Changeset 1040 for trunk/Source/Base/Base/OSGMatrixTest.cpp

Timestamp:

01/21/08 16:07:56 (1 year ago)

Author:

cneumann

Message:

fixed: getTransform decomposes matrix into correct transformation

parts

The implementation of this functionality is from
Graphics Gems IV, article III.4 "Polar Matrix Decomposition".

Files:

• trunk/Source/Base/Base/OSGMatrixTest.cpp (modified) (2 diffs)

trunk/Source/Base/Base/OSGMatrixTest.cpp

@@ -40 +40 @@
-
-#include <OpenSG/OSGMatrix.h>
+#include <OpenSG/OSGQuaternion.h>
+
+#include <iostream>
-
-OSG_USING_NAMESPACE
@@ -64 +67 @@
-}
-
+TEST(MatrixDecomposition)
+{
+    // construct test matrix m1
+    Matrix4f m1;
+    Matrix4f m2;
+        
+    Vec3f vT1(1.0, -12.0, 15.0);
+    Vec3f vS1(4.5,   3.2,  2.1);
+    
+    Quaternion qR1 (Vec3f( 6.6,  23.4, 75.4),  1.345);
+    Quaternion qSO1(Vec3f(23.2,   8.7,  9.4), -2.6  );
+
+    m1.setTransform(vT1, qR1, vS1, qSO1);
+    
+    Vec3f      vT2;
+    Vec3f      vS2;
+    Quaternion qR2;
+    Quaternion qSO2;
+    
+    Matrix4f mSO1;
+    Matrix4f mSO1i;
+    Matrix4f mS1;
+    Matrix4f mSO1_S1_SO1i;
+    
+    Quaternion qSO1i(qSO1);
+    
+    qSO1i.invert();
+    
+    mSO1 .setRotate(qSO1 );
+    mSO1i.setRotate(qSO1i);
+    mS1.setScale(vS1);
+    
+    mSO1_S1_SO1i = mSO1;
+    mSO1_S1_SO1i.mult(mS1);
+    mSO1_S1_SO1i.mult(mSO1i);
+   
+    std::cerr << "mSO1_S1_SO1i =\n" << mSO1_S1_SO1i << std::endl;
+    
+    // decompose m1 and build m2 from components
+    m1.getTransform(vT2, qR2, vS2, qSO2);
+    
+    std::cerr << "vT1  = " << vT1 << "\n"
+              << "vS1  = " << vS1 << "\n"
+              << "qR1  = " << qR1 << "\n"
+              << "qSO1 = " << qSO1 << std::endl;
+    
+    std::cerr << "m1 =\n" << m1 << std::endl;
+    std::cerr << "vT2  = " << vT2 << "\n"
+              << "vS2  = " << vS2 << "\n"
+              << "qR2  = " << qR2 << "\n"
+              << "qSO2 = " << qSO2 << std::endl;
+    
+    m2.setTransform(vT2, qR2, vS2, qSO2);
+    
+    std::cerr << "m2 =\n" << m2 << std::endl;
+    
+    
+    Matrix4f mSO2;
+    Matrix4f mSO2i;
+    Matrix4f mS2;
+    Matrix4f mSO2_S2_SO2i;
+    
+    Quaternion qSO2i(qSO2);
+    
+    qSO2i.invert();
+    
+    mSO2 .setRotate(qSO2 );
+    mSO2i.setRotate(qSO2i);
+    mS2.setScale(vS2);
+    
+    mSO2_S2_SO2i = mSO2;
+    mSO2_S2_SO2i.mult(mS2);
+    mSO2_S2_SO2i.mult(mSO2i);
+   
+    std::cerr << "mSO2_S2_SO2i =\n" << mSO2_S2_SO2i << std::endl;
+        
+    
+    // test ||m1 - m2|| <= 1.0e-6
+    m1.addScaled(m2, -1.0);
+        
+    CHECK_CLOSE(0.0, m1.normInfinity(), 1.0e-6);
+}
-
-} // SUITE