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filament/libs/math/tests/test_quat.cpp
Ben Doherty cbc3bb3326 Fix mix-precision quaternion conversions (#7339)
2023-11-08 12:38:57 -08:00

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/*
* Copyright 2013 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <math.h>
#include <random>
#include <functional>
#include <type_traits>
#include <gtest/gtest.h>
#include <math/quat.h>
#include <math/mat4.h>
#include <math/vec4.h>
#include <math/vec3.h>
#include <math/scalar.h>
using namespace filament::math;
class QuatTest : public testing::Test {
protected:
};
TEST_F(QuatTest, Basics) {
quat q;
double4& v(q.xyzw);
EXPECT_EQ(sizeof(quat), sizeof(double)*4);
EXPECT_EQ(reinterpret_cast<void*>(&q), reinterpret_cast<void*>(&v));
}
TEST_F(QuatTest, Constructors) {
quat q0;
EXPECT_EQ(q0.x, 0);
EXPECT_EQ(q0.y, 0);
EXPECT_EQ(q0.z, 0);
EXPECT_EQ(q0.w, 0);
quat q1(1);
EXPECT_EQ(q1.x, 0);
EXPECT_EQ(q1.y, 0);
EXPECT_EQ(q1.z, 0);
EXPECT_EQ(q1.w, 1);
quat q2(1, 2, 3, 4);
EXPECT_EQ(q2.x, 2);
EXPECT_EQ(q2.y, 3);
EXPECT_EQ(q2.z, 4);
EXPECT_EQ(q2.w, 1);
quat q3(q2);
EXPECT_EQ(q3.x, 2);
EXPECT_EQ(q3.y, 3);
EXPECT_EQ(q3.z, 4);
EXPECT_EQ(q3.w, 1);
quat q4(q3.xyz, 42);
EXPECT_EQ(q4.x, 2);
EXPECT_EQ(q4.y, 3);
EXPECT_EQ(q4.z, 4);
EXPECT_EQ(q4.w, 42);
quat q5(double3(q2.xy, 42), 24);
EXPECT_EQ(q5.x, 2);
EXPECT_EQ(q5.y, 3);
EXPECT_EQ(q5.z, 42);
EXPECT_EQ(q5.w, 24);
quat q6;
q6 = 12;
EXPECT_EQ(q6.x, 0);
EXPECT_EQ(q6.y, 0);
EXPECT_EQ(q6.z, 0);
EXPECT_EQ(q6.w, 12);
quat q7 = 1 + 2_i + 3_j + 4_k;
EXPECT_EQ(q7.x, 2);
EXPECT_EQ(q7.y, 3);
EXPECT_EQ(q7.z, 4);
EXPECT_EQ(q7.w, 1);
quatf qf(2);
EXPECT_EQ(qf.x, 0);
EXPECT_EQ(qf.y, 0);
EXPECT_EQ(qf.z, 0);
EXPECT_EQ(qf.w, 2);
}
TEST_F(QuatTest, Access) {
quat q0(1, 2, 3, 4);
q0.x = 10;
q0.y = 20;
q0.z = 30;
q0.w = 40;
EXPECT_EQ(q0.x, 10);
EXPECT_EQ(q0.y, 20);
EXPECT_EQ(q0.z, 30);
EXPECT_EQ(q0.w, 40);
q0[0] = 100;
q0[1] = 200;
q0[2] = 300;
q0[3] = 400;
EXPECT_EQ(q0.x, 100);
EXPECT_EQ(q0.y, 200);
EXPECT_EQ(q0.z, 300);
EXPECT_EQ(q0.w, 400);
q0.xyz = double3(1, 2, 3);
EXPECT_EQ(q0.x, 1);
EXPECT_EQ(q0.y, 2);
EXPECT_EQ(q0.z, 3);
EXPECT_EQ(q0.w, 400);
}
TEST_F(QuatTest, UnaryOps) {
quat q0(1, 2, 3, 4);
q0 += 1;
EXPECT_EQ(q0.x, 2);
EXPECT_EQ(q0.y, 3);
EXPECT_EQ(q0.z, 4);
EXPECT_EQ(q0.w, 2);
q0 -= 1;
EXPECT_EQ(q0.x, 2);
EXPECT_EQ(q0.y, 3);
EXPECT_EQ(q0.z, 4);
EXPECT_EQ(q0.w, 1);
q0 *= 2;
EXPECT_EQ(q0.x, 4);
EXPECT_EQ(q0.y, 6);
EXPECT_EQ(q0.z, 8);
EXPECT_EQ(q0.w, 2);
q0 /= 2;
EXPECT_EQ(q0.x, 2);
