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add D_TOL tolerance; tighten physics tests to 1e-12

test-refactor
cinnaboot 2 months ago
parent
8638343251
commit
c550f318e4
2 changed files with 61 additions and 75 deletions
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  1. 1
      src/test_utilities.h
  2. 135
      tests/test_physics_utilities.cpp

1
src/test_utilities.h
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@ -8,6 +8,7 @@
// NOTE: Individual tests may use tighter or looser tolerances based on // NOTE: Individual tests may use tighter or looser tolerances based on
// observed errors. See per-test comments for adjustments. // observed errors. See per-test comments for adjustments.
static const double A_TOL = 1e-6; // semi-major axis (meters), |a| < 1e10 static const double A_TOL = 1e-6; // semi-major axis (meters), |a| < 1e10
static const double D_TOL = 1e-12; // double-precision arithmetic (vec3, mat3 ops)
static const double E_TOL = 1e-12; // eccentricity, round-trip conversion static const double E_TOL = 1e-12; // eccentricity, round-trip conversion
static const double ANG_TOL = 1e-12; // angles in radians (nu, inc, Ω, ω) static const double ANG_TOL = 1e-12; // angles in radians (nu, inc, Ω, ω)
static const double ANG_TOL_COARSE = 1e-4; // angles, degenerate cases (polar/retrograde) static const double ANG_TOL_COARSE = 1e-4; // angles, degenerate cases (polar/retrograde)

135
tests/test_physics_utilities.cpp
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@ -12,51 +12,49 @@ SCENARIO("Vector math utilities", "[physics][utilities][vector]") {
SECTION("add") { SECTION("add") {
const Vec3 sum = vec3_add(a, b); const Vec3 sum = vec3_add(a, b);
REQUIRE(compare_vec3(sum, {5.0, 7.0, 9.0}, R_TOL)); REQUIRE(compare_vec3(sum, {5.0, 7.0, 9.0}, D_TOL));
} }
SECTION("sub") { SECTION("sub") {
const Vec3 diff = vec3_sub(b, a); const Vec3 diff = vec3_sub(b, a);
REQUIRE(compare_vec3(diff, {3.0, 3.0, 3.0}, R_TOL)); REQUIRE(compare_vec3(diff, {3.0, 3.0, 3.0}, D_TOL));
} }
SECTION("scale") { SECTION("scale") {
const Vec3 scaled = vec3_scale(a, 2.0); const Vec3 scaled = vec3_scale(a, 2.0);
REQUIRE(compare_vec3(scaled, {2.0, 4.0, 6.0}, R_TOL)); REQUIRE(compare_vec3(scaled, {2.0, 4.0, 6.0}, D_TOL));
} }
SECTION("magnitude") { SECTION("magnitude") {
const double mag = vec3_magnitude(a); const double mag = vec3_magnitude(a);
REQUIRE_THAT(mag, WithinAbs(sqrt(14.0), R_TOL)); REQUIRE_THAT(mag, WithinAbs(sqrt(14.0), D_TOL));
} }
SECTION("distance") { SECTION("distance") {
const double dist = vec3_distance(a, b); const double dist = vec3_distance(a, b);
REQUIRE_THAT(dist, WithinAbs(sqrt(27.0), R_TOL)); REQUIRE_THAT(dist, WithinAbs(sqrt(27.0), D_TOL));
