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Alembic: rotation mode issue in copy_m44_axis_swap, and added unit tests.

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This commit is contained in:
Sybren A. Stüvel
2017-04-05 17:07:24 +02:00
parent b6775cd684
commit fa827374a7
2 changed files with 141 additions and 3 deletions
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4
source/blender/alembic/intern/abc_util.cc
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@@ -200,7 +200,7 @@ void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMod
mat4_to_loc_rot_size(src_trans, src_rot, src_scale, src_mat); mat4_to_loc_rot_size(src_trans, src_rot, src_scale, src_mat);
/* Get euler angles from rotation matrix. */ /* Get euler angles from rotation matrix. */
mat3_to_eulO(euler, ROT_MODE_XYZ, src_rot); mat3_to_eulO(euler, ROT_MODE_XZY, src_rot);
/* Create X, Y, Z rotation matrices from euler angles. */ /* Create X, Y, Z rotation matrices from euler angles. */
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, mode); create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, mode);
@@ -210,7 +210,7 @@ void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMod
mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat); mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat); mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat);
mat3_to_eulO(euler, ROT_MODE_XYZ, dst_rot); mat3_to_eulO(euler, ROT_MODE_XZY, dst_rot);
/* Start construction of dst_mat from rotation matrix */ /* Start construction of dst_mat from rotation matrix */
unit_m4(dst_mat); unit_m4(dst_mat);

140
tests/gtests/alembic/abc_matrix_test.cc
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@@ -69,7 +69,7 @@ TEST(abc_matrix, CreateRotationMatrixXYZ_YfromZ) {
float rot_y_mat[3][3]; float rot_y_mat[3][3];
float rot_z_mat[3][3]; float rot_z_mat[3][3];
// in degrees: X=10, Y=20, Z=30 // in degrees: X=10, Y=20, Z=30
float euler[3] = {0.1745329201221466f, 0.3490658104419708f, 0.5235987901687622f}; float euler[3] = {0.17453292012214f, 0.34906581044197f, 0.52359879016876f};
// Construct expected matrices // Construct expected matrices
float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis float rot_x_p10[3][3]; // rotation of +10 degrees over x-axis
@@ -142,3 +142,141 @@ TEST(abc_matrix, CreateRotationMatrixXYZ_ZfromY) {
EXPECT_M3_NEAR(rot_y_mat, rot_y_m30, 1e-5f); EXPECT_M3_NEAR(rot_y_mat, rot_y_m30, 1e-5f);
EXPECT_M3_NEAR(rot_z_mat, rot_z_p20, 1e-5f); EXPECT_M3_NEAR(rot_z_mat, rot_z_p20, 1e-5f);
} }
TEST(abc_matrix, CopyM44AxisSwap_YfromZ) {
float result[4][4];
/* Construct an input matrix that performs a rotation like the tests
* above. This matrix was created by rotating a cube in Blender over
* (X=10, Y=20, Z=30 degrees in XYZ order) and translating over (1, 2, 3) */
float input[4][4] = {
{ 0.81379765272f, 0.4698463380336f, -0.342020124197f, 0.f},
{-0.44096961617f, 0.8825641274452f, 0.163175910711f, 0.f},
{ 0.37852230668f, 0.0180283170193f, 0.925416588783f, 0.f},
{1.f, 2.f, 3.f, 1.f},
};
copy_m44_axis_swap(result, input, ABC_YUP_FROM_ZUP);
/* Check the resulting rotation & translation. */
float trans[4] = {1.f, 3.f, -2.f, 1.f};
EXPECT_V4_NEAR(trans, result[3], 1e-5f);
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=30, Z=-20 degrees in XZY order) and translating over (1, 3, -2) */
float expect[4][4] = {
{0.813797652721f, -0.342020124197f, -0.469846338033f, 0.f},
{0.378522306680f, 0.925416588783f, -0.018028317019f, 0.f},
{0.440969616174f, -0.163175910711f, 0.882564127445f, 0.f},