EXPECT_EQ(q0.y, 3);
EXPECT_EQ(q0.z, 4);
EXPECT_EQ(q0.w, 1);
quat q1(10, 20, 30, 40);
q0 += q1;
EXPECT_EQ(q0.x, 22);
EXPECT_EQ(q0.y, 33);
EXPECT_EQ(q0.z, 44);
EXPECT_EQ(q0.w, 11);
q0 -= q1;
EXPECT_EQ(q0.x, 2);
EXPECT_EQ(q0.y, 3);
EXPECT_EQ(q0.z, 4);
EXPECT_EQ(q0.w, 1);
q1 = -q1;
EXPECT_EQ(q1.x, -20);
EXPECT_EQ(q1.y, -30);
EXPECT_EQ(q1.z, -40);
EXPECT_EQ(q1.w, -10);
// TODO(mathias): multiplies
}
TEST_F(QuatTest, ComparisonOps) {
quat q0(1, 2, 3, 4);
quat q1(10, 20, 30, 40);
EXPECT_TRUE(q0 == q0);
EXPECT_TRUE(q0 != q1);
EXPECT_FALSE(q0 != q0);
EXPECT_FALSE(q0 == q1);
}
TEST_F(QuatTest, ArithmeticOps) {
quat q0(1, 2, 3, 4);
quat q1(10, 20, 30, 40);
quat q2(q0 + q1);
EXPECT_EQ(q2.x, 22);
EXPECT_EQ(q2.y, 33);
EXPECT_EQ(q2.z, 44);
EXPECT_EQ(q2.w, 11);
q0 = q1 * 2;
EXPECT_EQ(q0.x, 40);
EXPECT_EQ(q0.y, 60);
EXPECT_EQ(q0.z, 80);
EXPECT_EQ(q0.w, 20);
q0 = 2 * q1;
EXPECT_EQ(q0.x, 40);
EXPECT_EQ(q0.y, 60);
EXPECT_EQ(q0.z, 80);
EXPECT_EQ(q0.w, 20);
quatf qf(2);
q0 = q1 * qf;
EXPECT_EQ(q0.x, 40);
EXPECT_EQ(q0.y, 60);
EXPECT_EQ(q0.z, 80);
EXPECT_EQ(q0.w, 20);
EXPECT_EQ(1_i * 1_i, quat(-1));
EXPECT_EQ(1_j * 1_j, quat(-1));
EXPECT_EQ(1_k * 1_k, quat(-1));
EXPECT_EQ(1_i * 1_j * 1_k, quat(-1));
}
TEST_F(QuatTest, ArithmeticFunc) {
quat q(1, 2, 3, 4);
quat qc(conj(q));
MATH_UNUSED quat qi(inverse(q));
quat qn(normalize(q));
EXPECT_EQ(qc.x, -2);
EXPECT_EQ(qc.y, -3);
EXPECT_EQ(qc.z, -4);
EXPECT_EQ(qc.w, 1);
EXPECT_EQ(~q, qc);
EXPECT_EQ(length(q), length(qc));
EXPECT_EQ(sqrt(30), length(q));
EXPECT_DOUBLE_EQ(1, length(qn));
EXPECT_DOUBLE_EQ(1, dot(qn, qn));
quat qr = quat::fromAxisAngle(double3(0, 0, 1), F_PI / 2);
EXPECT_EQ(mat4(qr).toQuaternion(), qr);
EXPECT_EQ(1_i, mat4(1_i).toQuaternion());
EXPECT_EQ(1_j, mat4(1_j).toQuaternion());
EXPECT_EQ(1_k, mat4(1_k).toQuaternion());
EXPECT_EQ(qr, log(exp(qr)));
quat qq = qr * qr;
quat q2 = pow(qr, 2);
EXPECT_NEAR(qq.x, q2.x, 1e-15);
EXPECT_NEAR(qq.y, q2.y, 1e-15);
EXPECT_NEAR(qq.z, q2.z, 1e-15);
EXPECT_NEAR(qq.w, q2.w, 1e-15);
quat qa = quat::fromAxisAngle(double3(0, 0, 1), 0);
quat qb = quat::fromAxisAngle(double3(0, 0, 1), F_PI / 2);
quat qs = slerp(qa, qb, 0.5);
qr = quat::fromAxisAngle(double3(0, 0, 1), F_PI / 4);
EXPECT_DOUBLE_EQ(qr.x, qs.x);
EXPECT_DOUBLE_EQ(qr.y, qs.y);
EXPECT_DOUBLE_EQ(qr.z, qs.z);
EXPECT_DOUBLE_EQ(qr.w, qs.w);
qs = nlerp(qa, qb, 0.5);
EXPECT_DOUBLE_EQ(qr.x, qs.x);
EXPECT_DOUBLE_EQ(qr.y, qs.y);
EXPECT_DOUBLE_EQ(qr.z, qs.z);
EXPECT_DOUBLE_EQ(qr.w, qs.w);
// Ensure that we're taking the shortest path.
qa = {-0.707, 0, 0, 0.707};
