with Ahven, float_Math.Algebra.linear.d3; -- with Ada.Text_IO; use Ada.Text_IO; package body math_Tests.linear_Algebra_3d is use Ahven, float_Math; function almost_Equal (Left, Right : in Real) return Boolean is Tolerance : constant := 0.00_000_1; begin return abs (Left - Right) <= Tolerance; end almost_Equal; function almost_Equal (Left, Right : in Vector_3) return Boolean is begin return almost_Equal (Left (1), Right (1)) and almost_Equal (Left (2), Right (2)) and almost_Equal (Left (3), Right (3)); end almost_Equal; function almost_Equal (Left, Right : in Quaternion) return Boolean is begin return almost_Equal (Left.R, Right.R) and almost_Equal (Left.V (1), Right.V (1)) and almost_Equal (Left.V (2), Right.V (2)) and almost_Equal (Left.V (3), Right.V (3)); end almost_Equal; procedure translation_Matrix_Test is use float_Math.Algebra.linear.d3; From : constant Vector_3 := [0.0, 0.0, 0.0]; To : Vector_3; begin To := From * to_translation_Matrix ([1.0, 0.0, 0.0]); assert (To (1) = 1.0, Image (To) & " translation (a) failed !"); assert (To (2) = 0.0, Image (To) & " translation (b) failed !"); assert (To (3) = 0.0, Image (To) & " translation (c) failed !"); To := From * to_translation_Matrix ([0.0, 1.0, 0.0]); assert (To (1) = 0.0, Image (To) & " translation (d) failed !"); assert (To (2) = 1.0, Image (To) & " translation (e) failed !"); assert (To (3) = 0.0, Image (To) & " translation (f) failed !"); To := From * to_translation_Matrix ([-1.0, 0.0, 0.0]); assert (To (1) = -1.0, Image (To) & " translation (g) failed !"); assert (To (2) = 0.0, Image (To) & " translation (h) failed !"); assert (To (3) = 0.0, Image (To) & " translation (i) failed !"); To := From * to_translation_Matrix ([0.0, -1.0, 0.0]); assert (To (1) = 0.0, Image (To) & " translation (j) failed !"); assert (To (2) = -1.0, Image (To) & " translation (k) failed !"); assert (To (3) = 0.0, Image (To) & " translation (l) failed !"); To := From * to_translation_Matrix ([1.0, 1.0, 0.0]); assert (To (1) = 1.0, Image (To) & " translation (m) failed !"); assert (To (2) = 1.0, Image (To) & " translation (n) failed !"); assert (To (3) = 0.0, Image (To) & " translation (o) failed !"); To := From * to_translation_Matrix ([-1.0, -1.0, 0.0]); assert (To (1) = -1.0, Image (To) & " translation (p) failed !"); assert (To (2) = -1.0, Image (To) & " translation (q) failed !"); assert (To (3) = 0.0, Image (To) & " translation (r) failed !"); end translation_Matrix_Test; procedure rotation_Matrix_Test is use float_Math.Algebra.linear.d3; From : constant Vector_3 := [1.0, 0.0, 0.0]; To : Vector_3; begin To := From * z_Rotation_from (to_Radians (90.0)); assert (almost_Equal (To, [0.0, -1.0, 0.0]), Image (To, 16) & " rotation (90) failed !"); To := From * z_Rotation_from (to_Radians (-90.0)); assert (almost_Equal (To, [0.0, 1.0, 0.0]), Image (To, 16) & " rotation (-90) failed !"); To := From * z_Rotation_from (to_Radians (180.0)); assert (almost_Equal (To, [-1.0, 0.0, 0.0]), Image (To, 16) & " rotation (180) failed !"); To := From * z_Rotation_from (to_Radians (-180.0)); assert (almost_Equal (To, [-1.0, 0.0, 0.0]), Image (To, 16) & " rotation (-180) failed !"); To := From * z_Rotation_from (to_Radians (270.0)); assert (almost_Equal (To, [0.0, 1.0, 0.0]), Image (To, 16) & " rotation (270) failed !"); To := From * z_Rotation_from (to_Radians (-270.0)); assert (almost_Equal (To, [0.0, -1.0, 0.0]), Image (To, 16) & " rotation (-270) failed !"); end rotation_Matrix_Test; procedure