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Triangle3_TEST.cc
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/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* 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
*
* 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 "gz/math/Triangle3.hh"
#include "gz/math/Helpers.hh"
using namespace gz;
using namespace math;
/////////////////////////////////////////////////
TEST(Triangle3Test, Constructor)
{
{
// Default constructor
Triangle3d tri;
EXPECT_EQ(tri[0], Vector3d(0, 0, 0));
EXPECT_EQ(tri[1], Vector3d(0, 0, 0));
EXPECT_EQ(tri[2], Vector3d(0, 0, 0));
EXPECT_FALSE(tri.Valid());
}
{
// Construct from three points
Triangle3d tri(Vector3d(0, 0, 0), Vector3d(0, 1, 0), Vector3d(1, 0, 0));
EXPECT_TRUE(tri.Valid());
EXPECT_EQ(tri[0], Vector3d(0, 0, 0));
EXPECT_EQ(tri[1], Vector3d(0, 1, 0));
EXPECT_EQ(tri[2], Vector3d(1, 0, 0));
EXPECT_NO_THROW(tri[3]);
EXPECT_EQ(tri[3], tri[2]);
}
{
// Construct degenerate from 3 collinear points
Triangle3d tri(Vector3d(0, 0, 0), Vector3d(0, 1, 0), Vector3d(0, 2, 0));
// Expect not Valid
EXPECT_FALSE(tri.Valid());
}
}
/////////////////////////////////////////////////
TEST(Triangle3Test, Set)
{
Triangle3d tri;
tri.Set(0, Vector3d(3, 4, 1));
tri.Set(1, Vector3d(5, -6, 2));
tri.Set(2, Vector3d(7, 8, -3));
EXPECT_EQ(tri[0], Vector3d(3, 4, 1));
EXPECT_EQ(tri[1], Vector3d(5, -6, 2));
EXPECT_EQ(tri[2], Vector3d(7, 8, -3));
tri.Set(Vector3d(0.1, 0.2, -0.3),
Vector3d(0.3, -0.4, 0.5),
Vector3d(1.5, -2.6, 3.7));
EXPECT_EQ(tri[0], Vector3d(0.1, 0.2, -0.3));
EXPECT_EQ(tri[1], Vector3d(0.3, -0.4, 0.5));
EXPECT_EQ(tri[2], Vector3d(1.5, -2.6, 3.7));
EXPECT_NO_THROW(tri.Set(3, Vector3d(1.5, 2.6, 3.8)));
EXPECT_EQ(tri[3], Vector3d(1.5, 2.6, 3.8));
}
/////////////////////////////////////////////////
TEST(Triangle3Test, Side)
{
Triangle3d tri(Vector3d(0, 0, 0), Vector3d(0, 1, 1), Vector3d(1, 0, 2));
EXPECT_TRUE(tri.Side(0) == Line3d(0, 0, 0, 0, 1, 1));
EXPECT_TRUE(tri.Side(1) == Line3d(0, 1, 1, 1, 0, 2));
EXPECT_TRUE(tri.Side(2) == Line3d(1, 0, 2, 0, 0, 0));
EXPECT_NO_THROW(tri.Side(3));
EXPECT_TRUE(tri.Side(3) == tri.Side(2));
}
/////////////////////////////////////////////////
TEST(Triangle3Test, ContainsLine)
{
Triangle3d tri(Vector3d(0, 0, 0), Vector3d(0, 1, 0), Vector3d(1, 0, 0));
EXPECT_TRUE(tri.Contains(tri.Side(0)));
EXPECT_TRUE(tri.Contains(tri.Side(1)));
EXPECT_TRUE(tri.Contains(tri.Side(2)));
EXPECT_TRUE(tri.Contains(Line3d(0.1, 0.1, 0, 0.5, 0.5, 0)));
EXPECT_FALSE(tri.Contains(Line3d(0.1, 0.1, 0, 0.6, 0.6, 0)));
EXPECT_FALSE(tri.Contains(Line3d(-0.1, -0.1, 0, 0.5, 0.5, 0)));
EXPECT_FALSE(tri.Contains(Line3d(0.1, 0.1, 0.1, 0.5, 0.5, 0.1)));
EXPECT_FALSE(tri.Contains(Line3d(0.1, 0.1, -0.1, 0.1, 0.1, 0.1)));
}
/////////////////////////////////////////////////
TEST(Triangle3Test, Intersects)
{
Vector3d pt1;
Triangle3d tri(Vector3d(0, 0, 0),
Vector3d(0, 1, 0),
Vector3d(1, 0, 0));
EXPECT_TRUE(tri.Intersects(tri.Side(0), pt1));
EXPECT_EQ(pt1, Vector3d(0, 0, 0));
EXPECT_TRUE(tri.Intersects(tri.Side(1), pt1));
EXPECT_EQ(pt1, Vector3d(0, 1, 0));
EXPECT_TRUE(tri.Intersects(tri.Side(2), pt1));
EXPECT_EQ(pt1, Vector3d(1, 0, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, 0, 0.5, 0.5, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.1, 0.1, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, 0, 0.6, 0.6, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.5, 0.5, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.6, 0.6, 0, 0.1, 0.1, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.5, 0.5, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, 0, -0.6, 0.1, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.0, 0.1, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, 0, 0.1, -0.1, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.1, 0, 0));
