Commit 3a135f83 authored by Sreekanth Arikatla's avatar Sreekanth Arikatla Committed by Andrew Wilson
Browse files

Add bidirectional plane to sphere tests

parent 7cacff4f
/*=========================================================================
Library: iMSTK
Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
& Imaging in Medicine, Rensselaer Polytechnic Institute.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0.txt
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
=========================================================================*/
#include "gtest/gtest.h"
#include "imstkBidirectionalPlaneToSphereCD.h"
#include "imstkSphere.h"
#include "imstkPlane.h"
using namespace imstk;
TEST(imstkBidirectionalPlaneToSphereCDTest, IntersectionTestAB_abovePlane)
{
BidirectionalPlaneToSphereCD bidirectionalPlaneToSphereCD;
auto sphere = std::make_shared<Sphere>(Vec3d(0.5, 0.25, 0.5));
auto plane = std::make_shared<Plane>();
bidirectionalPlaneToSphereCD.setInput(sphere, 0);
bidirectionalPlaneToSphereCD.setInput(plane, 1);
bidirectionalPlaneToSphereCD.setGenerateCD(true, true); // Generate both A and B
bidirectionalPlaneToSphereCD.update();
std::shared_ptr<CollisionData> colData = bidirectionalPlaneToSphereCD.getCollisionData();
// Should be one element per side
EXPECT_EQ(1, colData->elementsA.getSize());
EXPECT_EQ(1, colData->elementsB.getSize());
// That element should be a point directional element
EXPECT_EQ(CollisionElementType::PointDirection, colData->elementsA[0].m_type);
EXPECT_EQ(CollisionElementType::PointDirection, colData->elementsB[0].m_type);
// Test direction
EXPECT_EQ(Vec3d(0.0, 1.0, 0.0), colData->elementsA[0].m_element.m_PointDirectionElement.dir);
EXPECT_EQ(Vec3d(0.0, -1.0, 0.0), colData->elementsB[0].m_element.m_PointDirectionElement.dir);
// Should have depths of 0.75
EXPECT_EQ(0.75, colData->elementsA[0].m_element.m_PointDirectionElement.penetrationDepth);
EXPECT_EQ(0.75, colData->elementsB[0].m_element.m_PointDirectionElement.penetrationDepth);
// Contact points
EXPECT_EQ(Vec3d(0.5, -0.75, 0.5), colData->elementsA[0].m_element.m_PointDirectionElement.pt);
EXPECT_EQ(Vec3d(0.5, 0.0, 0.5), colData->elementsB[0].m_element.m_PointDirectionElement.pt);
}
TEST(imstkBidirectionalPlaneToSphereCDTest, IntersectionTestAB_belowPlane)
{
BidirectionalPlaneToSphereCD bidirectionalPlaneToSphereCD;
auto sphere = std::make_shared<Sphere>(Vec3d(0.5, -0.25, 0.5));
auto plane = std::make_shared<Plane>();
bidirectionalPlaneToSphereCD.setInput(sphere, 0);
bidirectionalPlaneToSphereCD.setInput(plane, 1);
bidirectionalPlaneToSphereCD.setGenerateCD(true, true); // Generate both A and B
bidirectionalPlaneToSphereCD.update();
std::shared_ptr<CollisionData> colData = bidirectionalPlaneToSphereCD.getCollisionData();
// Should be one element per side
EXPECT_EQ(1, colData->elementsA.getSize());
EXPECT_EQ(1, colData->elementsB.getSize());
// That element should be a point directional element
EXPECT_EQ(CollisionElementType::PointDirection, colData->elementsA[0].m_type);
EXPECT_EQ(CollisionElementType::PointDirection, colData->elementsB[0].m_type);
// Sphere A (which is below B), should be pushed down, while sphere B (above A), should be pushed up
EXPECT_EQ(Vec3d(0.0, -1.0, 0.0), colData->elementsA[0].m_element.m_PointDirectionElement.dir);
EXPECT_EQ(Vec3d(0.0, 1.0, 0.0), colData->elementsB[0].m_element.m_PointDirectionElement.dir);
// Should have depths of 0.75
EXPECT_EQ(0.75, colData->elementsA[0].m_element.m_PointDirectionElement.penetrationDepth);
EXPECT_EQ(0.75, colData->elementsB[0].m_element.m_PointDirectionElement.penetrationDepth);
// Contact points
EXPECT_EQ(Vec3d(0.5, 0.75, 0.5), colData->elementsA[0].m_element.m_PointDirectionElement.pt);
EXPECT_EQ(Vec3d(0.5, 0.0, 0.5), colData->elementsB[0].m_element.m_PointDirectionElement.pt);
}
TEST(imstkBidirectionalPlaneToSphereCDTest, NonIntersectionTestAB)
{
BidirectionalPlaneToSphereCD bidirectionalPlaneToSphereCD;
auto sphere = std::make_shared<Sphere>(Vec3d(3.0, 1.1, 2.0));
auto plane = std::make_shared<Plane>();
bidirectionalPlaneToSphereCD.setInput(sphere, 0);
bidirectionalPlaneToSphereCD.setInput(plane, 1);
bidirectionalPlaneToSphereCD.setGenerateCD(true, true); // Generate both A and B
bidirectionalPlaneToSphereCD.update();
std::shared_ptr<CollisionData> colData = bidirectionalPlaneToSphereCD.getCollisionData();
// Should be no elements
EXPECT_EQ(0, colData->elementsA.getSize());
EXPECT_EQ(0, colData->elementsB.getSize());
}
int
imstkBidirectionalPlaneToSphereCDTest(int argc, char* argv[])
{
// Init Google Test & Mock
::testing::InitGoogleTest(&argc, argv);
// Run tests with gtest
return RUN_ALL_TESTS();
}
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment