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iMSTK
iMSTK
Commits
666467bd
Commit
666467bd
authored
Jul 28, 2021
by
Sreekanth Arikatla
Committed by
Andrew Wilson
Aug 03, 2021
Browse files
Add point set to plane test
parent
76662514
Changes
1
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Source/CollisionDetection/Testing/imstkPointSetToPlaneCDTest.cpp
0 → 100644
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666467bd
/*=========================================================================
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
();
}
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