[fix][test] Expanded Transformation unit tests
This commit is contained in:
Daniel_M_Williams
parent
2379fbae95
commit
9456c3a14a
@ -61,10 +61,13 @@ public final class Coordinate implements Cloneable, Serializable {
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public static final Coordinate ZERO = new Coordinate(0, 0, 0, 0);
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public static final Coordinate NUL = new Coordinate(0, 0, 0, 0);
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public static final Coordinate NaN = new Coordinate(Double.NaN, Double.NaN,
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Double.NaN, Double.NaN);
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public static final Coordinate NaN = new Coordinate(Double.NaN, Double.NaN,Double.NaN, Double.NaN);
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public static final Coordinate MAX = new Coordinate(Double.MAX_VALUE,Double.MAX_VALUE,Double.MAX_VALUE,Double.MAX_VALUE);
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public static final Coordinate MIN = new Coordinate(Double.MIN_VALUE,Double.MIN_VALUE,Double.MIN_VALUE,Double.MIN_VALUE);
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public static final Coordinate X_UNIT = new Coordinate(1, 0, 0);
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public static final Coordinate Y_UNIT = new Coordinate(0, 1, 0);
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public static final Coordinate Z_UNIT = new Coordinate(0, 0, 1);
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public final double x, y, z;
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public final double weight;
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@ -1,5 +1,6 @@
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package net.sf.openrocket.util;
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import java.nio.DoubleBuffer;
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import java.util.ArrayList;
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import java.util.Collection;
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import java.util.Iterator;
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@ -16,8 +17,7 @@ import java.util.Iterator;
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public class Transformation implements java.io.Serializable {
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public static final Transformation IDENTITY =
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new Transformation();
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public static final Transformation IDENTITY = new Transformation();
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public static final Transformation PROJECT_XY =
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new Transformation(new double[][]{{1,0,0},{0,1,0},{0,0,0}});
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@ -26,6 +26,7 @@ public class Transformation implements java.io.Serializable {
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public static final Transformation PROJECT_XZ =
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new Transformation(new double[][]{{1,0,0},{0,0,0},{0,0,1}});
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private static final int X = 0;
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private static final int Y = 1;
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private static final int Z = 2;
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@ -33,10 +34,17 @@ public class Transformation implements java.io.Serializable {
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private final Coordinate translate;
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private final double[][] rotation = new double[3][3];
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static public Transformation getTranslationTransform( double x, double y, double z) {
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return new Transformation(new Coordinate(x,y,z));
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}
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static public Transformation getTranslationTransform( final Coordinate translate ){
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return new Transformation( translate );
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}
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/**
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* Create identity transformation.
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*/
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public Transformation() {
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private Transformation() {
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translate = new Coordinate(0,0,0);
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rotation[X][X]=1;
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rotation[Y][Y]=1;
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@ -45,6 +53,7 @@ public class Transformation implements java.io.Serializable {
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/**
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* Create transformation with only translation.
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*
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* @param x Translation in x-axis.
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* @param y Translation in y-axis.
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* @param z Translation in z-axis.
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@ -190,6 +199,14 @@ public class Transformation implements java.io.Serializable {
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return combined;
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}
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/**
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* Returns a rotation around the rocket's long axis
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*
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* @param theta rotation around rocket axis, in radians
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*/
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static public Transformation getAxialRotation( double theta ) {
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return Transformation.rotate_x(theta);
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}
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/**
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* Rotate around x-axis a given angle.
