Import LinuxCNC source tree

tests/glcanon/test_camera_matrices.py

@@ -0,0 +1,144 @@
+"""Camera matrices recorded from the pre-refactor GL compatibility path.
+
+References were captured with Mesa llvmpipe's OpenGL 4.5 compatibility context
+using an 800x600 viewport, center (1.25, -2.5, 3.75), and extents (4, 6, 8).
+OpenGL returns column-major matrices, hence the transpose before comparison.
+"""
+
+import os
+import sys
+import unittest
+
+import numpy as np
+
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)),
+                                "..", "..", "lib", "python"))
+
+import glnav
+
+
+class Navigation(glnav.GlNavBase):
+    def _redraw(self):
+        pass
+
+    def winfo_width(self):
+        return 800
+
+    def winfo_height(self):
+        return 600
+
+    def extents_info(self):
+        return (1.25, -2.5, 3.75), (4.0, 6.0, 8.0)
+
+    def is_lathe(self):
+        return self.lathe
+
+
+def legacy_matrix(columns):
+    return np.asarray(columns, dtype=np.float64).T
+
+
+REFERENCES = {
+    "rotate_snap": [[1, 0, 0, 0], [0, -4.3711388e-08, 1, 0],
+                    [0, -1, -4.3711388e-08, 0], [0, 1.25, 6.25, 1]],
+    "translate_zoom_boost": [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0],
+                             [0.1273418665, 0.0955063999, 0, 1]],
+    "view_x": [[-4.3711388e-08, 0, 1, 0], [1, -4.3711388e-08, 4.3711388e-08, 0],
+               [4.3711388e-08, 1, 1.9106855e-15, 0], [2.49999976, -3.75, -1.24999988, 1]],
+    "view_y": [[-4.3711388e-08, -1, 4.3711388e-08, 0], [0, -4.3711388e-08, -1, 0],
+               [1, -4.3711388e-08, 1.9106855e-15, 0], [-3.75, 1.25, -2.5, 1]],
+    "view_y2": [[-4.3711388e-08, 1, 4.3711388e-08, 0], [0, -4.3711388e-08, 1, 0],
+                [1, 4.3711388e-08, 1.9106855e-15, 0], [-3.75, -1.25000024, 2.5, 1]],
+    "view_z": [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [-1.25, 2.5, -3.75, 1]],
+    "view_z2": [[-4.3711388e-08, -1, 0, 0], [1, -4.3711388e-08, 0, 0],
+                [0, 0, 1, 0], [2.5, 1.24999988, -3.75, 1]],
+    "view_p": [[.9063076973, -.2113092095, .3659983277, 0],
+               [.4226184487, .4531538188, -.7848855257, 0],
+               [0, .8660254478, .4999999702, 0],
+               [-.0763385296, -1.850574255, -4.29471159, 1]],
+}
+
+
+class ExplicitCameraMatrixTest(unittest.TestCase):
+    def nav(self, lathe=False):
+        result = Navigation()
+        result.lathe = lathe
+        return result
+
+    def assert_matrix(self, name, nav):
+        np.testing.assert_allclose(nav.get_modelview_matrix(), legacy_matrix(REFERENCES[name]),
+                                   rtol=0, atol=3e-6)
+
+    def test_rotation_snaps_to_ninety_degrees(self):
+        nav = self.nav()
+        nav.set_centerpoint(1.25, -2.5, 3.75)
+        nav.lat = 89
+        nav.recordMouse(0, 0)
+        nav.rotate(4, 2)  # 90° and 2° both snap to legacy 90°/0° angles.
+        self.assert_matrix("rotate_snap", nav)
+
+    def test_translate_uses_projection_and_zoom_boost(self):
+        nav = self.nav()
+        nav.distance = 2.0
+        nav.recordMouse(10, 20)
+        nav.translate(30, 5)
+        self.assert_matrix("translate_zoom_boost", nav)
+
+    def test_zoom_changes_distance_but_not_modelview(self):
+        nav = self.nav()
+        original = nav.get_modelview_matrix()
+        nav.zoomin()
+        nav.zoomout()
+        np.testing.assert_allclose(nav.get_modelview_matrix(), original)
+        self.assertAlmostEqual(nav.distance, 9.98)
+
+    def test_view_presets_match_legacy(self):
+        for name, lathe in (("x", False), ("y", True), ("y2", False),
+                            ("z", False), ("z2", False), ("p", False)):
+            with self.subTest(view=name):
+                nav = self.nav(lathe)
+                getattr(nav, "set_view_" + name)()
+                self.assert_matrix("view_" + name, nav)
+
+    def test_translate_modelview_matches_manual_composition(self):
+        nav = self.nav()
+        nav.set_view_p()
+        before = nav.get_modelview_matrix()
+        nav.translate_modelview(3.5, -1.75, 0.25)
+        expected = glnav.multiply(before, glnav.translation_matrix(3.5, -1.75, 0.25))
+        np.testing.assert_allclose(nav.get_modelview_matrix(), expected)
+
+    def test_translate_modelview_offset_survives_plasmac_sequence(self):
+        # The plasmac table view: top view, offset to the machine table centre,
+        # then refit the eyepoint.  The offset has to survive the refit.
+        xcenter, ycenter = 12.0, -7.5
+        nav = self.nav()
+        nav.set_view_z()
+        after_preset = nav.get_modelview_matrix()
+        nav.translate_modelview(-xcenter, -ycenter, 0)
+        nav.set_eyepoint_from_extents(4.0, 6.0)
+        expected = glnav.multiply(after_preset,
+                                  glnav.translation_matrix(-xcenter, -ycenter, 0))
+        np.testing.assert_allclose(nav.get_modelview_matrix(), expected)
+
+    def test_translate_modelview_leaves_navigation_state_alone(self):
+        nav = self.nav()
+        nav.set_view_p()
+        nav.recordMouse(10, 20)
+        nav.translate(30, 5)
+        state = (nav.lat, nav.lon, nav.distance, nav._totalx, nav._totaly)
+        nav.translate_modelview(-4.0, 2.5, 0)
+        self.assertEqual((nav.lat, nav.lon, nav.distance, nav._totalx, nav._totaly), state)
+
+    def test_ortho_projection_matches_legacy_scale(self):
+        nav = self.nav()
+        nav.distance = 2.0
+        k = 2.0 ** .55555
+        expected = glnav.multiply(
+            glnav.ortho_matrix(-k, k, -k * 600 / 800, k * 600 / 800, -1000, 1000),
+            glnav.translation_matrix(0, 0, -1))
+        np.testing.assert_allclose(nav.get_projection_matrix(800, 600), expected)
+
+
+if __name__ == "__main__":
+    unittest.main()