Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

lib/All/JoltPhysics/UnitTests/Math/EigenValueSymmetricTests.cpp

@@ -0,0 +1,57 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include "UnitTestFramework.h"
+#include <Jolt/Math/EigenValueSymmetric.h>
+#include <Jolt/Math/Matrix.h>
+
+TEST_SUITE("EigenValueSymmetricTests")
+{
+	TEST_CASE("TestEigenValueSymmetric")
+	{
+		UnitTestRandom random;
+		uniform_real_distribution<float> angle_distribution(0, 2.0f * JPH_PI);
+		uniform_real_distribution<float> scale_distribution(0.1f, 10.0f);
+
+		for (int i = 0; i < 1000; ++i)
+		{
+			// Random scale vector
+			Vec3 scale(scale_distribution(random), scale_distribution(random), scale_distribution(random));
+
+			// Random rotation matrix
+			Mat44 rotation = Mat44::sRotation(Vec3::sRandom(random), angle_distribution(random));
+
+			// Construct a symmetric tensor from this rotation and scale
+			Mat44 tensor4 = rotation.Multiply3x3(Mat44::sScale(scale)).Multiply3x3RightTransposed(rotation);
+
+			// Get the eigenvalues and eigenvectors
+			Matrix<3, 3> tensor;
+			Matrix<3, 3> eigen_vec = Matrix<3, 3>::sIdentity();
+			Vector<3> eigen_val;
+			tensor.CopyPart(tensor4, 0, 0, 3, 3, 0, 0);
+			CHECK(EigenValueSymmetric(tensor, eigen_vec, eigen_val));
+
+			for (int c = 0; c < 3; ++c)
+			{
+				// Check that we found a valid eigenvalue
+				bool found = false;
+				for (int c2 = 0; c2 < 3; ++c2)
+					if (abs(scale[c2] - eigen_val[c]) < 1.0e-5f)
+					{
+						found = true;
+						break;
+					}
+				CHECK(found);
+
+				// Check if the eigenvector is normalized
+				CHECK(eigen_vec.GetColumn(c).IsNormalized());
+
+				// Check if matrix * eigen_vector = eigen_value * eigen_vector
+				Vector mat_eigvec = tensor * eigen_vec.GetColumn(c);
+				Vector eigval_eigvec = eigen_val[c] * eigen_vec.GetColumn(c);
+				CHECK(mat_eigvec.IsClose(eigval_eigvec, Square(1.0e-5f)));
+			}
+		}
+	}
+}