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@ -255,6 +272,34 @@ public class Transformation implements java.io.Serializable {
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return sb.toString();
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}
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/**
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* Rotation matrix is constructed from Euler angles, in a z-x-z order
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*
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* $ y = f(x) = R_z( R_x( R_z( x ))) + v $
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*
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* @param alpha rotation around z (in radians)
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* @param beta rotation around x' (in radians)
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* @param gamma rotation around z' (in radians)
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*/
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static public Transformation getEulerAngle313Transform( double alpha, double beta, double gamma ) {
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return new Transformation( new double[][]{
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{
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(Math.cos(alpha)*Math.cos(gamma) - Math.sin(alpha)*Math.cos(beta)*Math.sin(gamma)),
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(-Math.cos(alpha)*Math.sin(gamma) - Math.sin(alpha)*Math.cos(beta)*Math.cos(gamma)),
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(Math.sin(alpha)*Math.sin(beta))
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},{
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(Math.sin(alpha)*Math.cos(gamma) + Math.cos(alpha)*Math.cos(beta)*Math.sin(gamma)),
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(-Math.sin(alpha)*Math.sin(gamma) + Math.cos(alpha)*Math.cos(beta)*Math.cos(gamma)),
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(-Math.cos(alpha)*Math.sin(beta))
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},{
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(Math.sin(beta)*Math.sin(gamma)),
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(Math.sin(beta)*Math.cos(gamma)),
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(Math.cos(beta))
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}
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},
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Coordinate.ZERO);
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}
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@Override
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public boolean equals(Object other) {
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@ -269,5 +314,45 @@ public class Transformation implements java.io.Serializable {
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}
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return this.translate.equals(o.translate);
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}
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@Override
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public int hashCode() {
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long bits = 0;
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for(int i=0;i<Z;++i) {
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for(int j=0;j<Z;++j) {
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Double.doubleToLongBits( rotation[i][j] );
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}
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}
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bits ^= translate.hashCode();
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return (int)(bits ^ (bits >>> 32));
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}
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/**
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*
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*
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* m = [ m[0] m[4] m[ 8] m[12] ] = [ 1 0 0 1 ]
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* [ m[1] m[5] m[ 9] m[13] ] [ 0 1 0 1 ]
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* [ m[2] m[6] m[10] m[14] ] [ 0 0 1 1 ]
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* [ m[3] m[7] m[11] m[15] ] [ 0 0 0 1 ]
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*
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* @return
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*/
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public DoubleBuffer toGLTransform() {
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double[] data = new double[]{1,0,0,0,0,1,0,0,0,0,1,0,1,1,1,1};
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// output array is in column-major order
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// https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glLoadMatrix.xml
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for( int i=0; i<3; ++i) {
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for( int j=0; j<3; ++j) {
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data[i+j*4] = this.rotation[i][j];
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}
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}
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data[12] = this.translate.x;
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data[13] = this.translate.y;
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data[14] = this.translate.z;
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return DoubleBuffer.wrap(data);
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}
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}
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206
core/test/net/sf/openrocket/util/TestTransformation.java
Normal file
206
core/test/net/sf/openrocket/util/TestTransformation.java
Normal file
@ -0,0 +1,206 @@
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package net.sf.openrocket.util;
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import org.junit.Test;
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import static org.junit.Assert.assertEquals;
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import java.nio.DoubleBuffer;
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public class TestTransformation {
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static final Coordinate x_unit = Coordinate.X_UNIT;
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static final Coordinate y_unit = Coordinate.Y_UNIT;
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static final Coordinate z_unit = Coordinate.Z_UNIT;
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static final double M_PI = Math.PI;
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static final double M_2PI = 2*Math.PI;
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static final double M_PI_2 = Math.PI/2.0;
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@Test
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public void testTransformIdentity() {
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Transformation t = Transformation.IDENTITY;
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assertEquals( x_unit, t.transform(x_unit) );
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assertEquals( y_unit, t.transform(y_unit) );
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assertEquals( z_unit, t.transform(z_unit) );
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}
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@Test
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public void testTransformIdentityToOpenGL() {
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Transformation t = Transformation.IDENTITY;
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DoubleBuffer buf = t.toGLTransform();
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assertEquals( 1.0, buf.get(0), 1e-6);
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assertEquals( 0.0, buf.get(1), 1e-6);
