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//
// btReducedVector.cpp
// LinearMath
//
// Created by Xuchen Han on 4/4/20.
//
#include <stdio.h>
#include "btReducedVector.h"
#include <cmath>
// returns the projection of this onto other
btReducedVector btReducedVector::proj(const btReducedVector& other) const
{
btReducedVector ret(m_sz);
btScalar other_length2 = other.length2();
if (other_length2 < SIMD_EPSILON)
{
return ret;
}
return other*(this->dot(other))/other_length2;
}
void btReducedVector::normalize()
{
if (this->length2() < SIMD_EPSILON)
{
m_indices.clear();
m_vecs.clear();
return;
}
*this /= std::sqrt(this->length2());
}
bool btReducedVector::testAdd() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btAlignedObjectArray<int> id3;
id3.push_back(1);
id3.push_back(2);
id3.push_back(3);
id3.push_back(5);
btAlignedObjectArray<btVector3> v3;
v3.push_back(btVector3(1,0,1));
v3.push_back(btVector3(2,3,1));
v3.push_back(btVector3(6,5,14));
v3.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btReducedVector ans(sz, id3, v3);
bool ret = ((ans == rv1+rv2) && (ans == rv2+rv1));
if (!ret)
printf("btReducedVector testAdd failed\n");
return ret;
}
bool btReducedVector::testMinus() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btAlignedObjectArray<int> id3;
id3.push_back(1);
id3.push_back(2);
id3.push_back(3);
id3.push_back(5);
btAlignedObjectArray<btVector3> v3;
v3.push_back(btVector3(-1,-0,-1));
v3.push_back(btVector3(2,3,1));
v3.push_back(btVector3(0,3,4));
v3.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btReducedVector ans(sz, id3, v3);
bool ret = (ans == rv2-rv1);
if (!ret)
printf("btReducedVector testMinus failed\n");
return ret;
}
bool btReducedVector::testDot() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btScalar ans = 58;
bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
ans = 14+16+9+16+81;
ret &= (ans==rv2.dot(rv2));
if (!ret)
printf("btReducedVector testDot failed\n");
return ret;
}
bool btReducedVector::testMultiply() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btScalar s = 2;
btReducedVector rv1(sz, id1, v1);
btAlignedObjectArray<int> id2;
id2.push_back(1);
id2.push_back(3);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,0,2));
v2.push_back(btVector3(6,2,10));
btReducedVector ans(sz, id2, v2);
bool ret = (ans == rv1*s);
if (!ret)
printf("btReducedVector testMultiply failed\n");
return ret;
}
void btReducedVector::test() const
{
bool ans = testAdd() && testMinus() && testDot() && testMultiply();
if (ans)
{
printf("All tests passed\n");
}
else
{
printf("Tests failed\n");
}
}
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