transform_Test is use float_Math.Algebra.linear.d3; From : constant Vector_3 := [1.0, 0.0, 0.0]; To : Vector_3; Transform : Transform_3d := (rotation => z_Rotation_from (to_Radians (90.0)), translation => [0.0, 0.0, 0.0]); begin To := From * Transform; assert (almost_Equal (To, [0.0, 1.0, 0.0]), Image (To, 16) & " transform () failed !"); Transform.Translation := [1.0, 0.0, 0.0]; To := From * Transform; assert (almost_Equal (To, [1.0, 1.0, 0.0]), Image (To, 16) & " transform () failed !"); end transform_Test; procedure quaternion_interpolation_Test is use float_Math.Algebra.linear.d3; Initial : constant Quaternion := to_Quaternion (z_Rotation_from (to_Radians ( 90.0))); Desired : constant Quaternion := to_Quaternion (z_Rotation_from (to_Radians (180.0))); begin -- put_Line (Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, 0.0))))); -- put_Line (Degrees'Image (to_Degrees (Angle (Initial)))); assert (almost_Equal (Interpolated (Initial, Desired, 0.0), Initial), "almost_Equal (Interpolated (Initial, Desired, 0.0), Initial) ... failed !"); assert (almost_Equal (Interpolated (Initial, Desired, 100.0), Desired), "almost_Equal (Interpolated (Initial, Desired, 1.0), Desired) ... failed !"); -- new_Line; -- put_Line ("0.01 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.01)))))); -- put_Line ("0.1 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.1)))))); -- put_Line ("0.2 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.2)))))); -- put_Line ("0.3 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.3)))))); -- put_Line ("0.4 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.4)))))); -- put_Line ("0.5 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.5)))))); -- put_Line ("0.6 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.6)))))); -- put_Line ("0.7 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.7)))))); -- put_Line ("0.8 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.8)))))); -- put_Line ("0.9 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.9)))))); -- put_Line ("0.99 " & Degrees'Image (to_Degrees (Angle (Interpolated (Initial, Desired, to_Percentage (0.99)))))); -- put_Line (Degrees'Image (to_Degrees (to_Radians (90.0)))); assert (almost_Equal (Angle (Interpolated (Initial, Desired, 50.0)), to_Radians (135.0)), "Angle (Interpolated (Initial, Desired, 0.5)) = to_Radians (135.0) ... failed !"); end quaternion_interpolation_Test; procedure inverse_transform_Test is use float_Math.Algebra.linear.d3; From : constant Vector_3 := [1.0, 1.0, 1.0]; To : Vector_3; Transform : constant Matrix_4x4 := to_transform_Matrix (Rotation => z_Rotation_from (to_Radians (90.0)), Translation => [5.0, 5.0, 5.0]); begin To := From * Transform; To := To * inverse_Transform (Transform); assert (almost_Equal (To, From), Image (To, 16) & " inverse_Transform failed !"); end inverse_transform_Test; overriding procedure Initialize (T : in out Test) is begin T.set_Name ("Linear Algebra (3D) Tests"); Framework.add_test_Routine (T, translation_Matrix_Test'Access, "translation_Matrix_Test"); Framework.add_test_Routine (T, rotation_Matrix_Test'Access, "rotation_Matrix_Test"); Framework.add_test_Routine (T, transform_Test'Access, "transform_Test"); Framework.add_test_Routine (T, inverse_transform_Test'Access, "inverse_transform_Test"); Framework.add_test_Routine (T, quaternion_interpolation_Test'Access, "quaternion_interpolation_Test"); end Initialize; end math_Tests.linear_Algebra_3d;