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Merge pull request #32 from chran554/master
Add invert functionality to mat3 (3x3) matrices
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,150 @@ | ||
| package mat3 | ||
|
|
||
| import ( | ||
| "math" | ||
| "testing" | ||
|
|
||
| "github.com/ungerik/go3d/float64/mat2" | ||
| "github.com/ungerik/go3d/float64/vec2" | ||
| "github.com/ungerik/go3d/float64/vec3" | ||
| ) | ||
|
|
||
| const EPSILON = 0.0001 | ||
|
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| // Some matrices used in multiple tests. | ||
| var ( | ||
| invertableMatrix1 = T{vec3.T{4, -2, 3}, vec3.T{8, -3, 5}, vec3.T{7, -2, 4}} | ||
| invertedMatrix1 = T{vec3.T{-2, 2, -1}, vec3.T{3, -5, 4}, vec3.T{5, -6, 4}} | ||
| nonInvertableMatrix1 = T{vec3.T{1, 1, 1}, vec3.T{1, 1, 1}, vec3.T{1, 1, 1}} | ||
| nonInvertableMatrix2 = T{vec3.T{1, 1, 1}, vec3.T{1, 0, 1}, vec3.T{1, 1, 1}} | ||
|
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||
| testMatrix1 = T{ | ||
| vec3.T{0.38016528, -0.0661157, -0.008264462}, | ||
| vec3.T{-0.19834709, 0.33884296, -0.08264463}, | ||
| vec3.T{0.11570247, -0.28099173, 0.21487603}, | ||
| } | ||
|
|
||
| testMatrix2 = T{ | ||
| vec3.T{23, -4, -0.5}, | ||
| vec3.T{-12, 20.5, -5}, | ||
| vec3.T{7, -17, 13}, | ||
| } | ||
|
|
||
| row123Changed, _ = Parse("3 1 0.5 2 5 2 1 6 7") | ||
| ) | ||
|
|
||
| func TestDeterminant_2(t *testing.T) { | ||
| detTwo := Ident | ||
| detTwo[0][0] = 2 | ||
| if det := detTwo.Determinant(); det != 2 { | ||
| t.Errorf("Wrong determinant: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func TestDeterminant_3(t *testing.T) { | ||
| scale2 := Ident.Scaled(2) | ||
| if det := scale2.Determinant(); det != 2*2*2*1 { | ||
| t.Errorf("Wrong determinant: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func TestDeterminant_4(t *testing.T) { | ||
| row1changed, _ := Parse("3 0 0 2 2 0 1 0 2") | ||
| if det := row1changed.Determinant(); det != 12 { | ||
| t.Errorf("Wrong determinant: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func TestDeterminant_5(t *testing.T) { | ||
| row12changed, _ := Parse("3 1 0 2 5 0 1 6 2") | ||
| if det := row12changed.Determinant(); det != 26 { | ||
| t.Errorf("Wrong determinant: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func TestDeterminant_7(t *testing.T) { | ||
| randomMatrix, err := Parse("0.43685 0.81673 0.63721 0.16600 0.40608 0.53479 0.37328 0.36436 0.56356") | ||
| randomMatrix.Transpose() | ||
| if err != nil { | ||
| t.Errorf("Could not parse random matrix: %v", err) | ||
| } | ||
| if det := randomMatrix.Determinant(); practicallyEqual(det, 0.043437) { | ||
| t.Errorf("Wrong determinant for random sub 3x3 matrix: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func practicallyEqual(value1 float64, value2 float64) bool { | ||
| return math.Abs(value1-value2) > EPSILON | ||
| } | ||
|
|
||
| func TestDeterminant_6(t *testing.T) { | ||
| row123changed := row123Changed | ||
| if det := row123changed.Determinant(); det != 60.500 { | ||
| t.Errorf("Wrong determinant for 3x3 matrix: %f", det) | ||
| } | ||
| } | ||
|
|
||
| func TestDeterminant_1(t *testing.T) { | ||
| detId := Ident.Determinant() | ||
| if detId != 1 { | ||
| t.Errorf("Wrong determinant for identity matrix: %f", detId) | ||
| } | ||
| } | ||
|
|
||
| func TestMaskedBlock(t *testing.T) { | ||
| m := row123Changed | ||
| blockedExpected := mat2.T{vec2.T{5, 2}, vec2.T{6, 7}} | ||
| if blocked := m.maskedBlock(0, 0); *blocked != blockedExpected { | ||
| t.Errorf("Did not block 0,0 correctly: %#v", blocked) | ||
| } | ||
| } | ||
|
|
||
| func TestAdjugate(t *testing.T) { | ||
| adj := row123Changed | ||
| adj.Adjugate() | ||
| // Computed in octave: | ||
| adjExpected := T{vec3.T{23, -4, -0.5}, vec3.T{-12, 20.5, -5}, vec3.T{7, -17, 13}} | ||
| if adj != adjExpected { | ||
| t.Errorf("Adjugate not computed correctly: %#v", adj) | ||
| } | ||
| } | ||
|
|
||
| func TestInvert_ok(t *testing.T) { | ||
| inv := invertableMatrix1 | ||
| _, err := inv.Invert() | ||
|
|
||
| if err != nil { | ||
| t.Error("Inverse not computed correctly", err) | ||
| } | ||
|
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| invExpected := invertedMatrix1 | ||
| if inv != invExpected { | ||
| t.Errorf("Inverse not computed correctly: %#v", inv) | ||
| } | ||
| } | ||
|
|
||
| func TestInvert_nok_1(t *testing.T) { | ||
| inv := nonInvertableMatrix1 | ||
| _, err := inv.Inverted() | ||
| if err == nil { | ||
| t.Error("Inverse should not be possible", err) | ||
| } | ||
| } | ||
|
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||
| func TestInvert_nok_2(t *testing.T) { | ||
| inv := nonInvertableMatrix2 | ||
| _, err := inv.Inverted() | ||
| if err == nil { | ||
| t.Error("Inverse should not be possible", err) | ||
| } | ||
| } | ||
|
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||
| func BenchmarkAssignMul(b *testing.B) { | ||
| m1 := testMatrix1 | ||
| m2 := testMatrix2 | ||
| var mMult T | ||
| b.ResetTimer() | ||
| for i := 0; i < b.N; i++ { | ||
| mMult.AssignMul(&m1, &m2) | ||
| } | ||
| } |
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