test_sanim_node_transform.c (5453B)
1 /* Copyright (C) 2018-2026 |Méso|Star> (contact@meso-star.com) 2 * Copyright (C) 2016-2018 CNRS 3 * 4 * This program is free software: you can redistribute it and/or modify 5 * it under the terms of the GNU General Public License as published by 6 * the Free Software Foundation, either version 3 of the License, or 7 * (at your option) any later version. 8 * 9 * This program is distributed in the hope that it will be useful, 10 * but WITHOUT ANY WARRANTY; without even the implied warranty of 11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 * GNU General Public License for more details. 13 * 14 * You should have received a copy of the GNU General Public License 15 * along with this program. If not, see <http://www.gnu.org/licenses/>. */ 16 17 #include "sanim.h" 18 #include "test_sanim_utils.h" 19 20 #include <rsys/double33.h> 21 22 int 23 main(int argc, char** argv) 24 { 25 struct mem_allocator allocator; 26 struct my_type *t1, *t2, *t3, *t, *ptr; 27 double transl[3], rot[3]; 28 double transform[12], transform_[12]; 29 (void) argc, (void) argv; 30 31 mem_init_proxy_allocator(&allocator, &mem_default_allocator); 32 33 /* test a typical use in my_type */ 34 CHK(my_type_create(&allocator, &t1) == RES_OK); 35 CHK(my_type_create(&allocator, &t2) == RES_OK); 36 37 CHK(my_type_add_child(t1, t2) == RES_OK); 38 39 d3_splat(transl, +1); 40 CHK(my_type_set_translation(t1, transl) == RES_OK); 41 42 d3_splat(transl, -1); 43 CHK(my_type_set_translation(t2, transl) == RES_OK); 44 45 CHK(my_type_get_transform(t2, transform) == RES_OK); 46 CHK(d33_is_identity(transform) == 1); 47 CHK(d3_is_zero(transform + 9) == 1); 48 49 d3(rot, PI, 0, 0); 50 CHK(my_type_set_rotations(NULL, rot) == RES_BAD_ARG); 51 CHK(my_type_set_rotations(t1, NULL) == RES_BAD_ARG); 52 CHK(my_type_set_rotations(t1, rot) == RES_OK); 53 CHK(my_type_set_rotations(t2, rot) == RES_OK); 54 d3(transl, 0, +1, 0); 55 CHK(my_type_set_translation(t1, transl) == RES_OK); 56 CHK(my_type_set_translation(t2, transl) == RES_OK); 57 58 CHK(my_type_get_transform(t2, transform) == RES_OK); 59 CHK(d33_is_identity_eps(transform, 1e-7) == 1); 60 CHK(d3_is_zero_eps(transform + 9, 1e-7) == 1); 61 62 /* check translation & 1 rotation in a single node VS in 2 chained nodes */ 63 d3(rot, 0.17, 0, 0); 64 d3(transl, 0.3, 2, -1); 65 CHK(my_type_create(&allocator, &t) == RES_OK); 66 CHK(my_type_set_translation(t, transl) == RES_OK); 67 CHK(my_type_set_rotations(t, rot) == RES_OK); 68 CHK(my_type_get_transform(t, transform) == RES_OK); 69 CHK(my_type_create(&allocator, &t3) == RES_OK); 70 CHK(my_type_add_child(t2, t3) == RES_OK); 71 d3(rot, 0, 0, 0); 72 CHK(my_type_set_translation(t1, transl) == RES_OK); 73 CHK(my_type_set_rotations(t1, rot) == RES_OK); 74 d3(transl, 0, 0, 0); 75 d3(rot, 0.17, 0, 0); 76 CHK(my_type_set_translation(t2, transl) == RES_OK); 