} }
SECTION("normalize") { SECTION("normalize") {
const Vec3 unit = vec3_normalize(a); const Vec3 unit = vec3_normalize(a);
const double actual_mag = vec3_magnitude(unit); const double actual_mag = vec3_magnitude(unit);
REQUIRE_THAT(actual_mag, WithinAbs(1.0, R_TOL)); REQUIRE_THAT(actual_mag, WithinAbs(1.0, D_TOL));
} }
SECTION("normalize zero vector") { SECTION("normalize zero vector") {
const Vec3 zero = {0.0, 0.0, 0.0}; const Vec3 zero = {0.0, 0.0, 0.0};
const Vec3 result = vec3_normalize(zero); const Vec3 result = vec3_normalize(zero);
REQUIRE(compare_vec3(result, zero, R_TOL)); REQUIRE(compare_vec3(result, zero, D_TOL));
} }
SECTION("dot product") { SECTION("dot product") {
const double dot = vec3_dot(a, b); const double dot = vec3_dot(a, b);
REQUIRE_THAT(dot, WithinAbs(32.0, R_TOL)); REQUIRE_THAT(dot, WithinAbs(32.0, D_TOL));
} }
SECTION("cross product") { SECTION("cross product") {
const Vec3 cross = vec3_cross(a, b); const Vec3 cross = vec3_cross(a, b);
REQUIRE_THAT(cross.x, WithinAbs(-3.0, R_TOL)); REQUIRE(compare_vec3(cross, {-3.0, 6.0, -3.0}, D_TOL));
REQUIRE_THAT(cross.y, WithinAbs(6.0, R_TOL));
REQUIRE_THAT(cross.z, WithinAbs(-3.0, R_TOL));
} }
} }
@ -84,56 +82,53 @@ SCENARIO("Matrix operations", "[physics][utilities][matrix]") {
SECTION("identity matrix") { SECTION("identity matrix") {
const Mat3 I = mat3_identity(); const Mat3 I = mat3_identity();
const Mat3 result = mat3_multiply(A, I); const Mat3 result = mat3_multiply(A, I);
REQUIRE(compare_vec3( REQUIRE(compare_vec3({result.m00, result.m11, result.m22},
{result.m00, result.m11, result.m22}, {A.m00, A.m11, A.m22}, D_TOL));
{A.m00, A.m11, A.m22}, R_TOL));
} }
SECTION("multiply vector") { SECTION("multiply vector") {
const Vec3 result = mat3_multiply_vec3(A, v); const Vec3 result = mat3_multiply_vec3(A, v);
REQUIRE_THAT(result.x, WithinAbs(14.0, R_TOL)); REQUIRE(compare_vec3(result, {14.0, 32.0, 50.0}, D_TOL));
REQUIRE_THAT(result.y, WithinAbs(32.0, R_TOL));
REQUIRE_THAT(result.z, WithinAbs(50.0, R_TOL));
} }
SECTION("multiply two matrices") { SECTION("multiply two matrices") {
const Mat3 B = {9.0, 8.0, 7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0}; const Mat3 B = {9.0, 8.0, 7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0};
const Mat3 result = mat3_multiply(A, B); const Mat3 result = mat3_multiply(A, B);
REQUIRE_THAT(result.m00, WithinAbs(30.0, R_TOL)); REQUIRE_THAT(result.m00, WithinAbs(30.0, D_TOL));
REQUIRE_THAT(result.m01, WithinAbs(24.0, R_TOL)); REQUIRE_THAT(result.m01, WithinAbs(24.0, D_TOL));
REQUIRE_THAT(result.m02, WithinAbs(18.0, R_TOL)); REQUIRE_THAT(result.m02, WithinAbs(18.0, D_TOL));
REQUIRE_THAT(result.m10, WithinAbs(84.0, R_TOL)); REQUIRE_THAT(result.m10, WithinAbs(84.0, D_TOL));
