diff options
Diffstat (limited to 'test/geometry.cpp')
| -rw-r--r-- | test/geometry.cpp | 59 |
1 files changed, 31 insertions, 28 deletions
diff --git a/test/geometry.cpp b/test/geometry.cpp index c76054322..b80f9a4c4 100644 --- a/test/geometry.cpp +++ b/test/geometry.cpp @@ -43,8 +43,8 @@ template<typename Scalar> void geometry(void) typedef AngleAxis<Scalar> AngleAxisx; typedef Transform<Scalar,2> Transform2; typedef Transform<Scalar,3> Transform3; - typedef Scaling<Scalar,2> Scaling2; - typedef Scaling<Scalar,3> Scaling3; + typedef DiagonalMatrix<Scalar,2> AlignedScaling2; + typedef DiagonalMatrix<Scalar,3> AlignedScaling3; typedef Translation<Scalar,2> Translation2; typedef Translation<Scalar,3> Translation3; @@ -220,7 +220,7 @@ template<typename Scalar> void geometry(void) t4 *= tv3; VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); - Scaling3 sv3(v3); + AlignedScaling3 sv3(v3); Transform3 t6(sv3); t4 = sv3; VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); @@ -260,30 +260,34 @@ template<typename Scalar> void geometry(void) // 3D t0.setIdentity(); t0.rotate(q1).scale(v0).translate(v0); - // mat * scaling and mat * translation - t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0); + // mat * aligned scaling and mat * translation + t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // mat * transformation and scaling * translation - t1 = Matrix3(q1) * (Scaling3(v0) * Translation3(v0)); + t1 = (Matrix3(q1) * Scaling(v0)) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + t1 = (q1 * Scaling(v0)) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + // mat * transformation and aligned scaling * translation + t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); t0.setIdentity(); t0.prerotate(q1).prescale(v0).pretranslate(v0); - // translation * scaling and transformation * mat - t1 = (Translation3(v0) * Scaling3(v0)) * Matrix3(q1); + // translation * aligned scaling and transformation * mat + t1 = (Translation3(v0) * AlignedScaling3(v0)) * Matrix3(q1); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); // scaling * mat and translation * mat - t1 = Translation3(v0) * (Scaling3(v0) * Matrix3(q1)); + t1 = Translation3(v0) * (AlignedScaling3(v0) * Matrix3(q1)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); t0.setIdentity(); t0.scale(v0).translate(v0).rotate(q1); - // translation * mat and scaling * transformation - t1 = Scaling3(v0) * (Translation3(v0) * Matrix3(q1)); + // translation * mat and aligned scaling * transformation + t1 = AlignedScaling3(v0) * (Translation3(v0) * Matrix3(q1)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // transformation * scaling + // transformation * aligned scaling t0.scale(v0); - t1 = t1 * Scaling3(v0); + t1 = t1 * AlignedScaling3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); // transformation * translation t0.translate(v0); @@ -304,9 +308,9 @@ template<typename Scalar> void geometry(void) t1 = t1 * (Translation3(v1) * q1); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // scaling * quaternion + // aligned scaling * quaternion t0.scale(v1).rotate(q1); - t1 = t1 * (Scaling3(v1) * q1); + t1 = t1 * (AlignedScaling3(v1) * q1); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); // quaternion * transform @@ -319,9 +323,9 @@ template<typename Scalar> void geometry(void) t1 = t1 * (q1 * Translation3(v1)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // quaternion * scaling + // quaternion * aligned scaling t0.rotate(q1).scale(v1); - t1 = t1 * (q1 * Scaling3(v1)); + t1 = t1 * (q1 * AlignedScaling3(v1)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); // translation * vector @@ -329,10 +333,10 @@ template<typename Scalar> void geometry(void) t0.translate(v0); VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1); - // scaling * vector + // AlignedScaling * vector t0.setIdentity(); t0.scale(v0); - VERIFY_IS_APPROX(t0 * v1, Scaling3(v0) * v1); + VERIFY_IS_APPROX(t0 * v1, AlignedScaling3(v0) * v1); // test transform inversion t0.setIdentity(); @@ -343,10 +347,10 @@ template<typename Scalar> void geometry(void) t0.translate(v0).rotate(q1); VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse()); - // test extract rotation and scaling - t0.setIdentity(); - t0.translate(v0).rotate(q1).scale(v1); - VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1); + // test extract rotation and aligned scaling +// t0.setIdentity(); +// t0.translate(v0).rotate(q1).scale(v1); +// VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1); Matrix3 mat_rotation, mat_scaling; t0.setIdentity(); @@ -372,10 +376,10 @@ template<typename Scalar> void geometry(void) Translation<double,3> tr1d = tr1.template cast<double>(); VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1); - Scaling3 sc1(v0); - Scaling<float,3> sc1f = sc1.template cast<float>(); + AlignedScaling3 sc1(v0); + DiagonalMatrix<float,3> sc1f; sc1f = sc1.template cast<float>(); VERIFY_IS_APPROX(sc1f.template cast<Scalar>(),sc1); - Scaling<double,3> sc1d = sc1.template cast<double>(); + DiagonalMatrix<double,3> sc1d; sc1d = (sc1.template cast<double>()); VERIFY_IS_APPROX(sc1d.template cast<Scalar>(),sc1); Quaternion<float> q1f = q1.template cast<float>(); @@ -428,7 +432,6 @@ template<typename Scalar> void geometry(void) mcross = mat3.rowwise().cross(vec3); VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3)); - } void test_geometry() |