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iMSTK
iMSTK
Commits
2f9e385f
Commit
2f9e385f
authored
Jul 28, 2021
by
Sreekanth Arikatla
Committed by
Andrew Wilson
Aug 03, 2021
Browse files
Add unidirectional plane to sphere test
parent
091419b5
Changes
1
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Source/CollisionDetection/Testing/imstkUnidirectionalPlaneToSphereCDTest.cpp
0 → 100644
View file @
2f9e385f
/*=========================================================================
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
"imstkUnidirectionalPlaneToSphereCD.h"
#include
"imstkSphere.h"
#include
"imstkPlane.h"
using
namespace
imstk
;
TEST
(
imstkUnidirectionalPlaneToSphereCDTest
,
IntersectionTestAB
)
{
UnidirectionalPlaneToSphereCD
unidirectionalPlaneToSphereCD
;
auto
sphere
=
std
::
make_shared
<
Sphere
>
(
Vec3d
(
0.0
,
0.0
,
0.0
),
1.0
);
auto
plane
=
std
::
make_shared
<
Plane
>
();
unidirectionalPlaneToSphereCD
.
setInput
(
sphere
,
0
);
unidirectionalPlaneToSphereCD
.
setInput
(
plane
,
1
);
unidirectionalPlaneToSphereCD
.
setGenerateCD
(
true
,
true
);
// Generate both A and B
unidirectionalPlaneToSphereCD
.
update
();
std
::
shared_ptr
<
CollisionData
>
colData
=
unidirectionalPlaneToSphereCD
.
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 1.0
EXPECT_EQ
(
1.0
,
colData
->
elementsA
[
0
].
m_element
.
m_PointDirectionElement
.
penetrationDepth
);
EXPECT_EQ
(
1.0
,
colData
->
elementsB
[
0
].
m_element
.
m_PointDirectionElement
.
penetrationDepth
);
// Contacts should be on the surface of spheres
EXPECT_EQ
(
Vec3d
(
0.0
,
-
1.0
,
0.0
),
colData
->
elementsA
[
0
].
m_element
.
m_PointDirectionElement
.
pt
);
EXPECT_EQ
(
Vec3d
(
0.0
,
0.0
,
0.0
),
colData
->
elementsB
[
0
].
m_element
.
m_PointDirectionElement
.
pt
);
}
TEST
(
imstkUnidirectionalPlaneToSphereCDTest
,
NonIntersectionTestAB
)
{
UnidirectionalPlaneToSphereCD
unidirectionalPlaneToSphereCD
;
auto
sphere
=
std
::
make_shared
<
Sphere
>
(
Vec3d
(
0.0
,
0.0
,
0.0
),
0.5
);
auto
plane
=
std
::
make_shared
<
Plane
>
(
Vec3d
(
0.0
,
-
0.75
,
0.0
),
Vec3d
(
0.0
,
1.0
,
0.0
));
unidirectionalPlaneToSphereCD
.
setInput
(
sphere
,
0
);
unidirectionalPlaneToSphereCD
.
setInput
(
plane
,
1
);
unidirectionalPlaneToSphereCD
.
setGenerateCD
(
true
,
true
);
// Generate both A and B
unidirectionalPlaneToSphereCD
.
update
();
std
::
shared_ptr
<
CollisionData
>
colData
=
unidirectionalPlaneToSphereCD
.
getCollisionData
();
// Should be no elements
EXPECT_EQ
(
0
,
colData
->
elementsA
.
getSize
());
EXPECT_EQ
(
0
,
colData
->
elementsB
.
getSize
());
}
int
imstkUnidirectionalPlaneToSphereCDTest
(
int
argc
,
char
*
argv
[])
{
// Init Google Test & Mock
::
testing
::
InitGoogleTest
(
&
argc
,
argv
);
// Run tests with gtest
return
RUN_ALL_TESTS
();
}
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