REQUIRE_THAT(result.m11, WithinAbs(69.0, R_TOL)); REQUIRE_THAT(result.m11, WithinAbs(69.0, D_TOL));
REQUIRE_THAT(result.m12, WithinAbs(54.0, R_TOL)); REQUIRE_THAT(result.m12, WithinAbs(54.0, D_TOL));
REQUIRE_THAT(result.m20, WithinAbs(138.0, R_TOL)); REQUIRE_THAT(result.m20, WithinAbs(138.0, D_TOL));
REQUIRE_THAT(result.m21, WithinAbs(114.0, R_TOL)); REQUIRE_THAT(result.m21, WithinAbs(114.0, D_TOL));
REQUIRE_THAT(result.m22, WithinAbs(90.0, R_TOL)); REQUIRE_THAT(result.m22, WithinAbs(90.0, D_TOL));
} }
SECTION("transpose") { SECTION("transpose") {
const Mat3 T = mat3_transpose(A); const Mat3 T = mat3_transpose(A);
REQUIRE_THAT(T.m00, WithinAbs(1.0, R_TOL)); REQUIRE_THAT(T.m00, WithinAbs(1.0, D_TOL));
REQUIRE_THAT(T.m01, WithinAbs(4.0, R_TOL)); REQUIRE_THAT(T.m01, WithinAbs(4.0, D_TOL));
REQUIRE_THAT(T.m02, WithinAbs(7.0, R_TOL)); REQUIRE_THAT(T.m02, WithinAbs(7.0, D_TOL));
REQUIRE_THAT(T.m10, WithinAbs(2.0, R_TOL)); REQUIRE_THAT(T.m10, WithinAbs(2.0, D_TOL));
REQUIRE_THAT(T.m11, WithinAbs(5.0, R_TOL)); REQUIRE_THAT(T.m11, WithinAbs(5.0, D_TOL));
REQUIRE_THAT(T.m12, WithinAbs(8.0, R_TOL)); REQUIRE_THAT(T.m12, WithinAbs(8.0, D_TOL));
REQUIRE_THAT(T.m20, WithinAbs(3.0, R_TOL)); REQUIRE_THAT(T.m20, WithinAbs(3.0, D_TOL));
REQUIRE_THAT(T.m21, WithinAbs(6.0, R_TOL)); REQUIRE_THAT(T.m21, WithinAbs(6.0, D_TOL));
REQUIRE_THAT(T.m22, WithinAbs(9.0, R_TOL)); REQUIRE_THAT(T.m22, WithinAbs(9.0, D_TOL));
} }
SECTION("transpose of transpose is original") { SECTION("transpose of transpose is original") {
const Mat3 T2 = mat3_transpose(mat3_transpose(A)); const Mat3 T2 = mat3_transpose(mat3_transpose(A));
REQUIRE_THAT(T2.m00, WithinAbs(A.m00, R_TOL)); REQUIRE_THAT(T2.m00, WithinAbs(A.m00, D_TOL));
REQUIRE_THAT(T2.m01, WithinAbs(A.m01, R_TOL)); REQUIRE_THAT(T2.m01, WithinAbs(A.m01, D_TOL));
REQUIRE_THAT(T2.m02, WithinAbs(A.m02, R_TOL)); REQUIRE_THAT(T2.m02, WithinAbs(A.m02, D_TOL));
REQUIRE_THAT(T2.m10, WithinAbs(A.m10, R_TOL)); REQUIRE_THAT(T2.m10, WithinAbs(A.m10, D_TOL));
REQUIRE_THAT(T2.m11, WithinAbs(A.m11, R_TOL)); REQUIRE_THAT(T2.m11, WithinAbs(A.m11, D_TOL));
REQUIRE_THAT(T2.m12, WithinAbs(A.m12, R_TOL)); REQUIRE_THAT(T2.m12, WithinAbs(A.m12, D_TOL));
REQUIRE_THAT(T2.m20, WithinAbs(A.m20, R_TOL)); REQUIRE_THAT(T2.m20, WithinAbs(A.m20, D_TOL));
REQUIRE_THAT(T2.m21, WithinAbs(A.m21, R_TOL)); REQUIRE_THAT(T2.m21, WithinAbs(A.m21, D_TOL));
REQUIRE_THAT(T2.m22, WithinAbs(A.m22, R_TOL)); REQUIRE_THAT(T2.m22, WithinAbs(A.m22, D_TOL));
} }
} }
@ -142,44 +137,37 @@ SCENARIO("Rotation matrices", "[physics][utilities][rotation]") {
const Mat3 Rz = mat3_rotation_z(M_PI / 2); const Mat3 Rz = mat3_rotation_z(M_PI / 2);