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assertEquals( 0.0, buf.get(2), 1e-6);
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assertEquals( 0.0, buf.get(3), 1e-6);
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assertEquals( 0.0, buf.get(4), 1e-6);
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assertEquals( 1.0, buf.get(5), 1e-6);
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assertEquals( 0.0, buf.get(6), 1e-6);
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assertEquals( 0.0, buf.get(7), 1e-6);
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assertEquals( 0.0, buf.get( 8), 1e-6);
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assertEquals( 0.0, buf.get( 9), 1e-6);
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assertEquals( 1.0, buf.get(10), 1e-6);
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assertEquals( 0.0, buf.get(11), 1e-6);
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assertEquals( 0.0, buf.get(12), 1e-6);
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assertEquals( 0.0, buf.get(13), 1e-6);
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assertEquals( 0.0, buf.get(14), 1e-6);
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assertEquals( 1.0, buf.get(15), 1e-6);
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}
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@Test
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public void testTransformTranslationToOpenGL() {
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Transformation translate = new Transformation( 1,2,3 );
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DoubleBuffer buf = translate.toGLTransform();
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assertEquals( 1.0, buf.get(0), 1e-6);
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assertEquals( 0.0, buf.get(1), 1e-6);
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assertEquals( 0.0, buf.get(2), 1e-6);
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assertEquals( 0.0, buf.get(3), 1e-6);
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assertEquals( 0.0, buf.get(4), 1e-6);
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assertEquals( 1.0, buf.get(5), 1e-6);
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assertEquals( 0.0, buf.get(6), 1e-6);
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assertEquals( 0.0, buf.get(7), 1e-6);
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assertEquals( 0.0, buf.get( 8), 1e-6);
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assertEquals( 0.0, buf.get( 9), 1e-6);
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assertEquals( 1.0, buf.get(10), 1e-6);
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assertEquals( 0.0, buf.get(11), 1e-6);
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assertEquals( 1.0, buf.get(12), 1e-6);
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assertEquals( 2.0, buf.get(13), 1e-6);
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assertEquals( 3.0, buf.get(14), 1e-6);
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assertEquals( 1.0, buf.get(15), 1e-6);
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}
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@Test
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public void testTransformRotateByPI2ToOpenGL() {
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Transformation translate = Transformation.getAxialRotation(M_PI_2);
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DoubleBuffer buf = translate.toGLTransform();
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assertEquals( 1.0, buf.get(0), 1e-6);
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assertEquals( 0.0, buf.get(1), 1e-6);
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assertEquals( 0.0, buf.get(2), 1e-6);
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assertEquals( 0.0, buf.get(3), 1e-6);
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assertEquals( 0.0, buf.get(4), 1e-6);
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assertEquals( 0.0, buf.get(5), 1e-6);
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assertEquals( 1.0, buf.get(6), 1e-6);
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assertEquals( 0.0, buf.get(7), 1e-6);
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assertEquals( 0.0, buf.get( 8), 1e-6);
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assertEquals( -1.0, buf.get( 9), 1e-6);
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assertEquals( 0.0, buf.get(10), 1e-6);
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assertEquals( 0.0, buf.get(11), 1e-6);
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assertEquals( 0.0, buf.get(12), 1e-6);
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assertEquals( 0.0, buf.get(13), 1e-6);
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assertEquals( 0.0, buf.get(14), 1e-6);
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assertEquals( 1.0, buf.get(15), 1e-6);
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}
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@Test
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public void testTransformTranslationIndividual() {
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Transformation translate = new Transformation( 1,2,3 );
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assertEquals( new Coordinate(2,2,3), translate.transform( x_unit ));
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assertEquals( new Coordinate(1,3,3), translate.transform( y_unit ));
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assertEquals( new Coordinate(1,2,4), translate.transform( z_unit ));
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}
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@Test
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public void testTransformTranslationCoordinate() {
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Transformation translate = new Transformation( new Coordinate( 2,3,4));
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assertEquals( new Coordinate(3,3,4), translate.transform( x_unit ));
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assertEquals( new Coordinate(2,4,4), translate.transform( y_unit ));
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assertEquals( new Coordinate(2,3,5), translate.transform( z_unit ));
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}
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@Test
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public void testTransformTranslationConvenience() {
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Transformation translate = Transformation.getTranslationTransform( 2,3,4);
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assertEquals( new Coordinate(3,3,4), translate.transform( x_unit ));
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assertEquals( new Coordinate(2,4,4), translate.transform( y_unit ));
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assertEquals( new Coordinate(2,3,5), translate.transform( z_unit ));
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}
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@Test
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public void testTransformSmallYRotation() {
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Transformation t = Transformation.rotate_y(0.01);
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Coordinate v1 = t.transform( x_unit );
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// we need to test individual coordinates due to error.
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assertEquals( 1, v1.x, .001);
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assertEquals( 0, v1.y, .001);
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assertEquals( -.01, v1.z, .001);
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assertEquals( y_unit, t.transform( y_unit ));
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Coordinate v2 = t.transform( z_unit );
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// we need to test individual coordinates due to error.
