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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)
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