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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// 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;
#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()
{
int argc = 0;
glutInit(&argc, 0);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowPosition (0,0);
glutInitWindowSize(10, 10);
if(glutCreateWindow("Eigen") <= 0)
{
std::cerr << "Unable to create GLUT Window.\n";
exit(1);
}
Vector3f v3f;
Matrix3f rot;
glBegin(GL_POINTS);
glVertex(v3f);
glVertex(2*v3f+v3f);
glVertex(rot*v3f);
glEnd();
// 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());
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());
}
}
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