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((void*)(&x) != (void*)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  VERIFY(b0.contains(b0.center()));
52  VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2));
53
54  (b2 = b0).extend(b1);
55  VERIFY(b2.contains(b0));
56  VERIFY(b2.contains(b1));
57  VERIFY_IS_APPROX(b2.clamp(b0), b0);
58
59  // intersection
60  BoxType box1(VectorType::Random(dim));
61  box1.extend(VectorType::Random(dim));
62  BoxType box2(VectorType::Random(dim));
63  box2.extend(VectorType::Random(dim));
64
65  VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty());
66
67  // alignment -- make sure there is no memory alignment assertion
68  BoxType *bp0 = new BoxType(dim);
69  BoxType *bp1 = new BoxType(dim);
70  bp0->extend(*bp1);
71  delete bp0;
72  delete bp1;
73
74  // sampling
75  for( int i=0; i<10; ++i )
76  {
77      VectorType r = b0.sample();
78      VERIFY(b0.contains(r));
79  }
80
81}
82
83
84
85template<typename BoxType>
86void alignedboxCastTests(const BoxType& _box)
87{
88  // casting
89  typedef typename BoxType::Index Index;
90  typedef typename BoxType::Scalar Scalar;
91  typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
92
93  const Index dim = _box.dim();
94
95  VectorType p0 = VectorType::Random(dim);
96  VectorType p1 = VectorType::Random(dim);
97
98  BoxType b0(dim);
99
100  b0.extend(p0);
101  b0.extend(p1);
102
103  const int Dim = BoxType::AmbientDimAtCompileTime;
104  typedef typename GetDifferentType<Scalar>::type OtherScalar;
105  AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>();
106  VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0);
107  AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>();
108  VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0);
109}
110
111
112void specificTest1()
113{
114    Vector2f m; m << -1.0f, -2.0f;
115    Vector2f M; M <<  1.0f,  5.0f;
116
117    typedef AlignedBox2f  BoxType;
118    BoxType box( m, M );
119
120    Vector2f sides = M-m;
121    VERIFY_IS_APPROX(sides, box.sizes() );
122    VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
123    VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
124    VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
125
126    VERIFY_IS_APPROX( 14.0f, box.volume() );
127    VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() );
128    VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() );
129
130    VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) );
131    VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) );
132    Vector2f bottomRight; bottomRight << M[0], m[1];
133    Vector2f topLeft; topLeft << m[0], M[1];
134    VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) );
135    VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) );
136}
137
138
139void specificTest2()
140{
141    Vector3i m; m << -1, -2, 0;
142    Vector3i M; M <<  1,  5, 3;
143
144    typedef AlignedBox3i  BoxType;
145    BoxType box( m, M );
146
147    Vector3i sides = M-m;
148    VERIFY_IS_APPROX(sides, box.sizes() );
149    VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
150    VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
151    VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
152
153    VERIFY_IS_APPROX( 42, box.volume() );
154    VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() );
155
156    VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) );
157    VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) );
158    Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2];
159    Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2];
160    VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) );
161    VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) );
162}
163
164
165void test_geo_alignedbox()
166{
167  for(int i = 0; i < g_repeat; i++)
168  {
169    CALL_SUBTEST_1( alignedbox(AlignedBox2f()) );
170    CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) );
171
172    CALL_SUBTEST_3( alignedbox(AlignedBox3f()) );
173    CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) );
174
175    CALL_SUBTEST_5( alignedbox(AlignedBox4d()) );
176    CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) );
177
178    CALL_SUBTEST_7( alignedbox(AlignedBox1d()) );
179    CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) );
180
181    CALL_SUBTEST_9( alignedbox(AlignedBox1i()) );
182    CALL_SUBTEST_10( alignedbox(AlignedBox2i()) );
183    CALL_SUBTEST_11( alignedbox(AlignedBox3i()) );
184
185    CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) );
186  }
187  CALL_SUBTEST_12( specificTest1() );
188  CALL_SUBTEST_13( specificTest2() );
189}
190