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* fix a test giving some false positives

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* add coverage for various operator*=
This commit is contained in:
Benoit Jacob 2008-12-19 16:16:39 +00:00
parent a3fad2e3c3
commit df4bd5e46f
1 changed files with 17 additions and 3 deletions
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20
test/geometry.cpp
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@ -96,8 +96,10 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2); VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2, VERIFY_IS_APPROX(q1 * q2 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2); q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY( !(q2 * q1 * v2).isApprox(
VERIFY( (q2*q1).isApprox(q1*q2) || !(q2 * q1 * v2).isApprox(
q1.toRotationMatrix() * q2.toRotationMatrix() * v2)); q1.toRotationMatrix() * q2.toRotationMatrix() * v2));
q2 = q1.toRotationMatrix(); q2 = q1.toRotationMatrix();
VERIFY_IS_APPROX(q1*v1,q2*v1); VERIFY_IS_APPROX(q1*v1,q2*v1);
@ -177,7 +179,7 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// More transform constructors and operator='s // More transform constructors, operator=, operator*=
Scalar a3 = ei_random<Scalar>(-M_PI, M_PI); Scalar a3 = ei_random<Scalar>(-M_PI, M_PI);
Vector3 v3 = Vector3::Random().normalized(); Vector3 v3 = Vector3::Random().normalized();
@ -188,6 +190,8 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a3,v3)); t4.rotate(AngleAxisx(-a3,v3));
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
v3 = Vector3::Random(); v3 = Vector3::Random();
Translation3 tv3(v3); Translation3 tv3(v3);
@ -196,6 +200,8 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
t4.translate(-v3); t4.translate(-v3);
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
Scaling3 sv3(v3); Scaling3 sv3(v3);
Transform3 t6(sv3); Transform3 t6(sv3);
@ -203,10 +209,18 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
t4.scale(v3.cwise().inverse()); t4.scale(v3.cwise().inverse());
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
// chained Transform product // chained Transform product
VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
// check that Transform product doesn't have aliasing problems
t5 = t4;
t5 = t5*t5;
VERIFY_IS_APPROX(t5, t4*t4);
VERIFY_IS_APPROX(Transform3((t3*t4)*t5).matrix(), Transform3(t3*(t4*t5)).matrix());
// 2D transformation // 2D transformation
Transform2 t20, t21; Transform2 t20, t21;