Matrix4x4 m3 = m1 - m2;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
m3 = m1;
m3 -= m2;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(-6.0f, -6.0f, -6.0f, -6.0f)));
}
TEST(MATH_Matrix4x4, TestScalarMultiplication)
{
Matrix4x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
Matrix4x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
m2.SetRow(3, 19.0f, 20.0f, 21.0f, 22.0f);
Matrix4x4 m3 = m1 * 2.0f;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(26.0f, 28.0f, 30.0f, 32.0f)));
m3 = m1;
m3 *= 2.0f;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(26.0f, 28.0f, 30.0f, 32.0f)));
m3 = 2.0f * m1;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(26.0f, 28.0f, 30.0f, 32.0f)));
}
TEST(MATH_Matrix4x4, TestScalarDivision)
{
Matrix4x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
Matrix4x4 m2;
m2.SetRow(0, 7.0f, 8.0f, 9.0f, 10.0f);
m2.SetRow(1, 11.0f, 12.0f, 13.0f, 14.0f);
m2.SetRow(2, 15.0f, 16.0f, 17.0f, 18.0f);
m2.SetRow(3, 19.0f, 20.0f, 21.0f, 22.0f);
Matrix4x4 m3 = m1 / 0.5f;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(26.0f, 28.0f, 30.0f, 32.0f)));
m3 = m1;
m3 /= 0.5f;
EXPECT_THAT(m3.GetRow(0), IsClose(Vector4(2.0f, 4.0f, 6.0f, 8.0f)));
EXPECT_THAT(m3.GetRow(1), IsClose(Vector4(10.0f, 12.0f, 14.0f, 16.0f)));
EXPECT_THAT(m3.GetRow(2), IsClose(Vector4(18.0f, 20.0f, 22.0f, 24.0f)));
EXPECT_THAT(m3.GetRow(3), IsClose(Vector4(26.0f, 28.0f, 30.0f, 32.0f)));
}
TEST(MATH_Matrix4x4, TestNegation)
{
Matrix4x4 m1;
m1.SetRow(0, 1.0f, 2.0f, 3.0f, 4.0f);
m1.SetRow(1, 5.0f, 6.0f, 7.0f, 8.0f);
m1.SetRow(2, 9.0f, 10.0f, 11.0f, 12.0f);
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
EXPECT_THAT(-(-m1), IsClose(m1));
EXPECT_THAT(-Matrix4x4::CreateZero(), IsClose(Matrix4x4::CreateZero()));
Matrix4x4 m2 = -m1;
EXPECT_THAT(m2.GetRow(0), IsClose(Vector4(-1.0f, -2.0f, -3.0f, -4.0f)));
EXPECT_THAT(m2.GetRow(1), IsClose(Vector4(-5.0f, -6.0f, -7.0f, -8.0f)));
EXPECT_THAT(m2.GetRow(2), IsClose(Vector4(-9.0f, -10.0f, -11.0f, -12.0f)));
EXPECT_THAT(m2.GetRow(3), IsClose(Vector4(-13.0f, -14.0f, -15.0f, -16.0f)));
Matrix4x4 m3 = m1 + (-m1);
EXPECT_THAT(m3, IsClose(Matrix4x4::CreateZero()));
}
TEST(MATH_Matrix4x4, TestTranspose)
@@ -368,4 +498,36 @@ namespace UnitTest
m1.SetRow(3, 13.0f, 14.0f, 15.0f, 16.0f);
AZ_TEST_ASSERT(m1.GetDiagonal() == Vector4(1.0f, 6.0f, 11.0f, 16.0f));
}
TEST(MATH_Matrix4x4, TestScaleAccess)
{
Matrix4x4 m1 = Matrix4x4::CreateRotationX(DegToRad(40.0f)) * Matrix4x4::CreateScale(Vector3(2.0f, 3.0f, 4.0f));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3(2.0f, 3.0f, 4.0f)));
EXPECT_THAT(m1.ExtractScale(), IsClose(Vector3(2.0f, 3.0f, 4.0f)));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3::CreateOne()));
m1.MultiplyByScale(Vector3(3.0f, 4.0f, 5.0f));
EXPECT_THAT(m1.RetrieveScale(), IsClose(Vector3(3.0f, 4.0f, 5.0f)));
}
TEST(MATH_Matrix4x4, TestScaleSqAccess)
{
Matrix4x4 m1 = Matrix4x4::CreateRotationX(DegToRad(40.0f)) * Matrix4x4::CreateScale(Vector3(2.0f, 3.0f, 4.0f));
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3(4.0f, 9.0f, 16.0f)));
m1.ExtractScale();
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3::CreateOne()));
m1.MultiplyByScale(Vector3(3.0f, 4.0f, 5.0f));
EXPECT_THAT(m1.RetrieveScaleSq(), IsClose(Vector3(9.0f, 16.0f, 25.0f)));
}
TEST(MATH_Matrix4x4, TestReciprocalScaled)
{
Matrix4x4 orthogonalMatrix = Matrix4x4::CreateRotationX(DegToRad(40.0f));
EXPECT_THAT(orthogonalMatrix.GetReciprocalScaled(), IsClose(orthogonalMatrix));
const AZ::Vector3 scale(2.8f, 0.7f, 1.3f);
AZ::Matrix4x4 scaledMatrix = orthogonalMatrix;
scaledMatrix.MultiplyByScale(scale);
AZ::Matrix4x4 reciprocalScaledMatrix = orthogonalMatrix;
reciprocalScaledMatrix.MultiplyByScale(scale.GetReciprocal());
EXPECT_THAT(scaledMatrix.GetReciprocalScaled(), IsClose(reciprocalScaledMatrix));
}
}