69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
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#include "TestCholeskyDecomposition.h"
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#include "btCholeskyDecomposition.h"
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void TestCholeskyDecomposition::testZeroMatrix()
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{
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const btMatrix3x3 A(0,0,0,0,0,0,0,0,0);
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const int result = choleskyDecompose(A, L);
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// The zero matrix is not positive definite so the decomposition does not
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// exist.
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CPPUNIT_ASSERT(result != 0);
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}
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void TestCholeskyDecomposition::testIdentityMatrix()
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{
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const btMatrix3x3 A = I;
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const int result = choleskyDecompose(A, L);
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// The identity is a special case where the result should also be the
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// identity.
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CPPUNIT_ASSERT(result == 0);
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CPPUNIT_ASSERT(equal(L, I));
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}
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void TestCholeskyDecomposition::testPositiveDefiniteMatrix()
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{
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const btMatrix3x3 M(3,0,0,1,2,0,3,2,1);
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const btMatrix3x3 A = M * M.transpose();
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const int result = choleskyDecompose(A, L);
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// By construction, the resulting decomposition of A should be equal to M
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CPPUNIT_ASSERT(result == 0);
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CPPUNIT_ASSERT(equal(L, M));
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CPPUNIT_ASSERT(equal(A, L * L.transpose()));
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}
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void TestCholeskyDecomposition::testPositiveSemiDefiniteMatrix()
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{
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const btMatrix3x3 M(3,0,0,1,0,0,3,2,1);
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const btMatrix3x3 A = M * M.transpose();
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const int result = choleskyDecompose(A, L);
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// The matrix is semi definite, i.e. one of the eigenvalues is zero, so the
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// Cholesky decomposition does not exist.
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CPPUNIT_ASSERT(result != 0);
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}
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void TestCholeskyDecomposition::testNegativeDefiniteMatrix()
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{
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const btMatrix3x3 M(3,0,0,1,2,0,3,2,1);
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const btMatrix3x3 A = M * M.transpose() * (-1.0);
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const int result = choleskyDecompose(A, L);
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// The matrix is negative definite, i.e. all of the eigenvalues are negative,
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// so the Cholesky decomposition does not exist.
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CPPUNIT_ASSERT(result != 0);
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}
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bool TestCholeskyDecomposition::equal(const btMatrix3x3& A, const btMatrix3x3& B) const
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{
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for (unsigned int i = 0; i < 3; ++i)
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for (unsigned int j = 0; j < 3; ++j)
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if (btFabs(A[i][j] - B[i][j]) > SIMD_EPSILON)
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return false;
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return true;
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}
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