Commit 666467bd authored by Sreekanth Arikatla's avatar Sreekanth Arikatla Committed by Andrew Wilson
Browse files

Add point set to plane test

parent 76662514
/*=========================================================================
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 "imstkPointSet.h"
#include "imstkPointSetToPlaneCD.h"
#include "imstkPlane.h"
using namespace imstk;
TEST(imstkPointSetToPlaneCDTest, IntersectionTestAB)
{
PointSetToPlaneCD m_pointSetToPlaneCD;
auto plane = std::make_shared<Plane>();
auto pointSet = std::make_shared<PointSet>();
auto verticesPtr = std::make_shared<VecDataArray<double, 3>>(1);
(*verticesPtr)[0] = Vec3d(0.0, -0.5, 0.0);
pointSet->initialize(verticesPtr);
m_pointSetToPlaneCD.setInput(pointSet, 0);
m_pointSetToPlaneCD.setInput(plane, 1);
m_pointSetToPlaneCD.setGenerateCD(true, true);
m_pointSetToPlaneCD.update();
std::shared_ptr<CollisionData> colData = m_pointSetToPlaneCD.getCollisionData();
// Should be one element on side A, 0 on side B (default CD data is not generated for the sphere)
EXPECT_EQ(1, colData->elementsA.getSize());
EXPECT_EQ(1, colData->elementsB.getSize());
// That element should be a point directional element
EXPECT_EQ(CollisionElementType::PointIndexDirection, colData->elementsA[0].m_type);
EXPECT_EQ(CollisionElementType::PointDirection, colData->elementsB[0].m_type);
// That element should have 0.5 depth
EXPECT_EQ(Vec3d(0.0, 1.0, 0.0), colData->elementsA[0].m_element.m_PointIndexDirectionElement.dir);
EXPECT_EQ(Vec3d(0.0, -1.0, 0.0), colData->elementsB[0].m_element.m_PointDirectionElement.dir);
// Should have depths of 0.5
EXPECT_NEAR(0.5, colData->elementsA[0].m_element.m_PointIndexDirectionElement.penetrationDepth, 1.0e-4);
EXPECT_NEAR(0.5, colData->elementsB[0].m_element.m_PointDirectionElement.penetrationDepth, 1.0e-4);
// The contact point on A should be the point
EXPECT_EQ(0, colData->elementsA[0].m_element.m_PointIndexDirectionElement.ptIndex);
// The contact point on B should be the nearest point on the surface of the sphere
EXPECT_NEAR(-0.5, colData->elementsB[0].m_element.m_PointDirectionElement.pt[1], 1.0e-4);
}
TEST(imstkPointSetToPlaneCDTest, NonIntersectionTestAB)
{
PointSetToPlaneCD m_pointSetToPlaneCD;
auto plane = std::make_shared<Plane>(Vec3d(0.0, 0.0, 0.0), Vec3d(1., 1., 1.));
auto pointSet = std::make_shared<PointSet>();
auto verticesPtr = std::make_shared<VecDataArray<double, 3>>(1);
(*verticesPtr)[0] = Vec3d(1.0, 1.0, 1.0);
pointSet->initialize(verticesPtr);
m_pointSetToPlaneCD.setInput(pointSet, 0);
m_pointSetToPlaneCD.setInput(plane, 1);
m_pointSetToPlaneCD.setGenerateCD(true, true);
m_pointSetToPlaneCD.update();
std::shared_ptr<CollisionData> colData = m_pointSetToPlaneCD.getCollisionData();
// Should be no elements
EXPECT_EQ(0, colData->elementsA.getSize());
EXPECT_EQ(0, colData->elementsB.getSize());
}
int
imstkPointSetToPlaneCDTest(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