{1.f, 3.f, -2.f, 1.f},
};
EXPECT_M4_NEAR(expect, result, 1e-5f);
}
TEST(abc_matrix, CopyM44AxisSwapWithScale_YfromZ) {
float result[4][4];
/* Construct an input matrix that performs a rotation like the tests
* above. This matrix was created by rotating a cube in Blender over
* (X=10, Y=20, Z=30 degrees in XYZ order), translating over (1, 2, 3),
* and scaling by (4, 5, 6). */
float input[4][4] = {
{ 3.25519061088f, 1.8793853521347f, -1.368080496788f, 0.f},
{-2.20484805107f, 4.4128208160400f, 0.815879583358f, 0.f},
{ 2.27113389968f, 0.1081698983907f, 5.552499771118f, 0.f},
{1.f, 2.f, 3.f, 1.f},
};
copy_m44_axis_swap(result, input, ABC_YUP_FROM_ZUP);
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=30, Z=-20 degrees in XZY order), translating over (1, 3, -2)
* and scaling over (4, 6, 5). */
float expect[4][4] = {
{3.255190610885f, -1.368080496788f, -1.879385352134f, 0.f},
{2.271133899688f, 5.552499771118f, -0.108169898390f, 0.f},
{2.204848051071f, -0.815879583358f, 4.412820816040f, 0.f},
{1.f, 3.f, -2.f, 1.f},
};
EXPECT_M4_NEAR(expect, result, 1e-5f);
}
TEST(abc_matrix, CopyM44AxisSwap_ZfromY) {
float result[4][4];
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=30, Z=-20 degrees in XZY order) and translating over (1, 3, -2) */
float input[4][4] = {
{0.813797652721f, -0.342020124197f, -0.469846338033f, 0.f},
{0.378522306680f, 0.925416588783f, -0.018028317019f, 0.f},
{0.440969616174f, -0.163175910711f, 0.882564127445f, 0.f},
{1.f, 3.f, -2.f, 1.f},
};
copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=20, Z=30 degrees in XYZ order) and translating over (1, 2, 3) */
float expect[4][4] = {
{0.813797652721f, 0.469846338033f, -0.342020124197f, 0.f},
{-0.44096961617f, 0.882564127445f, 0.163175910711f, 0.f},
{0.378522306680f, 0.018028317019f, 0.925416588783f, 0.f},
{1.f, 2.f, 3.f, 1.f},
};
EXPECT_M4_NEAR(expect, result, 1e-5f);
}
TEST(abc_matrix, CopyM44AxisSwapWithScale_ZfromY) {
float result[4][4];
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=30, Z=-20 degrees in XZY order), translating over (1, 3, -2)
* and scaling over (4, 6, 5). */
float input[4][4] = {
{3.2551906108f, -1.36808049678f, -1.879385352134f, 0.f},
{2.2711338996f, 5.55249977111f, -0.108169898390f, 0.f},
{2.2048480510f, -0.81587958335f, 4.412820816040f, 0.f},
{1.f, 3.f, -2.f, 1.f},
};
copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
/* This matrix was created by rotating a cube in Blender over
* (X=10, Y=20, Z=30 degrees in XYZ order), translating over (1, 2, 3),
* and scaling by (4, 5, 6). */
float expect[4][4] = {
{3.25519061088f, 1.879385352134f, -1.36808049678f, 0.f},
{-2.2048480510f, 4.412820816040f, 0.81587958335f, 0.f},
{2.27113389968f, 0.108169898390f, 5.55249977111f, 0.f},
{1.f, 2.f, 3.f, 1.f},
};
EXPECT_M4_NEAR(expect, result, 1e-5f);
}
TEST(abc_matrix, CopyM44AxisSwapWithScale_gimbal_ZfromY) {
float result[4][4];
/* This matrix represents a rotation over (-90, -0, -0) degrees,
* and a translation over (-0, -0.1, -0). It is in Y=up. */
float input[4][4] = {
{ 1.000f, 0.000f, 0.000f, 0.000f},
{ 0.000f, 0.000f,-1.000f, 0.000f},
{ 0.000f, 1.000f, 0.000f, 0.000f},
{-0.000f,-0.100f,-0.000f, 1.000f},
};
copy_m44_axis_swap(result, input, ABC_ZUP_FROM_YUP);
/* Since the rotation is only over the X-axis, it should not change.
* The translation does change. */
float expect[4][4] = {
{ 1.000f, 0.000f, 0.000f, 0.000f},
{ 0.000f, 0.000f,-1.000f, 0.000f},
{ 0.000f, 1.000f, 0.000f, 0.000f},
{-0.000f, 0.000f,-0.100f, 1.000f},
};
EXPECT_M4_NEAR(expect, result, 1e-5f);
}