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test2/source/blender/blenkernel/intern/armature_test.cc
Sergey Sharybin c1bc70b711 Cleanup: Add a copyright notice to files and use SPDX format 
A lot of files were missing copyright field in the header and
the Blender Foundation contributed to them in a sense of bug
fixing and general maintenance.

This change makes it explicit that those files are at least
partially copyrighted by the Blender Foundation.

Note that this does not make it so the Blender Foundation is
the only holder of the copyright in those files, and developers
who do not have a signed contract with the foundation still
hold the copyright as well.

Another aspect of this change is using SPDX format for the
header. We already used it for the license specification,
and now we state it for the copyright as well, following the
FAQ:

    https://reuse.software/faq/
2023-05-31 16:19:06 +02:00

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/* SPDX-FileCopyrightText: 2020 Blender Foundation
*
* SPDX-License-Identifier: GPL-2.0-or-later */
#include "BKE_armature.hh"
#include "BLI_listbase.h"
#include "BLI_math.h"
#include "DNA_armature_types.h"
#include "testing/testing.h"
namespace blender::bke::tests {
static const float FLOAT_EPSILON = 1.2e-7;
static const float SCALE_EPSILON = 3.71e-5;
static const float ORTHO_EPSILON = 5e-5;
/** Test that the matrix is orthogonal, i.e. has no scale or shear within acceptable precision. */
static double EXPECT_M3_ORTHOGONAL(const float mat[3][3],
double epsilon_scale,
double epsilon_ortho)
{
/* Do the checks in double precision to avoid precision issues in the checks themselves. */
double dmat[3][3];
copy_m3d_m3(dmat, mat);
/* Check individual axis scaling. */
EXPECT_NEAR(len_v3_db(dmat[0]), 1.0, epsilon_scale);
EXPECT_NEAR(len_v3_db(dmat[1]), 1.0, epsilon_scale);
EXPECT_NEAR(len_v3_db(dmat[2]), 1.0, epsilon_scale);
/* Check orthogonality. */
EXPECT_NEAR(dot_v3v3_db(dmat[0], dmat[1]), 0.0, epsilon_ortho);
EXPECT_NEAR(dot_v3v3_db(dmat[0], dmat[2]), 0.0, epsilon_ortho);
EXPECT_NEAR(dot_v3v3_db(dmat[1], dmat[2]), 0.0, epsilon_ortho);
/* Check determinant to detect flipping and as a secondary volume change check. */
double determinant = determinant_m3_array_db(dmat);
EXPECT_NEAR(determinant, 1.0, epsilon_ortho);
return determinant;
}
TEST(mat3_vec_to_roll, UnitMatrix)
{
float unit_matrix[3][3];
float roll;
unit_m3(unit_matrix);
/* Any vector with a unit matrix should return zero roll. */
mat3_vec_to_roll(unit_matrix, unit_matrix[0], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
mat3_vec_to_roll(unit_matrix, unit_matrix[1], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
mat3_vec_to_roll(unit_matrix, unit_matrix[2], &roll);
EXPECT_FLOAT_EQ(0.0f, roll);
{
/* Non-unit vector. */
float vector[3] = {1.0f, 1.0f, 1.0f};
mat3_vec_to_roll(unit_matrix, vector, &roll);
EXPECT_NEAR(0.0f, roll, FLOAT_EPSILON);
/* Normalized version of the above vector. */
normalize_v3(vector);
mat3_vec_to_roll(unit_matrix, vector, &roll);
EXPECT_NEAR(0.0f, roll, FLOAT_EPSILON);
}
}
TEST(mat3_vec_to_roll, Rotationmatrix)
{
float rotation_matrix[3][3];
float roll;
const float rot_around_x[3] = {1.234f, 0.0f, 0.0f};
eul_to_mat3(rotation_matrix, rot_around_x);
{
const float unit_axis_x[3] = {1.0f, 0.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_x, &roll);
EXPECT_NEAR(1.234f, roll, FLOAT_EPSILON);
}
{
const float unit_axis_y[3] = {0.0f, 1.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_y, &roll);
EXPECT_NEAR(0, roll, FLOAT_EPSILON);
}
{
const float unit_axis_z[3] = {0.0f, 0.0f, 1.0f};
