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| import unittest | |
| import copy | |
| import numpy as np | |
| from psbody.mesh.arcball import Matrix3fT, Matrix4fT, ArcBallT, \ | |
| Point2fT, Matrix3fSetRotationFromQuat4f, Matrix3fMulMatrix3f, Matrix4fSetRotationFromMatrix3f | |
| from numpy import double | |
| class TestArcball(unittest.TestCase): | |
| def test_arcball(self): | |
| # Unit testing of the ArcBall class and the real math behind it. | |
| # Simulates a click and drag followed by another click and drag. | |
| Transform = Matrix4fT() | |
| ThisRot = Matrix3fT() | |
| ArcBall = ArcBallT(640, 480) | |
| # First click | |
| LastRot = copy.copy(ThisRot) | |
| mouse_pt = Point2fT(500, 250) | |
| ArcBall.click(mouse_pt) | |
| # First drag | |
| mouse_pt = Point2fT(475, 275) | |
| ThisQuat = ArcBall.drag(mouse_pt) | |
| np.testing.assert_almost_equal(ThisQuat, [0.08438914, -0.08534209, -0.06240178, 0.99080837]) | |
| # | |
| ThisRot = Matrix3fSetRotationFromQuat4f(ThisQuat) | |
| # Linear Algebra matrix multiplication A = old, B = New : C = A * B | |
| ThisRot = Matrix3fMulMatrix3f(LastRot, ThisRot) | |
| Transform = Matrix4fSetRotationFromMatrix3f(Transform, ThisRot) | |
| first_transform_gt = np.array([[0.97764552, -0.1380603, 0.15858325, 0.], | |
| [0.10925253, 0.97796899, 0.17787792, 0.], | |
| [-0.17964739, -0.15657592, 0.97119039, 0.], | |
| [0., 0., 0., 1., ]], | |
| dtype=np.double) | |
| np.testing.assert_almost_equal(Transform, first_transform_gt) | |
| # Done with first drag | |
| # second click | |
| LastRot = copy.copy(ThisRot) | |
| lastrot_gt = np.array([[0.97764552, -0.1380603, 0.15858325], | |
| [0.10925253, 0.97796899, 0.17787792], | |
| [-0.17964739, -0.15657592, 0.97119039]], | |
| dtype=double) | |
| np.testing.assert_almost_equal(LastRot, lastrot_gt) | |
| mouse_pt = Point2fT(350, 260) | |
| ArcBall.click(mouse_pt) | |
| # second drag | |
| mouse_pt = Point2fT(450, 260) | |
| ThisQuat = ArcBall.drag(mouse_pt) | |
| np.testing.assert_almost_equal(ThisQuat, [0.00710336, 0.31832787, 0.02679029, 0.94757545]) | |
| ThisRot = Matrix3fSetRotationFromQuat4f(ThisQuat) | |
| ThisRot = Matrix3fMulMatrix3f(LastRot, ThisRot) | |
| # print ThisRot | |
| Transform = Matrix4fSetRotationFromMatrix3f(Transform, ThisRot) | |
| second_transform_gt = np.array([[0.88022292, -0.08322023, -0.46720669, 0.], | |
| [0.14910145, 0.98314685, 0.10578787, 0.], | |
| [0.45052907, -0.16277808, 0.8777966, 0.], | |
| [0., 0., 0., 1.00000001]], | |
| dtype=double) | |
| np.testing.assert_almost_equal(Transform, second_transform_gt) | |