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feat(matrix): add C44Matrix::RotationAroundZ

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fallenoak 2020-11-29 23:17:09 -06:00
parent 5e8ed6ae7f
commit 957635b484
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3 changed files with 73 additions and 0 deletions
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28
tempest/matrix/C44Matrix.cpp
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@ -1,4 +1,32 @@
#include "tempest/matrix/C44Matrix.hpp"
#include <cmath>
C44Matrix C44Matrix::RotationAroundZ(float angle) {
float cosAngle = cos(angle);
float sinAngle = sin(angle);
float a0 = cosAngle;
float a1 = sinAngle;
float a2 = 0.0f;
float a3 = 0.0f;
float b0 = -sinAngle;
float b1 = cosAngle;
float b2 = 0.0f;
float b3 = 0.0f;
float c0 = 0.0f;
float c1 = 0.0f;
float c2 = 1.0f;
float c3 = 0.0f;
float d0 = 0.0f;
float d1 = 0.0f;
float d2 = 0.0f;
float d3 = 1.0f;
return { a0, a1, a2, a3, b0, b1, b2, b3, c0, c1, c2, c3, d0, d1, d2, d3 };
}
C44Matrix C44Matrix::Adjoint() const {
float a0 = this->b2 * this->c3 * this->d1 + this->b3 * this->c1 * this->d2 + this->b1 * this->c2 * this->d3 - this->b3 * this->c2 * this->d1 - this->b2 * this->c1 * this->d3 - this->b1 * this->c3 * this->d2;

3
tempest/matrix/C44Matrix.hpp
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@ -3,6 +3,9 @@
class C44Matrix {
public:
// Static functions
static C44Matrix RotationAroundZ(float angle);
// Member variables
float a0 = 1.0f;
float a1 = 0.0f;

42
test/Matrix.cpp
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@ -1,6 +1,48 @@
#include "tempest/Matrix.hpp"
#include "test/Test.hpp"
TEST_CASE("C44Matrix::RotationAroundZ", "[matrix]") {
SECTION("returns rotation matrix for 0 degree angle") {
auto rotation = C44Matrix::RotationAroundZ(0.0f);
CHECK(rotation.a0 == 1.0f);
CHECK(rotation.a1 == 0.0f);
CHECK(rotation.a2 == 0.0f);
CHECK(rotation.a3 == 0.0f);
CHECK(rotation.b0 == 0.0f);
CHECK(rotation.b1 == 1.0f);
CHECK(rotation.b2 == 0.0f);
CHECK(rotation.b3 == 0.0f);
CHECK(rotation.c0 == 0.0f);
CHECK(rotation.c1 == 0.0f);
CHECK(rotation.c2 == 1.0f);
CHECK(rotation.c3 == 0.0f);
CHECK(rotation.d0 == 0.0f);
CHECK(rotation.d1 == 0.0f);
CHECK(rotation.d2 == 0.0f);
CHECK(rotation.d3 == 1.0f);
}
SECTION("returns rotation matrix for 180 degree angle") {
auto rotation = C44Matrix::RotationAroundZ(3.1415927f);
CHECK(rotation.a0 == Approx(-1.0f).margin(0.0000001f));
CHECK(rotation.a1 == Approx(0.0f).margin(0.0000001f));
CHECK(rotation.a2 == 0.0f);
CHECK(rotation.a3 == 0.0f);
CHECK(rotation.b0 == Approx(0.0f).margin(0.0000001f));
CHECK(rotation.b1 == Approx(-1.0f).margin(0.0000001f));
CHECK(rotation.b2 == 0.0f);
CHECK(rotation.b3 == 0.0f);
CHECK(rotation.c0 == 0.0f);
CHECK(rotation.c1 == 0.0f);
CHECK(rotation.c2 == 1.0f);
CHECK(rotation.c3 == 0.0f);
CHECK(rotation.d0 == 0.0f);
CHECK(rotation.d1 == 0.0f);
CHECK(rotation.d2 == 0.0f);
CHECK(rotation.d3 == 1.0f);
}
}
TEST_CASE("C44Matrix", "[matrix]") {
SECTION("constructs with default constructor") {
C44Matrix matrix;