const Vec3 v = {1.0, 0.0, 0.0}; const Vec3 v = {1.0, 0.0, 0.0};
const Vec3 result = mat3_multiply_vec3(Rz, v); const Vec3 result = mat3_multiply_vec3(Rz, v);
REQUIRE_THAT(result.x, WithinAbs(0.0, R_TOL)); REQUIRE(compare_vec3(result, {0.0, 1.0, 0.0}, D_TOL));
REQUIRE_THAT(result.y, WithinAbs(1.0, R_TOL));
REQUIRE_THAT(result.z, WithinAbs(0.0, R_TOL));
} }
SECTION("rotate about X by 90 degrees") { SECTION("rotate about X by 90 degrees") {
const Mat3 Rx = mat3_rotation_x(M_PI / 2); const Mat3 Rx = mat3_rotation_x(M_PI / 2);
const Vec3 v = {0.0, 1.0, 0.0}; const Vec3 v = {0.0, 1.0, 0.0};
const Vec3 result = mat3_multiply_vec3(Rx, v); const Vec3 result = mat3_multiply_vec3(Rx, v);
REQUIRE_THAT(result.x, WithinAbs(0.0, R_TOL)); REQUIRE(compare_vec3(result, {0.0, 0.0, 1.0}, D_TOL));
REQUIRE_THAT(result.y, WithinAbs(0.0, R_TOL));
REQUIRE_THAT(result.z, WithinAbs(1.0, R_TOL));
} }
SECTION("180 degree rotation") { SECTION("180 degree rotation") {
const Mat3 Rz180 = mat3_rotation_z(M_PI); const Mat3 Rz180 = mat3_rotation_z(M_PI);
const Vec3 v = {1.0, 0.0, 0.0}; const Vec3 v = {1.0, 0.0, 0.0};
const Vec3 result = mat3_multiply_vec3(Rz180, v); const Vec3 result = mat3_multiply_vec3(Rz180, v);
REQUIRE_THAT(result.x, WithinAbs(-1.0, R_TOL)); REQUIRE(compare_vec3(result, {-1.0, 0.0, 0.0}, D_TOL));
REQUIRE_THAT(result.y, WithinAbs(0.0, R_TOL));
REQUIRE_THAT(result.z, WithinAbs(0.0, R_TOL));
} }
SECTION("360 degree rotation equals identity") { SECTION("360 degree rotation equals identity") {
const Mat3 Rz360 = mat3_rotation_z(2.0 * M_PI); const Mat3 Rz360 = mat3_rotation_z(2.0 * M_PI);
const Mat3 I = mat3_identity(); const Mat3 I = mat3_identity();
REQUIRE_THAT(Rz360.m00, WithinAbs(I.m00, R_TOL)); REQUIRE(compare_vec3({Rz360.m00, Rz360.m11, Rz360.m22},
REQUIRE_THAT(Rz360.m11, WithinAbs(I.m11, R_TOL)); {I.m00, I.m11, I.m22}, D_TOL));
REQUIRE_THAT(Rz360.m22, WithinAbs(I.m22, R_TOL));
} }
SECTION("negative angle equals equivalent positive rotation") { SECTION("negative angle equals equivalent positive rotation") {
const Mat3 Rz_neg90 = mat3_rotation_z(-M_PI / 2); const Mat3 Rz_neg90 = mat3_rotation_z(-M_PI / 2);
const Mat3 Rz_270 = mat3_rotation_z(3.0 * M_PI / 2); const Mat3 Rz_270 = mat3_rotation_z(3.0 * M_PI / 2);
REQUIRE_THAT(Rz_neg90.m00, WithinAbs(Rz_270.m00, R_TOL)); REQUIRE_THAT(Rz_neg90.m00, WithinAbs(Rz_270.m00, D_TOL));
REQUIRE_THAT(Rz_neg90.m01, WithinAbs(Rz_270.m01, R_TOL)); REQUIRE_THAT(Rz_neg90.m01, WithinAbs(Rz_270.m01, D_TOL));
REQUIRE_THAT(Rz_neg90.m10, WithinAbs(Rz_270.m10, R_TOL)); REQUIRE_THAT(Rz_neg90.m10, WithinAbs(Rz_270.m10, D_TOL));
REQUIRE_THAT(Rz_neg90.m11, WithinAbs(Rz_270.m11, R_TOL)); REQUIRE_THAT(Rz_neg90.m11, WithinAbs(Rz_270.m11, D_TOL));
} }
