extend OpenGL support module with true unit tests and support for Transform, Translation, etc.

1 files changed, 94 insertions, 8 deletions

diff --git a/unsupported/test/openglsupport.cpp b/unsupported/test/openglsupport.cpp
index 83b476917..065679a40 100644
--- a/unsupported/test/openglsupport.cpp
+++ b/unsupported/test/openglsupport.cpp
@@ -22,14 +22,30 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
+#include <main.h>
 #include <iostream>
 #include <GL/glut.h>
 #include <Eigen/OpenGLSupport>
 using namespace Eigen;
 
-int main(int argc, char **argv)
+
+
+
+#define VERIFY_MATRIX(CODE,REF) { \
+    glLoadIdentity(); \
+    CODE; \
+    Matrix4f m; m.setZero(); \
+    glGet(GL_MODELVIEW_MATRIX, m); \
+    if(!(REF).cast<float>().isApprox(m)) { \
+      std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
+    } \
+    VERIFY_IS_APPROX((REF).cast<float>(), m); \
+  }
+
+void test_openglsupport()
 {
-  glutInit(&argc, argv);
+  int argc = 0;
+  glutInit(&argc, 0);
   glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
   glutInitWindowPosition (0,0);
   glutInitWindowSize(10, 10);
@@ -50,12 +66,82 @@ int main(int argc, char **argv)
   
   glEnd();
   
-  Quaterniond qd;
-  glRotate(qd);
+  // 4x4 matrices
+  Matrix4f mf44; mf44.setRandom();
+  VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
+  VERIFY_MATRIX(glMultMatrix(mf44), mf44);
+  Matrix4d md44; md44.setRandom();
+  VERIFY_MATRIX(glLoadMatrix(md44), md44);
+  VERIFY_MATRIX(glMultMatrix(md44), md44);
+  
+  // Quaternion
+  Quaterniond qd(AngleAxisd(ei_random<double>(), Vector3d::Random()));
+  VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
+  
+  Quaternionf qf(AngleAxisf(ei_random<double>(), Vector3f::Random()));
+  VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
+  
+  // 3D Transform
+  Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
+  VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
+  
+  Transform<float,3,Affine> af3(acf3);
+  VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
+  VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
   
-  Matrix4f m44;
-  glLoadMatrix(m44);
-  glMultMatrix(m44);
+  Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
+  VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
+  
+  Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
+  VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
+  
+  Transform<double,3,Affine> ad3(acd3);
+  VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
+  VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
+  
+  Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
+  VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
+  
+  // translations (2D and 3D)
+  {
+    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
+    VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
+    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
+    VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
+    
+    Vector3f vf3; vf3.setRandom();
+    VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
+    Vector3d vd3; vd3.setRandom();
+    VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
+    
+    Translation<float,3> tf3; tf3.vector().setRandom();
+    VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
+    
+    Translation<double,3> td3;  td3.vector().setRandom();
+    VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
+  }
+  
+  // scaling (2D and 3D)
+  {
+    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
+    VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
+    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
+    VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
+    
+    Vector3f vf3; vf3.setRandom();
+    VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
+    Vector3d vd3; vd3.setRandom();
+    VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
+    
+    UniformScaling<float> usf(ei_random<float>());
+    VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
+    
+    UniformScaling<double> usd(ei_random<double>());
+    VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
+  }
   
-  return 0;
 }