1 files changed, 55 insertions, 5 deletions
diff --git a/test/geometry.cpp b/test/geometry.cpp
index da99c86ac..af9accb63 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -40,6 +40,12 @@ template<typename Scalar> void geometry(void)
   typedef Matrix<Scalar,4,1> Vector4;
   typedef Quaternion<Scalar> Quaternion;
   typedef AngleAxis<Scalar> AngleAxis;
+  typedef Transform<Scalar,2> Transform2;
+  typedef Transform<Scalar,3> Transform3;
+  typedef Scaling<Scalar,2> Scaling2;
+  typedef Scaling<Scalar,3> Scaling3;
+  typedef Translation<Scalar,2> Translation2;
+  typedef Translation<Scalar,3> Translation3;
 
   Quaternion q1, q2;
   Vector3 v0 = test_random_matrix<Vector3>(),
@@ -115,12 +121,8 @@ template<typename Scalar> void geometry(void)
   VERIFY_IS_APPROX(AngleAxis(m).toRotationMatrix(),
     Quaternion(m).toRotationMatrix());
 
-
   // Transform
   // TODO complete the tests !
-  typedef Transform<Scalar,2> Transform2;
-  typedef Transform<Scalar,3> Transform3;
-
   a = 0;
   while (ei_abs(a)<0.1)
     a = ei_random<Scalar>(-0.4*M_PI, 0.4*M_PI);
@@ -169,12 +171,60 @@ template<typename Scalar> void geometry(void)
   t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
   VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
         * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) );
+
+  // Transform - new API
+  // 3D
+  t0.setIdentity();
+  t0.rotate(q1).scale(v0).translate(v0);
+  // mat * scaling and mat * translation
+  t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0);
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+  // mat * transformation and scaling * translation
+  t1 = Matrix3(q1) * (Scaling3(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);
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+  // scaling * mat and translation * mat
+  t1 = Translation3(v0) * (Scaling3(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));
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+  // transformation * scaling
+  t0.scale(v0);
+  t1 = t1 * Scaling3(v0);
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+  // transformation * translation
+  t0.translate(v0);
+  t1 = t1 * Translation3(v0);
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+  // translation * transformation 
+  t0.pretranslate(v0);
+  t1 = Translation3(v0) * t1;
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+
+  // translation * vector
+  t0.setIdentity();
+  t0.translate(v0);
+  VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1);
+
+  // scaling * vector
+  t0.setIdentity();
+  t0.scale(v0);
+  VERIFY_IS_APPROX(t0 * v1, Scaling3(v0) * v1);
 }
 
 void test_geometry()
 {
   for(int i = 0; i < g_repeat; i++) {
     CALL_SUBTEST( geometry<float>() );
-    CALL_SUBTEST( geometry<double>() );
+//     CALL_SUBTEST( geometry<double>() );
   }
 }