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