Misaki
b08662b77d
Fixed conditional selection logic in quaternion and SVD math functions by swapping select argument order for correctness. Fixed LookRotationSafe and normalizesafe to return valid quaternions. Corrected SVD helper functions for proper value swapping and safe reciprocal. Added unit tests for matrix, reflection, projection, refraction, quaternion normalization, LookRotationSafe, and SVD operations. Incremented project version to 1.3.3. Minor formatting and using directive updates.
79 lines
2.8 KiB
C#
79 lines
2.8 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Text;
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using Microsoft.VisualStudio.TestTools.UnitTesting;
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using Misaki.HighPerformance.Mathematics;
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namespace Misaki.HighPerformance.Test.UnitTest.Mathematics;
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[TestClass]
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public class TestSVD
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{
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private const float TOLERANCE = 1e-5f;
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private static void AssertFloat3x3Equal(float3x3 expected, float3x3 actual, float tolerance = TOLERANCE)
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{
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Assert.AreEqual(expected.c0.x, actual.c0.x, tolerance, "c0.x mismatch");
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Assert.AreEqual(expected.c0.y, actual.c0.y, tolerance, "c0.y mismatch");
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Assert.AreEqual(expected.c0.z, actual.c0.z, tolerance, "c0.z mismatch");
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Assert.AreEqual(expected.c1.x, actual.c1.x, tolerance, "c1.x mismatch");
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Assert.AreEqual(expected.c1.y, actual.c1.y, tolerance, "c1.y mismatch");
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Assert.AreEqual(expected.c1.z, actual.c1.z, tolerance, "c1.z mismatch");
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Assert.AreEqual(expected.c2.x, actual.c2.x, tolerance, "c2.x mismatch");
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Assert.AreEqual(expected.c2.y, actual.c2.y, tolerance, "c2.y mismatch");
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Assert.AreEqual(expected.c2.z, actual.c2.z, tolerance, "c2.z mismatch");
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}
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private static float3x3 CreateDiagonal(float3 s)
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{
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return new float3x3(new float3(s.x, 0, 0), new float3(0, s.y, 0), new float3(0, 0, s.z));
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}
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[TestMethod]
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public void TestSVDInverse_Identity()
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{
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var identity = float3x3.identity;
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var inverse = svd.svdInverse(identity);
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AssertFloat3x3Equal(identity, inverse);
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}
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[TestMethod]
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public void TestSVDInverse_Diagonal()
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{
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var scale = new float3(2f, 0.5f, 4f);
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var a = CreateDiagonal(scale);
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var expected = CreateDiagonal(1f / scale);
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var actual = svd.svdInverse(a);
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AssertFloat3x3Equal(expected, actual);
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}
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[TestMethod]
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public void TestSVDRotation_PureRotation()
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{
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var q = quaternion.AxisAngle(math.normalize(new float3(1f, 2f, 3f)), 1.2f);
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var a = new float3x3(q);
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var result = svd.svdRotation(a);
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// SVD rotation should extract the rotation part.
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// For a pure rotation matrix, result should be the same as input q (or -q)
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var dot = math.dot(q.value, result.value);
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Assert.IsTrue(math.abs(dot) > 0.999f, $"Rotation mismatch: dot product {dot}");
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}
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[TestMethod]
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public void TestSVDInverse_RotationAndScale()
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{
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var q = quaternion.AxisAngle(math.normalize(new float3(0.5f, -0.2f, 0.8f)), 0.5f);
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var r = new float3x3(q);
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var scale = new float3(1.5f, 0.8f, 2.0f);
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// A = R * S
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var a = math.mulScale(r, scale);
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var inverse = svd.svdInverse(a);
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// Check inverse * A = Identity
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var identityResult = math.mul(inverse, a);
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AssertFloat3x3Equal(float3x3.identity, identityResult, 1e-4f);
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}
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}
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