TEST: Add tetra to line mesh tests

Source/CollisionDetection/Testing/imstkTetraToLineMeshCDTest.cpp

+/*=========================================================================
+
+   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 "imstkLineMesh.h"
+#include "imstkTetrahedralMesh.h"
+#include "imstkTetraToLineMeshCD.h"
+
+using namespace imstk;
+
+std::shared_ptr<TetrahedralMesh>
+makeUnitTetrahedron()
+{
+    // Create tetrahedron
+    auto verticesPtr = std::make_shared<VecDataArray<double, 3>>(4);
+    auto indicesPtr  = std::make_shared<VecDataArray<int, 4>>(1);
+
+    (*verticesPtr)[0] = Vec3d(0.0, 0.0, 0.0);
+    (*verticesPtr)[1] = Vec3d(1.0, 0.0, 0.0);
+    (*verticesPtr)[2] = Vec3d(0.0, 1.0, 0.0);
+    (*verticesPtr)[3] = Vec3d(0.0, 0.0, 1.0);
+
+    (*indicesPtr)[0] = Vec4i(0, 1, 2, 3);
+
+    auto tetMesh = std::make_shared<TetrahedralMesh>();
+    tetMesh->initialize(verticesPtr, indicesPtr);
+
+    return tetMesh;
+}
+
+std::shared_ptr<LineMesh>
+makeOneSegmentLineMesh(const Vec3d& a, const Vec3d& b)
+{
+    auto lineMesh   = std::make_shared<LineMesh>();
+    auto verxPtr    = std::make_shared<VecDataArray<double, 3>>(2);
+    auto indicesPtr = std::make_shared<VecDataArray<int, 2>>(1);
+    (*verxPtr)[0]    = a;
+    (*verxPtr)[1]    = b;
+    (*indicesPtr)[0] = Vec2i(0, 1);
+
+    lineMesh->initialize(verxPtr, indicesPtr);
+
+    return lineMesh;
+}
+
+TEST(imstkTetraToLineMeshCDTest, IntersectionTestAB_enclosed)
+{
+    // Create tetrahedron
+    auto tetMesh = makeUnitTetrahedron();
+
+    // Create enclosed line mesh
+    auto lineMesh = makeOneSegmentLineMesh(Vec3d(0.05, 0.05, 0.05), Vec3d(0.07, 0.07, 0.07));
+
+    // create collision
+    TetraToLineMeshCD m_tetraToLineMeshCD;
+
+    m_tetraToLineMeshCD.setInput(lineMesh, 0);
+    m_tetraToLineMeshCD.setInput(tetMesh, 1);
+    m_tetraToLineMeshCD.setGenerateCD(true, true); // Generate both A and B
+    m_tetraToLineMeshCD.update();
+
+    std::shared_ptr<CollisionData> colData = m_tetraToLineMeshCD.getCollisionData();
+
+    // Should be one element on side A, 1 on side B
+    EXPECT_EQ(1, colData->elementsA.getSize());
+    EXPECT_EQ(1, colData->elementsB.getSize());
+
+    // That element should be a point directional element
+    EXPECT_EQ(CollisionElementType::CellIndex, colData->elementsA[0].m_type);
+    EXPECT_EQ(CollisionElementType::CellIndex, colData->elementsB[0].m_type);
+
+    // Check cell types
+    EXPECT_EQ(IMSTK_EDGE, colData->elementsA[0].m_element.m_CellIndexElement.cellType);
+    EXPECT_EQ(IMSTK_TETRAHEDRON, colData->elementsB[0].m_element.m_CellIndexElement.cellType);
+
+    // Check cell types
+    EXPECT_EQ(0, colData->elementsA[0].m_element.m_CellIndexElement.ids[0]);
+    EXPECT_EQ(0, colData->elementsB[0].m_element.m_CellIndexElement.ids[0]);
+}
+
+TEST(imstkTetraToLineMeshCDTest, IntersectionTestAB_intersecting)
+{
+    // Create tetrahedron
+    auto tetMesh = makeUnitTetrahedron();
+
+    // Create intersecting line mesh
+    auto lineMesh = makeOneSegmentLineMesh(Vec3d(-1.0, -1.0, -1.0), Vec3d(1.0, 1.0, 1.0));
+
+    // create collision
+    TetraToLineMeshCD m_tetraToLineMeshCD;
+
+    m_tetraToLineMeshCD.setInput(lineMesh, 0);
+    m_tetraToLineMeshCD.setInput(tetMesh, 1);
+    m_tetraToLineMeshCD.setGenerateCD(true, true); // Generate both A and B
+    m_tetraToLineMeshCD.update();
+
+    std::shared_ptr<CollisionData> colData = m_tetraToLineMeshCD.getCollisionData();
+
+    // Should be one element on side A, 1 on side B
+    EXPECT_EQ(1, colData->elementsA.getSize());
+    EXPECT_EQ(1, colData->elementsB.getSize());
+
+    // That element should be a point directional element
+    EXPECT_EQ(CollisionElementType::CellIndex, colData->elementsA[0].m_type);
+    EXPECT_EQ(CollisionElementType::CellIndex, colData->elementsB[0].m_type);
+
+    // Check cell types
+    EXPECT_EQ(IMSTK_EDGE, colData->elementsA[0].m_element.m_CellIndexElement.cellType);
+    EXPECT_EQ(IMSTK_TETRAHEDRON, colData->elementsB[0].m_element.m_CellIndexElement.cellType);
+
+    // Check cell types
+    EXPECT_EQ(0, colData->elementsA[0].m_element.m_CellIndexElement.ids[0]);
+    EXPECT_EQ(0, colData->elementsB[0].m_element.m_CellIndexElement.ids[0]);
+}
+
+TEST(imstkTetraToLineMeshCDTest, NonIntersectionTestAB)
+{
+    // Create unit tetrahedron
+    auto tetMesh = makeUnitTetrahedron();
+
+    // Create non-intersecting line mesh
+    auto lineMesh = makeOneSegmentLineMesh(Vec3d(1.0, 1.0, 1.0), Vec3d(2.0, 2.0, 2.0));
+
+    // create collision
+    TetraToLineMeshCD m_tetraToLineMeshCD;
+
+    m_tetraToLineMeshCD.setInput(lineMesh, 0);
+    m_tetraToLineMeshCD.setInput(tetMesh, 1);
+    m_tetraToLineMeshCD.setGenerateCD(true, true); // Generate both A and B
+    m_tetraToLineMeshCD.update();
+
+    std::shared_ptr<CollisionData> colData = m_tetraToLineMeshCD.getCollisionData();
+
+    // Should have no elements
+    EXPECT_EQ(0, colData->elementsA.getSize());
+    EXPECT_EQ(0, colData->elementsB.getSize());
+}
+
+int
+imstkTetraToLineMeshCDTest(int argc, char* argv[])
+{
+    // Init Google Test & Mock
+    ::testing::InitGoogleTest(&argc, argv);
+
+    // Run tests with gtest
+    return RUN_ALL_TESTS();
+}