mat3_vec_to_roll(rotation_matrix, unit_axis_z, &roll);
EXPECT_NEAR(0, roll, FLOAT_EPSILON);
}
{
const float between_x_and_y[3] = {1.0f, 1.0f, 0.0f};
mat3_vec_to_roll(rotation_matrix, between_x_and_y, &roll);
EXPECT_NEAR(0.57158958f, roll, FLOAT_EPSILON);
}
}
/** Generic function to test vec_roll_to_mat3_normalized. */
static double test_vec_roll_to_mat3_normalized(const float input[3],
float roll,
const float expected_roll_mat[3][3],
bool normalize = true)
{
float input_normalized[3];
float roll_mat[3][3];
if (normalize) {
/* The vector is re-normalized to replicate the actual usage. */
normalize_v3_v3(input_normalized, input);
}
else {
copy_v3_v3(input_normalized, input);
}
vec_roll_to_mat3_normalized(input_normalized, roll, roll_mat);
EXPECT_V3_NEAR(roll_mat[1], input_normalized, FLT_EPSILON);
if (expected_roll_mat) {
EXPECT_M3_NEAR(roll_mat, expected_roll_mat, FLT_EPSILON);
}
return EXPECT_M3_ORTHOGONAL(roll_mat, SCALE_EPSILON, ORTHO_EPSILON);
}
/** Binary search to test where the code switches to the most degenerate special case. */
static double find_flip_boundary(double x, double z)
{
/* Irrational scale factor to ensure values aren't 'nice', have a lot of rounding errors,
* and can't accidentally produce the exact result returned by the special case. */
const double scale = M_1_PI / 10;
double theta = x * x + z * z;
double minv = 0, maxv = 1e-2;
while (maxv - minv > FLT_EPSILON * 1e-3) {
double mid = (minv + maxv) / 2;
float roll_mat[3][3];
float input[3] = {float(x * mid * scale),
-float(sqrt(1 - theta * mid * mid) * scale),
float(z * mid * scale)};
normalize_v3(input);
vec_roll_to_mat3_normalized(input, 0, roll_mat);
/* The special case assigns exact constants rather than computing. */
if (roll_mat[0][0] == -1 && roll_mat[0][1] == 0 && roll_mat[2][1] == 0) {
minv = mid;
}
else {
maxv = mid;
}
}
return sqrt(theta) * (minv + maxv) * 0.5;
}
TEST(vec_roll_to_mat3_normalized, FlippedBoundary1)
{
EXPECT_NEAR(find_flip_boundary(0, 1), 2.50e-4, 0.01e-4);
}
TEST(vec_roll_to_mat3_normalized, FlippedBoundary2)
{
EXPECT_NEAR(find_flip_boundary(1, 1), 2.50e-4, 0.01e-4);
}
/* Test cases close to the -Y axis. */
TEST(vec_roll_to_mat3_normalized, Flipped1)
{
/* If normalized_vector is -Y, simple symmetry by Z axis. */
const float input[3] = {0.0f, -1.0f, 0.0f};
const float expected_roll_mat[3][3] = {
{-1.0f, 0.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat, false);
}
TEST(vec_roll_to_mat3_normalized, Flipped2)
{
/* If normalized_vector is close to -Y and
* it has X and Z values below a threshold,
* simple symmetry by Z axis. */
const float input[3] = {1e-24, -0.999999881, 0};
const float expected_roll_mat[3][3] = {
{-1.0f, 0.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat, false);
}
TEST(vec_roll_to_mat3_normalized, Flipped3)
{
/* If normalized_vector is in a critical range close to -Y, apply the special case. */
const float input[3] = {2.5e-4f, -0.999999881f, 2.5e-4f}; /* Corner Case. */
const float expected_roll_mat[3][3] = {{0.000000f, -2.5e-4f, -1.000000f},
{2.5e-4f, -0.999999881f, 2.5e-4f},
{-1.000000f, -2.5e-4f, 0.000000f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat, false);
}
/* Test 90 degree rotations. */
TEST(vec_roll_to_mat3_normalized, Rotate90_Z_CW)
{
/* Rotate 90 around Z. */
const float input[3] = {1, 0, 0};
const float expected_roll_mat[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Rotate90_Z_CCW)
{
/* Rotate 90 around Z. */
const float input[3] = {-1, 0, 0};
const float expected_roll_mat[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 1}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Rotate90_X_CW)