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assertEquals( .01, v2.x, .001);
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assertEquals( 0, v2.y, .001);
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assertEquals( 1, v2.z, .001);
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}
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@Test
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public void testTransformRotateXByPI2() {
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Transformation t = Transformation.getAxialRotation(M_PI_2);
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assertEquals( x_unit, t.transform(x_unit));
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assertEquals( z_unit, t.transform( y_unit ));
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assertEquals( y_unit.multiply(-1), t.transform( z_unit ));
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}
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@Test
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public void testTransformEuler313Transform() {
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{
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Transformation r313 = Transformation.getEulerAngle313Transform(0.0, 0.0, M_PI_2);
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assertEquals( y_unit, r313.transform( x_unit ));
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assertEquals( x_unit.multiply(-1), r313.transform( y_unit ));
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assertEquals( z_unit, r313.transform( z_unit ));
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}{
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Transformation r313 = Transformation.getEulerAngle313Transform(M_PI/4.0, 0.0, M_PI/4.0);
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// precision = 8 decimal places
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assertEquals( y_unit, r313.transform( x_unit ));
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assertEquals( x_unit.multiply(-1), r313.transform( y_unit ));
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assertEquals( z_unit, r313.transform( z_unit ));
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}{
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Transformation r313 = Transformation.getEulerAngle313Transform(M_PI/4.0, M_PI_2, M_PI/4.0);
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// precision = 8 decimal places
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assertEquals( new Coordinate(+0.500000, +0.500000, 0.707106781), r313.transform( x_unit ));
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assertEquals( new Coordinate(-0.500000, -0.5000000, 0.707106781), r313.transform( y_unit ));
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assertEquals( new Coordinate(+0.707106781, -0.707106781, 0.0), r313.transform( z_unit ));
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}
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}
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@Test
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public void testTransformEuler121Transform() {
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Transformation r123 = Transformation.rotate_x(-1.0)
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.applyTransformation(Transformation.rotate_y(0.01))
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.applyTransformation(Transformation.rotate_z(1.0));
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assertEquals( new Coordinate(+0.540275291, +0.450102302, -0.710992634), r123.transform( x_unit ));
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assertEquals( new Coordinate(-0.841428912, +0.299007198, -0.450102302), r123.transform( y_unit ));
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assertEquals( new Coordinate(+0.009999833334, +0.841428911609, +0.540275290977), r123.transform( z_unit ));
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}
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@Test
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public void testTransformRotateTranslate() {
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Transformation r = Transformation.getTranslationTransform( 2,3,4)
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.applyTransformation(Transformation.getAxialRotation( M_PI_2 ));
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assertEquals( new Coordinate( 3,3,4), r.transform( x_unit ));
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assertEquals( new Coordinate( 2,3,5), r.transform( y_unit ));
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assertEquals( new Coordinate( 2,2,4), r.transform( z_unit ));
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}
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}
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@ -1,81 +0,0 @@
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package net.sf.openrocket.util;
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import org.junit.Test;
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import static org.junit.Assert.assertEquals;
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public class TransformationTest {
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@Test
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public void oldMainTest() {
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Transformation t;
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t = new Transformation();
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{
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Coordinate a = t.transform( new Coordinate(1,0,0) );
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assertEquals( new Coordinate(1,0,0), a );
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a = t.transform( new Coordinate(0,1,0) );
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assertEquals( new Coordinate(0,1,0), a );
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a = t.transform( new Coordinate(0,0,1) );
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assertEquals( new Coordinate(0,0,1), a );
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}
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t = new Transformation(1,2,3);
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{
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Coordinate a = t.transform( new Coordinate(1,0,0) );
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assertEquals( new Coordinate(2,2,3), a );
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a = t.transform( new Coordinate(0,1,0) );
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assertEquals( new Coordinate(1,3,3), a );
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a = t.transform( new Coordinate(0,0,1) );
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assertEquals( new Coordinate(1,2,4), a );
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}
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t = new Transformation(new Coordinate(2,3,4));
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{
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Coordinate a = t.transform( new Coordinate(1,0,0) );
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assertEquals( new Coordinate(3,3,4), a );
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a = t.transform( new Coordinate(0,1,0) );
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assertEquals( new Coordinate(2,4,4), a );
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a = t.transform( new Coordinate(0,0,1) );
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assertEquals( new Coordinate(2,3,5), a );
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}
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t = Transformation.rotate_y(0.01);
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{
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Coordinate a = t.transform( new Coordinate(1,0,0) );
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// we need to test individual coordinates due to error.
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assertEquals( 1, a.x, .001);
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assertEquals( 0, a.y, .001);
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assertEquals( -.01, a.z, .001);
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a = t.transform( new Coordinate(0,1,0) );
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assertEquals( new Coordinate(0,1,0), a );
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a = t.transform( new Coordinate(0,0,1) );
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// we need to test individual coordinates due to error.
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assertEquals( .01, a.x, .001);
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assertEquals( 0, a.y, .001);
|
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assertEquals( 1, a.z, .001);
|
||||
}
|
||||
|
||||
t = new Transformation(-1,0,0);
|
||||
t = t.applyTransformation(Transformation.rotate_y(0.01));
|
||||
t = t.applyTransformation(new Transformation(1,0,0));
|
||||
{
|
||||
Coordinate a = t.transform( new Coordinate(1,0,0) );
|
||||
// we need to test individual coordinates due to error.
|
||||
assertEquals( 1, a.x, .001);
|
||||
assertEquals( 0, a.y, .001);
|
||||
assertEquals( -.02, a.z, .001);
|
||||
a = t.transform( new Coordinate(0,1,0) );
|
||||
assertEquals( 0, a.x, .001);
|
||||
assertEquals( 1, a.y, .001);
|
||||
assertEquals( -.01, a.z, .001);
|
||||
a = t.transform( new Coordinate(0,0,1) );
|
||||
// we need to test individual coordinates due to error.
|
||||
assertEquals( .01, a.x, .001);
|
||||
assertEquals( 0, a.y, .001);
|
||||
assertEquals( .99, a.z, .001);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user