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iMSTK
iMSTK
Commits
3a135f83
Commit
3a135f83
authored
Jul 31, 2021
by
Sreekanth Arikatla
Committed by
Andrew Wilson
Aug 03, 2021
Browse files
Add bidirectional plane to sphere tests
parent
7cacff4f
Changes
1
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Source/CollisionDetection/Testing/imstkBidirectionalPlaneToSphereCDTest.cpp
0 → 100644
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3a135f83
/*=========================================================================
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
();
}
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