SECTION("combined rotations that cancel") { SECTION("combined rotations that cancel") {
@ -187,9 +175,8 @@ SCENARIO("Rotation matrices", "[physics][utilities][rotation]") {
const Mat3 Rz_neg90 = mat3_rotation_z(-M_PI / 2); const Mat3 Rz_neg90 = mat3_rotation_z(-M_PI / 2);
const Mat3 combined = mat3_multiply(Rz_neg90, Rz90); const Mat3 combined = mat3_multiply(Rz_neg90, Rz90);
const Mat3 I = mat3_identity(); const Mat3 I = mat3_identity();
REQUIRE_THAT(combined.m00, WithinAbs(I.m00, R_TOL)); REQUIRE(compare_vec3({combined.m00, combined.m11, combined.m22},
REQUIRE_THAT(combined.m11, WithinAbs(I.m11, R_TOL)); {I.m00, I.m11, I.m22}, D_TOL));
REQUIRE_THAT(combined.m22, WithinAbs(I.m22, R_TOL));
} }
SECTION("rotation matrix orthogonality") { SECTION("rotation matrix orthogonality") {
@ -198,24 +185,22 @@ SCENARIO("Rotation matrices", "[physics][utilities][rotation]") {
const Mat3 Rz_T = mat3_transpose(Rz); const Mat3 Rz_T = mat3_transpose(Rz);
const Mat3 product = mat3_multiply(Rz, Rz_T); const Mat3 product = mat3_multiply(Rz, Rz_T);
const Mat3 I = mat3_identity(); const Mat3 I = mat3_identity();
REQUIRE_THAT(product.m00, WithinAbs(I.m00, R_TOL)); REQUIRE_THAT(product.m00, WithinAbs(I.m00, D_TOL));
REQUIRE_THAT(product.m01, WithinAbs(I.m01, R_TOL)); REQUIRE_THAT(product.m01, WithinAbs(I.m01, D_TOL));
REQUIRE_THAT(product.m02, WithinAbs(I.m02, R_TOL)); REQUIRE_THAT(product.m02, WithinAbs(I.m02, D_TOL));
REQUIRE_THAT(product.m10, WithinAbs(I.m10, R_TOL)); REQUIRE_THAT(product.m10, WithinAbs(I.m10, D_TOL));
REQUIRE_THAT(product.m11, WithinAbs(I.m11, R_TOL)); REQUIRE_THAT(product.m11, WithinAbs(I.m11, D_TOL));
REQUIRE_THAT(product.m12, WithinAbs(I.m12, R_TOL)); REQUIRE_THAT(product.m12, WithinAbs(I.m12, D_TOL));
REQUIRE_THAT(product.m20, WithinAbs(I.m20, R_TOL)); REQUIRE_THAT(product.m20, WithinAbs(I.m20, D_TOL));
REQUIRE_THAT(product.m21, WithinAbs(I.m21, R_TOL)); REQUIRE_THAT(product.m21, WithinAbs(I.m21, D_TOL));
REQUIRE_THAT(product.m22, WithinAbs(I.m22, R_TOL)); REQUIRE_THAT(product.m22, WithinAbs(I.m22, D_TOL));
} }
SECTION("orbital rotation matrix with 90 deg inclination") { SECTION("orbital rotation matrix with 90 deg inclination") {
const Mat3 R = mat3_rotation_orbital(0.0, M_PI / 2, 0.0); const Mat3 R = mat3_rotation_orbital(0.0, M_PI / 2, 0.0);
const Vec3 v = {1.0, 0.0, 0.0}; const Vec3 v = {1.0, 0.0, 0.0};
const Vec3 result = mat3_multiply_vec3(R, v); const Vec3 result = mat3_multiply_vec3(R, v);
REQUIRE_THAT(result.x, WithinAbs(1.0, R_TOL)); REQUIRE(compare_vec3(result, {1.0, 0.0, 0.0}, D_TOL));
REQUIRE_THAT(result.y, WithinAbs(0.0, R_TOL));
REQUIRE_THAT(result.z, WithinAbs(0.0, R_TOL));
} }
} }

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