77 CHK(my_type_set_rotations(t2, rot) == RES_OK); 78 CHK(my_type_get_transform(t2, transform_) == RES_OK); 79 CHK(d33_eq_eps(transform, transform_, 1e-7) == 1); 80 CHK(d3_eq_eps(transform + 9, transform_ + 9, 1e-7) == 1); 81 82 /* check translation & 2 rotations in a single node VS in 2 chained nodes */ 83 d3(rot, 0.17, -0.52, 0); 84 d3(transl, 0.3, 2, -1); 85 CHK(my_type_set_translation(t, transl) == RES_OK); 86 CHK(my_type_set_rotations(t, rot) == RES_OK); 87 CHK(my_type_get_transform(t, transform) == RES_OK); 88 d3(rot, 0, 0, 0); 89 CHK(my_type_set_translation(t1, transl) == RES_OK); 90 CHK(my_type_set_rotations(t1, rot) == RES_OK); 91 d3(transl, 0, 0, 0); 92 d3(rot, 0.17, 0, 0); 93 CHK(my_type_set_translation(t2, transl) == RES_OK); 94 CHK(my_type_set_rotations(t2, rot) == RES_OK); 95 d3(rot, 0, -0.52, 0); 96 CHK(my_type_set_translation(t3, transl) == RES_OK); 97 CHK(my_type_set_rotations(t3, rot) == RES_OK); 98 CHK(my_type_get_transform(t3, transform_) == RES_OK); 99 CHK(d33_eq_eps(transform, transform_, 1e-7) == 1); 100 CHK(d3_eq_eps(transform + 9, transform_ + 9, 1e-7) == 1); 101 102 /* check 1 node with 3 rotations VS 3 chained nodes with 1 rotation each */ 103 d3(rot, 0.17, -0.52, 0.31); 104 d3(transl, 0.3, 2, -1); 105 CHK(my_type_set_translation(t, transl) == RES_OK); 106 CHK(my_type_set_rotations(t, rot) == RES_OK); 107 CHK(my_type_get_transform(t, transform) == RES_OK); 108 d3(rot, 0.17, 0, 0); 109 CHK(my_type_set_translation(t1, transl) == RES_OK); 110 CHK(my_type_set_rotations(t1, rot) == RES_OK); 111 d3(transl, 0, 0, 0); 112 d3(rot, 0, -0.52, 0); 113 CHK(my_type_set_translation(t2, transl) == RES_OK); 114 CHK(my_type_set_rotations(t2, rot) == RES_OK); 115 d3(rot, 0, 0, 0.31); 116 CHK(my_type_set_translation(t3, transl) == RES_OK); 117 CHK(my_type_set_rotations(t3, rot) == RES_OK); 118 CHK(my_type_get_transform(t3, transform_) == RES_OK); 119 CHK(d33_eq_eps(transform, transform_, 1e-7) == 1); 120 CHK(d3_eq_eps(transform + 9, transform_ + 9, 1e-7) == 1); 121 122 /* check 3 chained nodes with 1 rotation each VS a copy */ 123 CHK(my_type_ref_put(t) == RES_OK); 124 CHK(my_type_recursive_copy(&allocator, t1, &t) == RES_OK); 125 CHK(my_type_get_transform(t3, transform) == RES_OK); 126 CHK(my_type_get_child(t, 0, &ptr) == RES_OK); 127 CHK(my_type_get_child(ptr, 0, &ptr) == RES_OK); 128 CHK(my_type_get_transform(ptr, transform_) == RES_OK); 129 CHK(d33_eq_eps(transform, transform_, 1e-7) == 1); 130 CHK(d3_eq_eps(transform + 9, transform_ + 9, 1e-7) == 1); 131 132 /* release memory */ 133 CHK(my_type_ref_put(t1) == RES_OK); 134 CHK(my_type_ref_put(t2) == RES_OK); 135 CHK(my_type_ref_put(t3) == RES_OK); 136 CHK(my_type_ref_put(t) == RES_OK); 137 138 check_memory_allocator(&allocator); 139 mem_shutdown_proxy_allocator(&allocator); 140 CHK(mem_allocated_size() == 0); 141 return 0; 142 }