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Merge pull request #378 from GSharker/dev/guma/refactor-transform
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Dev/guma/refactor transform
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@d3ssy
d3ssy authored Nov 10, 2021
2 parents f3bae3b + 404da64 commit da5ce4a
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253 changes: 253 additions & 0 deletions src/GShark.Test.XUnit/Core/TransformMatrixTests.cs
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using System;
using FluentAssertions;
using GShark.Core;
using GShark.Geometry;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Transactions;
using GShark.Enumerations;
using Xunit;
using Xunit.Abstractions;

namespace GShark.Test.XUnit.Core
{
public class TransformMatrixTests
{
private readonly ITestOutputHelper _testOutput;
public TransformMatrixTests(ITestOutputHelper testOutput)
{
_testOutput = testOutput;
}

[Fact]
public void It_Combines_Transformation_Matrices()
{
//Arrange
var t1 = TransformMatrix.Translation(new Vector3(5, 5, 2));
var t2 = TransformMatrix.Rotation(Vector3.ZAxis, GSharkMath.ToRadians(30));
var t3 = TransformMatrix.Scale(2, 2, 2);
var expectedMatrix1 = new TransformMatrix() //Compound(t1, t2, t3) checked gh.
{
M00 = 1.7320508075688774,
M01 = 0.9999999999999999,
M10 = -0.9999999999999999,
M11 = 1.7320508075688774,
M22 = 2,
M30 = 3.660254037844388,
M31 = 13.660254037844386,
M32 = 4
};

var expectedMatrix2 = new TransformMatrix() //Compound(t2,t1,t3) checked in gh.
{
M00 = 1.7320508075688774,
M01 = 0.9999999999999999,
M10 = -0.9999999999999999,
M11 = 1.7320508075688774,
M22 = 2,
M30 = 10,
M31 = 10,
M32 = 4
};

//Act
//order matters, matrices non commutative.
var result1 = t1.Combine(t2).Combine(t3);
var result2 = t2.Combine(t1).Combine(t3);

//Assert
#if DEBUG
_testOutput.WriteLine(result1.ToString());
_testOutput.WriteLine(result2.ToString());
#endif
result1.Equals(expectedMatrix1).Should().BeTrue();
result2.Equals(expectedMatrix2).Should().BeTrue();
}

[Fact]
public void It_Returns_The_Identity_TransformMatrix()
{
// Act
var identityMatrix = new TransformMatrix(
new List<double>
{
1,0,0,
0,1,0,
0,0,1,
0,0,0
});

//Act
var transformMatrix = new TransformMatrix();

// Assert
#if DEBUG
_testOutput.WriteLine(transformMatrix.ToString());
_testOutput.WriteLine(identityMatrix.ToString());
#endif
transformMatrix.Equals(identityMatrix).Should().BeTrue();
}

[Fact]
public void It_Creates_A_TransformationMatrix_By_Copying_Another_TransformationMatrix()
{
// Arrange
var translationMatrix = TransformMatrix.Translation(new Vector3(15, 15, 0));


// Act
var copyMatrix = new TransformMatrix(translationMatrix);

// Assert
copyMatrix.Equals(translationMatrix).Should().BeTrue();
}

[Fact]
public void It_Returns_A_Identity_Transform_Matrix()
{
// Act
var transform = new TransformMatrix();

// Assert
var matrix = transform.Matrix;

matrix.Count.Should().Be(4);
matrix[0].Count.Should().Be(4);
matrix[0][0].Should().Be(1);
matrix[1][1].Should().Be(1);
matrix[2][2].Should().Be(1);
matrix[3][3].Should().Be(1);
}

[Fact]
public void It_Returns_A_Translation_Matrix()
{
// Arrange
var translation = new Vector3(10, 10, 0);

// Act
var transform = Transform.Translation(translation);

// Assert
transform.M30.Should().Be(10);
transform.M31.Should().Be(10);
transform.M32.Should().Be(0);
transform.M33.Should().Be(1);
}