qb = {1, 0, 0, 0};
qs = slerp(qa, qb, 0.5);
EXPECT_NEAR(qs[3], -0.92, 0.1);
EXPECT_NEAR(qs[2], +0.38, 0.1);
// Create two quats that are near to each other, but with opposite signs.
qa = { 0.76, 0.39, 0.51, 0.19};
qb = {-0.759, -0.385, -0.50, -0.19};
qs = slerp(qa, qb, 0.5);
// The rotation angle produced by v * slerp(A, B, .5) should be between the rotation angles
// produced by (v * A) and (v * B).
double3 v(0, 0, 1);
double3 va = qa * v;
double3 vb = qb * v;
double3 vs = qs * v;
EXPECT_LT(dot(v, va), dot(v, vs));
EXPECT_LT(dot(v, vs), dot(v, vb));
}
TEST_F(QuatTest, MultiplicationExhaustive) {
std::default_random_engine generator(171717);
std::uniform_real_distribution<double> distribution(-10.0, 10.0);
auto rand_gen = std::bind(distribution, generator);
for (size_t i = 0; i < (1024 * 1024); ++i) {
double3 axis_a = normalize(double3(rand_gen(), rand_gen(), rand_gen()));
double angle_a = rand_gen();
quat a = quat::fromAxisAngle(axis_a, angle_a);
double3 axis_b = normalize(double3(rand_gen(), rand_gen(), rand_gen()));
double angle_b = rand_gen();
quat b = quat::fromAxisAngle(axis_b, angle_b);
quat ab = a * b;
quat ab_other(a.w * b.xyz + b.w * a.xyz + cross(a.xyz, b.xyz),
(a.w * b.w) - dot(a.xyz, b.xyz));
ASSERT_FLOAT_EQ(ab.x, ab_other.x);
ASSERT_FLOAT_EQ(ab.y, ab_other.y);
ASSERT_FLOAT_EQ(ab.z, ab_other.z);
ASSERT_FLOAT_EQ(ab.w, ab_other.w);
}
}
TEST_F(QuatTest, NaN) {
quatf qa = {.5, .5, .5, .5};
quatf qb = {0.49995, 0.49998, 0.49998, 0.49995};
quatf qs = slerp(qa, qb, 0.034934);
EXPECT_NEAR(qs[0], 0.5, 0.1);
EXPECT_NEAR(qs[1], 0.5, 0.1);
EXPECT_NEAR(qs[2], 0.5, 0.1);
EXPECT_NEAR(qs[3], 0.5, 0.1);
}
TEST_F(QuatTest, Conversions) {
quat qd;
quatf qf;
float3 vf;
double3 vd;
double d = 0.0;
float f = 0.0f;
static_assert(std::is_same<details::arithmetic_result_t<float, float>, float>::value);
static_assert(std::is_same<details::arithmetic_result_t<float, double>, double>::value);
static_assert(std::is_same<details::arithmetic_result_t<double, float>, double>::value);
static_assert(std::is_same<details::arithmetic_result_t<double, double>, double>::value);
{
auto r1 = qd * d;
auto r2 = qd * f;
auto r3 = qf * d;
auto r4 = qf * f;
static_assert(std::is_same<decltype(r1), quat>::value);
static_assert(std::is_same<decltype(r2), quat>::value);
static_assert(std::is_same<decltype(r3), quat>::value);
static_assert(std::is_same<decltype(r4), quatf>::value);
}
{
auto r1 = qd / d;
auto r2 = qd / f;
auto r3 = qf / d;
auto r4 = qf / f;