EXPECT_TRUE(tri.Intersects(Line3d(-0.1, -0.1, 0, 0.5, 0.5, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.0, 0.0, 0));
EXPECT_TRUE(tri.Intersects(Line3d(-2, -2, 0, 0.2, 0.2, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.0, 0.0, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, -1, 0.1, 0.1, 1), pt1));
EXPECT_EQ(pt1, Vector3d(0.1, 0.1, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, -1, 0.3, 0.3, 1), pt1));
EXPECT_EQ(pt1, Vector3d(0.2, 0.2, 0));
EXPECT_FALSE(tri.Intersects(Line3d(-0.1, 0, 0, -0.1, 1, 0), pt1));
// A flat triangle raised along the z-axis
{
tri.Set(Vector3d(0, 0, 0.5),
Vector3d(0, 1, 0.5),
Vector3d(1, 0, 0.5));
EXPECT_TRUE(tri.Intersects(Line3d(0.5, 0.5, 2, 0.5, 0.5, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.5, 0.5, 0.5));
}
// An angled triangle
{
tri.Set(Vector3d(0, 0, 1),
Vector3d(1, 0, 0),
Vector3d(0, 1, 0));
EXPECT_TRUE(tri.Intersects(Line3d(1, 0, 2, 1, 0, 0), pt1));
EXPECT_EQ(pt1, Vector3d(1, 0, 0));
EXPECT_FALSE(tri.Intersects(Line3d(1.1, 0, 2, 1.1, 0, 0), pt1));
EXPECT_FALSE(tri.Intersects(Line3d(0, 1.1, 2, 0, 1.1, 0), pt1));
EXPECT_FALSE(tri.Intersects(Line3d(-0.1, 0, 2, -0.1, 0, 0), pt1));
EXPECT_FALSE(tri.Intersects(Line3d(0.51, 0.51, 2, 0.51, 0.51, 0), pt1));
EXPECT_TRUE(tri.Intersects(Line3d(0, 1, 2, 0, 1, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0, 1, 0));
EXPECT_TRUE(tri.Intersects(Line3d(0, 0, 2, 0, 0, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0, 0, 1.0));
EXPECT_TRUE(tri.Intersects(Line3d(0.1, 0.1, 2, 0.1, 0.1, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.1, 0.1, 0.8));
EXPECT_TRUE(tri.Intersects(Line3d(0.2, 0.2, 2, 0.2, 0.2, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.2, 0.2, 0.6));
EXPECT_TRUE(tri.Intersects(Line3d(0.3, 0.3, 2, 0.3, 0.3, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.3, 0.3, 0.4));
EXPECT_TRUE(tri.Intersects(Line3d(0.4, 0.4, 2, 0.4, 0.4, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.4, 0.4, 0.2));
EXPECT_TRUE(tri.Intersects(Line3d(0.5, 0.5, 2, 0.5, 0.5, 0), pt1));
EXPECT_EQ(pt1, Vector3d(0.5, 0.5, 0));
}
}
/////////////////////////////////////////////////
TEST(Triangle3Test, ContainsPt)
{
Triangle3d tri(Vector3d(0, 0, 0),
Vector3d(0, 1, 0),
Vector3d(1, 0, 0));
EXPECT_TRUE(tri.Contains(tri[0]));
EXPECT_TRUE(tri.Contains(tri[1]));
EXPECT_TRUE(tri.Contains(tri[2]));
EXPECT_TRUE(tri.Contains(Vector3d(0.1, 0.1, 0)));
EXPECT_TRUE(tri.Contains(Vector3d(0, 0.5, 0)));
EXPECT_TRUE(tri.Contains(Vector3d(0.5, 0, 0)));
EXPECT_TRUE(tri.Contains(Vector3d(0.5, 0.5, 0)));
EXPECT_FALSE(tri.Contains(Vector3d(-0.01, -0.01, 0)));
EXPECT_FALSE(tri.Contains(Vector3d(1.01, 0, 0)));
EXPECT_FALSE(tri.Contains(Vector3d(0, 1.01, 0)));
EXPECT_FALSE(tri.Contains(Vector3d(0.1, 0.1, 0.1)));
EXPECT_FALSE(tri.Contains(Vector3d(0.1, 0.1, -0.1)));
}
/////////////////////////////////////////////////
TEST(Triangle3Test, Perimeter)
{
{
Triangle3d tri(Vector3d(0, 0, 0),
Vector3d(0, 1, 0),
Vector3d(1, 0, 0));
EXPECT_DOUBLE_EQ(tri.Perimeter(), 2.0 + sqrt(2.0));
}
{
Triangle3d tri(Vector3d(0, 0, 1),
Vector3d(0, 1, 0),
Vector3d(1, 0, 0));
EXPECT_DOUBLE_EQ(tri.Perimeter(), 3*sqrt(2.0));
}
}
/////////////////////////////////////////////////
TEST(Triangle3Test, Area)
{
{
Triangle3d tri(Vector3d(0, 0, 0), Vector3d(0, 1, 0), Vector3d(1, 0, 0));
EXPECT_NEAR(tri.Area(), 0.5, 1e-6);
}
{
Triangle3d tri(Vector3d(0, 0, 1), Vector3d(0, 1, 0), Vector3d(1, 0, 0));
// (base * height) / 2
EXPECT_NEAR(tri.Area(), (sqrt(2) * sqrt(1.5))*0.5, 1e-6);
}
}