vinihcrosaandClaude Sonnet 4.6
6295d540a4
- Move C++ sources to core/ subdirectory (T05) - Add pnpm workspaces + Turborepo pipeline (T06) - Add Emscripten CMake target and build-wasm.sh (T07) - Implement Embind bindings via YmirBindings.cpp (T08) - Add packages/types with TypeBox schemas for VesselDTO, ScenarioDTO, SimulationStateDTO (T09) - Create apps/api: Fastify v4 + Drizzle ORM + SQLite with vessels/scenarios CRUD (T10-T13) - Create apps/web: Vite + React 18 + COOP/COEP headers (T14) - Add simulation.worker.ts for WASM loop in Web Worker (T15) - Add Zustand simulationStore (T16) - Add TelemetryPanel component (T17) - Verified: pnpm build 3/3 tasks, 21ms cached; ctest 211/211 pass (T18-T19) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
133 lines
4.1 KiB
C++
133 lines
4.1 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/matchers/catch_matchers_floating_point.hpp>
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#include <ymir/common/math/LinearAlgebra.h>
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#include <ymir/common/math/AngleUtils.h>
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#include <ymir/common/math/Interpolation.h>
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using Catch::Matchers::WithinAbs;
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using Catch::Matchers::WithinRel;
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using namespace ymir;
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using namespace ymir::math;
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// ---------------------------------------------------------------------------
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// LinearAlgebra
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// ---------------------------------------------------------------------------
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TEST_CASE("invert6x6 of identity returns identity", "[math][linalg]")
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{
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Matrix6x6 I{};
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for (int i = 0; i < 6; ++i)
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I[i][i] = 1.0;
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Matrix6x6 inv = invert6x6(I);
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for (int i = 0; i < 6; ++i)
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for (int j = 0; j < 6; ++j)
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REQUIRE_THAT(inv[i][j], WithinAbs(i == j ? 1.0 : 0.0, 1e-15));
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}
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TEST_CASE("invert6x6: M * M^-1 ≈ I for diagonal matrix", "[math][linalg]")
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{
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Matrix6x6 M{};
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M[0][0] = 1000.0;
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M[1][1] = 1200.0;
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M[2][2] = 1500.0;
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M[3][3] = 5e6;
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M[4][4] = 4e6;
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M[5][5] = 3e6;
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Matrix6x6 inv = invert6x6(M);
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Matrix6x6 result = matMul(M, inv);
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for (int i = 0; i < 6; ++i)
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for (int j = 0; j < 6; ++j)
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REQUIRE_THAT(result[i][j], WithinAbs(i == j ? 1.0 : 0.0, 1e-10));
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}
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TEST_CASE("invert6x6 throws on singular matrix", "[math][linalg]")
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{
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Matrix6x6 singular{}; // all zeros — singular
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REQUIRE_THROWS_AS(invert6x6(singular), std::runtime_error);
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}
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TEST_CASE("matVecProduct known result", "[math][linalg]")
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{
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Matrix6x6 A{};
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A[0][0] = 2.0;
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A[1][1] = 3.0;
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A[2][2] = 4.0;
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Vector6 x{1.0, 2.0, 3.0, 0.0, 0.0, 0.0};
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Vector6 result = matVecProduct(A, x);
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REQUIRE_THAT(result[0], WithinAbs(2.0, 1e-15));
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REQUIRE_THAT(result[1], WithinAbs(6.0, 1e-15));
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REQUIRE_THAT(result[2], WithinAbs(12.0, 1e-15));
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REQUIRE_THAT(result[3], WithinAbs(0.0, 1e-15));
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}
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TEST_CASE("matVecProduct with scale", "[math][linalg]")
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{
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Matrix6x6 A{};
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A[0][0] = 1.0;
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Vector6 x{5.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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Vector6 result = matVecProduct(A, x, 3.0);
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REQUIRE_THAT(result[0], WithinAbs(15.0, 1e-15));
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}
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// ---------------------------------------------------------------------------
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// AngleUtils
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// ---------------------------------------------------------------------------
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TEST_CASE("wrapTo2Pi maps to 0..2pi range", "[math][angles]")
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{
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constexpr double TWO_PI = 2.0 * math::PI;
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REQUIRE_THAT(wrapTo2Pi(0.0), WithinAbs(0.0, 1e-12));
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REQUIRE_THAT(wrapTo2Pi(TWO_PI), WithinAbs(0.0, 1e-12));
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REQUIRE_THAT(wrapTo2Pi(-math::PI), WithinAbs(math::PI, 1e-12));
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REQUIRE_THAT(wrapTo2Pi(3.0 * TWO_PI), WithinAbs(0.0, 1e-12));
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}
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TEST_CASE("wrapToPi maps to -pi..pi range", "[math][angles]")
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{
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REQUIRE_THAT(wrapToPi(0.0), WithinAbs(0.0, 1e-12));
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REQUIRE_THAT(wrapToPi(math::PI), WithinAbs(-math::PI, 1e-12));
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REQUIRE_THAT(wrapToPi(math::PI * 3), WithinAbs(-math::PI, 1e-12));
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}
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TEST_CASE("deg2rad / rad2deg round-trip", "[math][angles]")
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{
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double angles[] = {0.0, 45.0, 90.0, 180.0, 270.0, 360.0, -90.0};
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for (double deg : angles)
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REQUIRE_THAT(rad2deg(deg2rad(deg)), WithinAbs(deg, 1e-12));
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}
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// ---------------------------------------------------------------------------
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// Interpolation
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// ---------------------------------------------------------------------------
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TEST_CASE("linear interpolation interior point", "[math][interp]")
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{
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std::vector<double> x = {0.0, 1.0, 2.0, 3.0};
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std::vector<double> y = {0.0, 1.0, 4.0, 9.0};
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REQUIRE_THAT(linear(x, y, 0.5), WithinAbs(0.5, 1e-12));
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REQUIRE_THAT(linear(x, y, 1.5), WithinAbs(2.5, 1e-12));
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REQUIRE_THAT(linear(x, y, 2.5), WithinAbs(6.5, 1e-12));
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}
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TEST_CASE("linear interpolation clamp at extremes", "[math][interp]")
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{
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std::vector<double> x = {1.0, 2.0, 3.0};
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std::vector<double> y = {10.0, 20.0, 30.0};
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REQUIRE_THAT(linear(x, y, 0.0), WithinAbs(10.0, 1e-12)); // clamp lo
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REQUIRE_THAT(linear(x, y, 5.0), WithinAbs(30.0, 1e-12)); // clamp hi
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REQUIRE_THAT(linear(x, y, 1.0), WithinAbs(10.0, 1e-12)); // exact lo
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REQUIRE_THAT(linear(x, y, 3.0), WithinAbs(30.0, 1e-12)); // exact hi
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}
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