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;;; Chickadee Game Toolkit
;;; Copyright © 2022 David Thompson <dthompson2@worcester.edu>
;;;
;;; Licensed under the Apache License, Version 2.0 (the "License");
;;; you may not use this file except in compliance with the License.
;;; You may obtain a copy of the License at
;;;
;;; http://www.apache.org/licenses/LICENSE-2.0
;;;
;;; Unless required by applicable law or agreed to in writing, software
;;; distributed under the License is distributed on an "AS IS" BASIS,
;;; WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
;;; See the License for the specific language governing permissions and
;;; limitations under the License.
(define-module (tests matrix)
#:use-module (tests utils)
#:use-module (srfi srfi-64)
#:use-module (chickadee math)
#:use-module (chickadee math matrix)
#:use-module (chickadee math quaternion)
#:use-module (chickadee math vector))
(with-tests "matrix"
(test-group "3x3 matrices"
(test-assert "matrix3-copy"
(let ((m (make-matrix3 0 1 2
3 4 5
6 7 8)))
(matrix3= m (matrix3-copy m))))
(test-assert "matrix3-copy!"
(let ((src (make-matrix3 0 1 2
3 4 5
6 7 8))
(dest (make-null-matrix3)))
(matrix3-copy! src dest)
(matrix3= src dest))))
(test-group "4x4 matrices"
(test-assert "matrix4-copy"
(let ((m (make-matrix4 0 1 2 3
4 5 6 7
8 9 0 1
2 3 4 5)))
(matrix4= m (matrix4-copy m))))
(test-assert "matrix4-copy!"
(let ((src (make-matrix4 0 1 2 3
4 5 6 7
8 9 0 1
2 3 4 5))
(dest (make-null-matrix4)))
(matrix4-copy! src dest)
(matrix4= src dest)))
(test-group "multiplication"
(test-assert "identity"
(let ((m (make-matrix4 0 1 2 3
4 5 6 7
8 9 0 1
2 3 4 5)))
(matrix4= m (matrix4* (make-identity-matrix4) m))))
(test-assert "inverse"
;; Using whole numbers to avoid floating point precision
;; issues where the resulting identity matrix has values very
;; close to 1.0 (like 0.9999999403953552) but not exactly,
;; causing the test to fail.
(let ((m (matrix4-scale (vec3 2 3 4))))
(matrix4= (make-identity-matrix4)
(matrix4* m (matrix4-inverse m))))))
(test-group "transformation"
(test-assert "identity (vec2)"
(let ((v (vec2 1 2)))
(vec2= v (matrix4-transform-vec2 (make-identity-matrix4) v))))
(test-assert "identity (vec3)"
(let ((v (vec3 1 2 3)))
(vec3= v (matrix4-transform-vec3 (make-identity-matrix4) v))))
(test-assert "translate"
(vec3= (vec3 5 7 9)
(matrix4-transform-vec3 (matrix4-translate (vec3 4 5 6))
(vec3 1 2 3))))
(test-assert "scale"
(vec3= (vec3 6 12 20)
(matrix4-transform-vec3 (matrix4-scale (vec3 3 4 5))
(vec3 2 3 4))))
(test-assert "rotate"
(vec3= (vec3 0 1 0)
(matrix4-transform-vec3 (matrix4-rotate
(rotation->quaternion (vec3 0 0 -1)
(/ pi 2)))
(vec3 1 0 0)))))))
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