58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include "UnitTestFramework.h"
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#include <Jolt/Math/EigenValueSymmetric.h>
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#include <Jolt/Math/Matrix.h>
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TEST_SUITE("EigenValueSymmetricTests")
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{
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TEST_CASE("TestEigenValueSymmetric")
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{
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UnitTestRandom random;
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uniform_real_distribution<float> angle_distribution(0, 2.0f * JPH_PI);
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uniform_real_distribution<float> scale_distribution(0.1f, 10.0f);
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for (int i = 0; i < 1000; ++i)
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{
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// Random scale vector
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Vec3 scale(scale_distribution(random), scale_distribution(random), scale_distribution(random));
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// Random rotation matrix
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Mat44 rotation = Mat44::sRotation(Vec3::sRandom(random), angle_distribution(random));
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// Construct a symmetric tensor from this rotation and scale
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Mat44 tensor4 = rotation.Multiply3x3(Mat44::sScale(scale)).Multiply3x3RightTransposed(rotation);
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// Get the eigenvalues and eigenvectors
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Matrix<3, 3> tensor;
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Matrix<3, 3> eigen_vec = Matrix<3, 3>::sIdentity();
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Vector<3> eigen_val;
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tensor.CopyPart(tensor4, 0, 0, 3, 3, 0, 0);
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CHECK(EigenValueSymmetric(tensor, eigen_vec, eigen_val));
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for (int c = 0; c < 3; ++c)
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{
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// Check that we found a valid eigenvalue
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bool found = false;
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for (int c2 = 0; c2 < 3; ++c2)
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if (abs(scale[c2] - eigen_val[c]) < 1.0e-5f)
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{
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found = true;
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break;
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}
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CHECK(found);
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// Check if the eigenvector is normalized
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CHECK(eigen_vec.GetColumn(c).IsNormalized());
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// Check if matrix * eigen_vector = eigen_value * eigen_vector
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Vector mat_eigvec = tensor * eigen_vec.GetColumn(c);
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Vector eigval_eigvec = eigen_val[c] * eigen_vec.GetColumn(c);
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CHECK(mat_eigvec.IsClose(eigval_eigvec, Square(1.0e-5f)));
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}
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}
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}
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}
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