248 lines
7.1 KiB
C++
248 lines
7.1 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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//234567890123456789012345678901234567890123456789012345678901234567890123456789
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// 1 2 3 4 5 6 7
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#include <UnitTest++.h>
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#include <ode/ode.h>
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#include <ode/odemath.h>
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TEST(test_dNormalization3)
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{
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const dVector3 x = {1,0,0,0};
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const dVector3 y = {0,1,0,0};
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const dVector3 z = {0,0,1,0};
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dVector3 v;
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// Check when value in first component (i.e. [0])
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v[0] = REAL(1.0);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.1);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(1e-20);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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// Check when value in first component (i.e. [0])
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v[0] = REAL(0.0);
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v[1] = REAL(1.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(0.1);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(1e-20);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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// Check when value in first component (i.e. [0])
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(1.0);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(0.1);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(1e-20);
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dSafeNormalize3(v);
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CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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// Check negative
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// Check when value in first component (i.e. [0])
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v[0] = REAL(-1.0);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(-0.1);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(-1e-20);
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v[1] = REAL(0.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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// Check when value in first component (i.e. [0])
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v[0] = REAL(0.0);
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v[1] = REAL(-1.0);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(-0.1);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(-1e-20);
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v[2] = REAL(0.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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// Check when value in first component (i.e. [0])
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(-1.0);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(-0.1);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(0.0);
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v[1] = REAL(0.0);
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v[2] = REAL(-1e-20);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(9999999999.0);
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v[1] = REAL(0.0);
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v[2] = REAL(1e-20);
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dSafeNormalize3(v);
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CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
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v[0] = REAL(9999999999.0);
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v[1] = REAL(9999.0);
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v[2] = REAL(9.0);
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dSafeNormalize3(v);
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CHECK_CLOSE(dCalcVectorLength3(v), REAL(1.0),REAL(0.001));
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}
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TEST(test_dOrthogonalizeR)
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{
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{
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dMatrix3 r1 = { 1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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{
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dMatrix3 r1 = { 0, 1, 0, 0,
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0, 0, 1, 0,
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1, 0, 0, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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{
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dMatrix3 r1 = { 0, 0, 1, 0,
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1, 0, 0, 0,
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0, 1, 0, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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{
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dMatrix3 r1 = { -1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, -1, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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{
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dMatrix3 r1 = { 0, -1, 0, 0,
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0, 0, 1, 0,
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-1, 0, 0, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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{
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dMatrix3 r1 = { 0, 0, -1, 0,
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0, -1, 0, 0,
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-1, 0, 0, 0
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};
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dMatrix3 r2;
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memcpy(r2, r1, sizeof(dMatrix3));
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dOrthogonalizeR(r2);
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CHECK_ARRAY_EQUAL(r1, r2, 12);
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}
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}
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