{
/* Rotate 90 around X. */
const float input[3] = {0, 0, -1};
const float expected_roll_mat[3][3] = {{1, 0, 0}, {0, 0, -1}, {0, 1, 0}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Rotate90_X_CCW)
{
/* Rotate 90 around X. */
const float input[3] = {0, 0, 1};
const float expected_roll_mat[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
/* Test the general case when the vector is far enough from -Y. */
TEST(vec_roll_to_mat3_normalized, Generic1)
{
const float input[3] = {1.0f, 1.0f, 1.0f}; /* Arbitrary Value. */
const float expected_roll_mat[3][3] = {{0.788675129f, -0.577350259f, -0.211324856f},
{0.577350259f, 0.577350259f, 0.577350259f},
{-0.211324856f, -0.577350259f, 0.788675129f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Generic2)
{
const float input[3] = {1.0f, -1.0f, 1.0f}; /* Arbitrary Value. */
const float expected_roll_mat[3][3] = {{0.211324856f, -0.577350259f, -0.788675129f},
{0.577350259f, -0.577350259f, 0.577350259f},
{-0.788675129f, -0.577350259f, 0.211324856f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Generic3)
{
const float input[3] = {-1.0f, -1.0f, 1.0f}; /* Arbitrary Value. */
const float expected_roll_mat[3][3] = {{0.211324856f, 0.577350259f, 0.788675129f},
{-0.577350259f, -0.577350259f, 0.577350259f},
{0.788675129f, -0.577350259f, 0.211324856f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
TEST(vec_roll_to_mat3_normalized, Generic4)
{
const float input[3] = {-1.0f, -1.0f, -1.0f}; /* Arbitrary Value. */
const float expected_roll_mat[3][3] = {{0.211324856f, 0.577350259f, -0.788675129f},
{-0.577350259f, -0.577350259f, -0.577350259f},
{-0.788675129f, 0.577350259f, 0.211324856f}};
test_vec_roll_to_mat3_normalized(input, 0.0f, expected_roll_mat);
}
/* Test roll. */
TEST(vec_roll_to_mat3_normalized, Roll1)
{
const float input[3] = {1.0f, 1.0f, 1.0f}; /* Arbitrary Value. */
const float expected_roll_mat[3][3] = {{0.211324856f, 0.577350259f, -0.788675129f},
{0.577350259f, 0.577350259f, 0.577350259f},
{0.788675129f, -0.577350259f, -0.211324856f}};
test_vec_roll_to_mat3_normalized(input, float(M_PI_2), expected_roll_mat);
}
/** Test that the matrix is orthogonal for an input close to -Y. */
static double test_vec_roll_to_mat3_orthogonal(double s, double x, double z)
{
const float input[3] = {float(x), float(s * sqrt(1 - x * x - z * z)), float(z)};
return test_vec_roll_to_mat3_normalized(input, 0.0f, nullptr);
}
/** Test that the matrix is orthogonal for a range of inputs close to -Y. */
static void test_vec_roll_to_mat3_orthogonal(double s, double x1, double x2, double y1, double y2)
{
const int count = 5000;
double delta = 0;
double tmax = 0;
for (int i = 0; i <= count; i++) {
double t = double(i) / count;
double det = test_vec_roll_to_mat3_orthogonal(s, interpd(x2, x1, t), interpd(y2, y1, t));
/* Find and report maximum error in the matrix determinant. */
double curdelta = abs(det - 1);
if (curdelta > delta) {
delta = curdelta;
tmax = t;
}
}
printf(" Max determinant deviation %.10f at %f.\n", delta, tmax);
}
#define TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(name, s, x1, x2, y1, y2) \
TEST(vec_roll_to_mat3_normalized, name) \
{ \
test_vec_roll_to_mat3_orthogonal(s, x1, x2, y1, y2); \
}
/* Moving from -Y towards X. */
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_005, -1, 0, 0, 3e-4, 0.005)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_010, -1, 0, 0, 0.005, 0.010)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_050, -1, 0, 0, 0.010, 0.050)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_100, -1, 0, 0, 0.050, 0.100)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_200, -1, 0, 0, 0.100, 0.200)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_000_300, -1, 0, 0, 0.200, 0.300)