[Fact]
public void It_Returns_A_Rotation_Matrix()
{
// Arrange
var center = new Point3(5, 5, 0);
double angleInRadians = GSharkMath.ToRadians(30);

// Act
var transform = Transform.Rotation(angleInRadians, center, RotationAxis.Z);

// Assert
#if DEBUG
_testOutput.WriteLine(transform.ToString());
#endif
transform.M00.Equals(0.8660254037844387).Should().BeTrue();
transform.M10.Equals(-0.49999999999999994).Should().BeTrue();
transform.M20.Equals(0).Should().BeTrue();
transform.M30.Equals(3.169872981077806).Should().BeTrue();
transform.M01.Equals(0.49999999999999994).Should().BeTrue();
transform.M11.Equals(0.8660254037844387).Should().BeTrue();
transform.M21.Equals(0).Should().BeTrue();
transform.M31.Equals(-1.8301270189221928).Should().BeTrue();
transform.M02.Equals(0).Should().BeTrue();
transform.M12.Equals(0).Should().BeTrue();
transform.M22.Equals(1).Should().BeTrue();
transform.M32.Equals(0).Should().BeTrue();
transform.M03.Equals(0).Should().BeTrue();
transform.M13.Equals(0).Should().BeTrue();
transform.M23.Equals(0).Should().BeTrue();
transform.M33.Equals(1).Should().BeTrue();
}

[Fact]
public void It_Returns_A_Scale_Matrix()
{
// Act
var scale1 = Transform.Scale(0.5);
var scale2 = Transform.Scale(new Point3(10, 10, 0), 0.5);

// Assert
#if DEBUG
_testOutput.WriteLine(scale2.ToString());
#endif
scale1.M00.Should().Be(0.5); scale2.M00.Should().Be(0.5);
scale1.M11.Should().Be(0.5); scale2.M11.Should().Be(0.5);
scale1.M22.Should().Be(0.5); scale2.M22.Should().Be(0.5);
scale1.M33.Should().Be(1.0); scale2.M33.Should().Be(1.0);

scale2.M30.Should().Be(5.0);
scale2.M31.Should().Be(5.0);
}

[Fact]
public void It_Returns_A_Reflection_Matrix()
{
// Arrange
var pt = new Point3(10, 10, 0);
Plane plane = new Plane(pt, Vector3.XAxis);

// Act
var transform = TransformMatrix.Reflection(plane);

// Assert
transform.M00.Should().Be(-1.0);
transform.M11.Should().Be(1.0);
transform.M22.Should().Be(1.0);
transform.M33.Should().Be(1.0);
transform.M30.Should().Be(20);
}

[Fact]
public void It_Returns_A_Projection_Matrix()
{
// Arrange
var origin = new Point3(5, 0, 0);
var dir = new Point3(-10, -15, 0);
Plane plane = new Plane(origin, dir);

// Act
var transform = TransformMatrix.Projection(plane);

// Assert
#if DEBUG
_testOutput.WriteLine(transform.ToString());
#endif
transform.M00.Should().BeApproximately(0.692308, GSharkMath.MaxTolerance);
transform.M10.Should().BeApproximately(-0.461538, GSharkMath.MaxTolerance);
transform.M30.Should().BeApproximately(1.538462, GSharkMath.MaxTolerance);
transform.M01.Should().BeApproximately(-0.461538, GSharkMath.MaxTolerance);
transform.M11.Should().BeApproximately(0.307692, GSharkMath.MaxTolerance);
transform.M31.Should().BeApproximately(2.307692, GSharkMath.MaxTolerance);
transform.M33.Should().BeApproximately(1.0, GSharkMath.MaxTolerance);
}

[Fact]
public void It_Multiplies_A_Point3()
{
//Arrange
var p = new Point3(5, -2, 12.5);
var expectedPt = new Vector3(8,0,13);
var m = TransformMatrix.Translation(new Vector3(3, 2, 0.5));

//Act
var result = p * m;

//Assert
#if DEBUG
_testOutput.WriteLine(result.ToString());
#endif
result.Equals(expectedPt).Should().BeTrue();
}


}
}
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