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Add Scaling and Translation class as discussed on ML, still missing:

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* handling Quaternion, AngleAxis and Rotation2D, 2 options here:
 1- make all of them inheriting a common base class Rotation such that we can
    have a single version of operator* for all the rotation type (they all get converted to a matrix)
 2- write a version for all type (so 3 rotations types * 3 for Transform,Translation and Scaling)
* real documentation
This commit is contained in:
Gael Guennebaud
2008-08-30 00:08:23 +00:00
parent 13a9d93bc0
commit 9e7a9cde14
6 changed files with 429 additions and 16 deletions
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60
test/geometry.cpp
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@@ -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>() );
}
}