/* Moving from -Y towards X and Y. */
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_005_005, -1, 3e-4, 0.005, 3e-4, 0.005)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_010_010, -1, 0.005, 0.010, 0.005, 0.010)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_050_050, -1, 0.010, 0.050, 0.010, 0.050)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_100_100, -1, 0.050, 0.100, 0.050, 0.100)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoN_200_200, -1, 0.100, 0.200, 0.100, 0.200)
/* Moving from +Y towards X. */
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoP_000_005, 1, 0, 0, 0, 0.005)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoP_000_100, 1, 0, 0, 0.005, 0.100)
/* Moving from +Y towards X and Y. */
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoP_005_005, 1, 0, 0.005, 0, 0.005)
TEST_VEC_ROLL_TO_MAT3_ORTHOGONAL(OrthoP_100_100, 1, 0.005, 0.100, 0.005, 0.100)
class BKE_armature_find_selected_bones_test : public testing::Test {
protected:
bArmature arm;
Bone bone1, bone2, bone3;
void SetUp() override
{
strcpy(bone1.name, "bone1");
strcpy(bone2.name, "bone2");
strcpy(bone3.name, "bone3");
arm.bonebase = {nullptr, nullptr};
bone1.childbase = {nullptr, nullptr};
bone2.childbase = {nullptr, nullptr};
bone3.childbase = {nullptr, nullptr};
BLI_addtail(&arm.bonebase, &bone1); /* bone1 is root bone. */
BLI_addtail(&arm.bonebase, &bone2); /* bone2 is root bone. */
BLI_addtail(&bone2.childbase, &bone3); /* bone3 has bone2 as parent. */
/* Make sure the armature & its bones are visible, to make them selectable. */
arm.layer = bone1.layer = bone2.layer = bone3.layer = 1;
}
};
TEST_F(BKE_armature_find_selected_bones_test, some_bones_selected)
{
bone1.flag = BONE_SELECTED;
bone2.flag = 0;
bone3.flag = BONE_SELECTED;
std::vector<Bone *> seen_bones;
auto callback = [&](Bone *bone) { seen_bones.push_back(bone); };
SelectedBonesResult result = BKE_armature_find_selected_bones(&arm, callback);
ASSERT_EQ(seen_bones.size(), 2) << "Expected 2 selected bones, got " << seen_bones.size();
EXPECT_EQ(seen_bones[0], &bone1);
EXPECT_EQ(seen_bones[1], &bone3);
EXPECT_FALSE(result.all_bones_selected); /* Bone 2 was not selected. */
EXPECT_FALSE(result.no_bones_selected); /* Bones 1 and 3 were selected. */
}
TEST_F(BKE_armature_find_selected_bones_test, no_bones_selected)
{
bone1.flag = bone2.flag = bone3.flag = 0;
std::vector<Bone *> seen_bones;
auto callback = [&](Bone *bone) { seen_bones.push_back(bone); };
SelectedBonesResult result = BKE_armature_find_selected_bones(&arm, callback);
EXPECT_TRUE(seen_bones.empty()) << "Expected no selected bones, got " << seen_bones.size();
EXPECT_FALSE(result.all_bones_selected);
EXPECT_TRUE(result.no_bones_selected);
}
TEST_F(BKE_armature_find_selected_bones_test, all_bones_selected)
{
bone1.flag = bone2.flag = bone3.flag = BONE_SELECTED;
std::vector<Bone *> seen_bones;
auto callback = [&](Bone *bone) { seen_bones.push_back(bone); };
SelectedBonesResult result = BKE_armature_find_selected_bones(&arm, callback);
ASSERT_EQ(seen_bones.size(), 3) << "Expected 3 selected bones, got " << seen_bones.size();
EXPECT_EQ(seen_bones[0], &bone1);
EXPECT_EQ(seen_bones[1], &bone2);
EXPECT_EQ(seen_bones[2], &bone3);
EXPECT_TRUE(result.all_bones_selected);
EXPECT_FALSE(result.no_bones_selected);
}
} // namespace blender::bke::tests
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