1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
|
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#include "main.h"
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/QR>
#include<iostream>
using namespace std;
template<typename T> EIGEN_DONT_INLINE
void kill_extra_precision(T& x) { eigen_assert((void*)(&x) != (void*)0); }
template<typename BoxType> void alignedbox(const BoxType& _box)
{
/* this test covers the following files:
AlignedBox.h
*/
typedef typename BoxType::Index Index;
typedef typename BoxType::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
const Index dim = _box.dim();
VectorType p0 = VectorType::Random(dim);
VectorType p1 = VectorType::Random(dim);
while( p1 == p0 ){
p1 = VectorType::Random(dim); }
RealScalar s1 = internal::random<RealScalar>(0,1);
BoxType b0(dim);
BoxType b1(VectorType::Random(dim),VectorType::Random(dim));
BoxType b2;
kill_extra_precision(b1);
kill_extra_precision(p0);
kill_extra_precision(p1);
b0.extend(p0);
b0.extend(p1);
VERIFY(b0.contains(p0*s1+(Scalar(1)-s1)*p1));
VERIFY(b0.contains(b0.center()));
VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2));
(b2 = b0).extend(b1);
VERIFY(b2.contains(b0));
VERIFY(b2.contains(b1));
VERIFY_IS_APPROX(b2.clamp(b0), b0);
// intersection
BoxType box1(VectorType::Random(dim));
box1.extend(VectorType::Random(dim));
BoxType box2(VectorType::Random(dim));
box2.extend(VectorType::Random(dim));
VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty());
// alignment -- make sure there is no memory alignment assertion
BoxType *bp0 = new BoxType(dim);
BoxType *bp1 = new BoxType(dim);
bp0->extend(*bp1);
delete bp0;
delete bp1;
// sampling
for( int i=0; i<10; ++i )
{
VectorType r = b0.sample();
VERIFY(b0.contains(r));
}
}
template<typename BoxType>
void alignedboxCastTests(const BoxType& _box)
{
// casting
typedef typename BoxType::Index Index;
typedef typename BoxType::Scalar Scalar;
typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
const Index dim = _box.dim();
VectorType p0 = VectorType::Random(dim);
VectorType p1 = VectorType::Random(dim);
BoxType b0(dim);
b0.extend(p0);
b0.extend(p1);
const int Dim = BoxType::AmbientDimAtCompileTime;
typedef typename GetDifferentType<Scalar>::type OtherScalar;
AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>();
VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0);
AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>();
VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0);
}
void specificTest1()
{
Vector2f m; m << -1.0f, -2.0f;
Vector2f M; M << 1.0f, 5.0f;
typedef AlignedBox2f BoxType;
BoxType box( m, M );
Vector2f sides = M-m;
VERIFY_IS_APPROX(sides, box.sizes() );
VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
VERIFY_IS_APPROX( 14.0f, box.volume() );
VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() );
VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() );
VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) );
VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) );
Vector2f bottomRight; bottomRight << M[0], m[1];
Vector2f topLeft; topLeft << m[0], M[1];
VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) );
VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) );
}
void specificTest2()
{
Vector3i m; m << -1, -2, 0;
Vector3i M; M << 1, 5, 3;
typedef AlignedBox3i BoxType;
BoxType box( m, M );
Vector3i sides = M-m;
VERIFY_IS_APPROX(sides, box.sizes() );
VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
VERIFY_IS_APPROX( 42, box.volume() );
VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() );
VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) );
VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) );
Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2];
Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2];
VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) );
VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) );
}
void test_geo_alignedbox()
{
for(int i = 0; i < g_repeat; i++)
{
CALL_SUBTEST_1( alignedbox(AlignedBox2f()) );
CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) );
CALL_SUBTEST_3( alignedbox(AlignedBox3f()) );
CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) );
CALL_SUBTEST_5( alignedbox(AlignedBox4d()) );
CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) );
CALL_SUBTEST_7( alignedbox(AlignedBox1d()) );
CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) );
CALL_SUBTEST_9( alignedbox(AlignedBox1i()) );
CALL_SUBTEST_10( alignedbox(AlignedBox2i()) );
CALL_SUBTEST_11( alignedbox(AlignedBox3i()) );
CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) );
}
CALL_SUBTEST_12( specificTest1() );
CALL_SUBTEST_13( specificTest2() );
}
|
