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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+//234567890123456789012345678901234567890123456789012345678901234567890123456789
+// 1 2 3 4 5 6 7
+
+#include <UnitTest++.h>
+#include <ode/ode.h>
+#include <ode/odemath.h>
+
+
+
+TEST(test_dNormalization3)
+{
+ const dVector3 x = {1,0,0,0};
+ const dVector3 y = {0,1,0,0};
+ const dVector3 z = {0,0,1,0};
+ dVector3 v;
+
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(1.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.1);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(1e-20);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(0.0);
+ v[1] = REAL(1.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.1);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(1e-20);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(1.0);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.1);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(1e-20);
+ dSafeNormalize3(v);
+ CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ // Check negative
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(-1.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(-0.1);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(-1e-20);
+ v[1] = REAL(0.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(0.0);
+ v[1] = REAL(-1.0);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(-0.1);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(-1e-20);
+ v[2] = REAL(0.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ // Check when value in first component (i.e. [0])
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(-1.0);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(-0.1);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+ v[0] = REAL(0.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(-1e-20);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ v[0] = REAL(9999999999.0);
+ v[1] = REAL(0.0);
+ v[2] = REAL(1e-20);
+ dSafeNormalize3(v);
+ CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+ v[0] = REAL(9999999999.0);
+ v[1] = REAL(9999.0);
+ v[2] = REAL(9.0);
+ dSafeNormalize3(v);
+ CHECK_CLOSE(dCalcVectorLength3(v), REAL(1.0),REAL(0.001));
+
+}
+
+
+TEST(test_dOrthogonalizeR)
+{
+ {
+ dMatrix3 r1 = { 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+ {
+ dMatrix3 r1 = { 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 1, 0, 0, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+ {
+ dMatrix3 r1 = { 0, 0, 1, 0,
+ 1, 0, 0, 0,
+ 0, 1, 0, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+ {
+ dMatrix3 r1 = { -1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, -1, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+ {
+ dMatrix3 r1 = { 0, -1, 0, 0,
+ 0, 0, 1, 0,
+ -1, 0, 0, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+ {
+ dMatrix3 r1 = { 0, 0, -1, 0,
+ 0, -1, 0, 0,
+ -1, 0, 0, 0
+ };
+ dMatrix3 r2;
+ memcpy(r2, r1, sizeof(dMatrix3));
+ dOrthogonalizeR(r2);
+ CHECK_ARRAY_EQUAL(r1, r2, 12);
+ }
+
+}
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