static_assert(std::is_same<decltype(r1), quat>::value);
static_assert(std::is_same<decltype(r2), quat>::value);
static_assert(std::is_same<decltype(r3), quat>::value);
static_assert(std::is_same<decltype(r4), quatf>::value);
}
{
auto r1 = d * qd;
auto r2 = f * qd;
auto r3 = d * qf;
auto r4 = f * qf;
static_assert(std::is_same<decltype(r1), quat>::value);
static_assert(std::is_same<decltype(r2), quat>::value);
static_assert(std::is_same<decltype(r3), quat>::value);
static_assert(std::is_same<decltype(r4), quatf>::value);
}
{
auto r1 = qd * vd;
auto r2 = qf * vd;
auto r3 = qd * vf;
auto r4 = qf * vf;
static_assert(std::is_same<decltype(r1), double3>::value);
static_assert(std::is_same<decltype(r2), double3>::value);
static_assert(std::is_same<decltype(r3), double3>::value);
static_assert(std::is_same<decltype(r4), float3>::value);
}
{
auto r1 = qd * qd;
auto r2 = qf * qd;
auto r3 = qd * qf;
auto r4 = qf * qf;
static_assert(std::is_same<decltype(r1), quat>::value);
static_assert(std::is_same<decltype(r2), quat>::value);
static_assert(std::is_same<decltype(r3), quat>::value);
static_assert(std::is_same<decltype(r4), quatf>::value);
}
{
auto r1 = dot(qd, qd);
auto r2 = dot(qf, qd);
auto r3 = dot(qd, qf);
auto r4 = dot(qf, qf);
static_assert(std::is_same<decltype(r1), double>::value);
static_assert(std::is_same<decltype(r2), double>::value);
static_assert(std::is_same<decltype(r3), double>::value);
static_assert(std::is_same<decltype(r4), float>::value);
}
{
auto r1 = cross(qd, qd);
auto r2 = cross(qf, qd);
auto r3 = cross(qd, qf);
auto r4 = cross(qf, qf);
static_assert(std::is_same<decltype(r1), quat>::value);
static_assert(std::is_same<decltype(r2), quat>::value);
static_assert(std::is_same<decltype(r3), quat>::value);
static_assert(std::is_same<decltype(r4), quatf>::value);
}
}
template <typename L, typename R, typename = void>
struct has_divide_assign : std::false_type {};
template <typename L, typename R>
struct has_divide_assign<L, R,
decltype(std::declval<L&>() /= std::declval<R>(), void())> : std::true_type {};
// Static assertions to validate the availability of the /= operator for specific type
// combinations. The first static_assert checks that the quat does not have a /= operator with Foo.
// This ensures that quat does not provide an inappropriate overload that could be erroneously
// selected.
struct Foo {};
static_assert(!has_divide_assign<quat, Foo>::value);
static_assert(has_divide_assign<quat, float>::value);
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