Use igl::PI in tests too

likaigelikaige · Sep 8, 2021 · 8424dca · 8424dca
1 parent 1fb021c
commit 8424dca
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Showing 6 changed files with 51 additions and 37 deletions.
diff --git a/tests/interval/test_interval.cpp b/tests/interval/test_interval.cpp
@@ -1,5 +1,7 @@
 #include <catch2/catch.hpp>
 
+#include <igl/PI.h>
+
 #include <interval/interval.hpp>
 #include <logger.hpp>
 #include <physics/pose.hpp>
@@ -41,10 +43,10 @@ TEST_CASE("Cosine interval arithmetic", "[interval]")
 
     double shift;
     SECTION("No shift") { shift = 0; }
-    SECTION("2π shift") { shift = 2 * M_PI; }
-    SECTION("-2π shift") { shift = -2 * M_PI; }
-    SECTION("100π shift") { shift = 100 * M_PI; }
-    SECTION("-100π shift") { shift = -100 * M_PI; }
+    SECTION("2π shift") { shift = 2 * igl::PI; }
+    SECTION("-2π shift") { shift = -2 * igl::PI; }
+    SECTION("100π shift") { shift = 100 * igl::PI; }
+    SECTION("-100π shift") { shift = -100 * igl::PI; }
 
     CAPTURE(shift);
 
@@ -69,10 +71,10 @@ TEST_CASE("Sine interval arithmetic", "[interval]")
 
     double shift = M_PI_2;
     SECTION("No shift") { shift += 0; }
-    SECTION("2π shift") { shift += 2 * M_PI; }
-    SECTION("-2π shift") { shift += -2 * M_PI; }
-    SECTION("100π shift") { shift += 100 * M_PI; }
-    SECTION("-100π shift") { shift += -100 * M_PI; }
+    SECTION("2π shift") { shift += 2 * igl::PI; }
+    SECTION("-2π shift") { shift += -2 * igl::PI; }
+    SECTION("100π shift") { shift += 100 * igl::PI; }
+    SECTION("-100π shift") { shift += -100 * igl::PI; }
 
     CAPTURE(shift);
 

diff --git a/tests/interval/test_interval_root_finder.cpp b/tests/interval/test_interval_root_finder.cpp
@@ -1,19 +1,24 @@
 #include <catch2/catch.hpp>
 
+#include <igl/PI.h>
+
 #include <interval/interval_root_finder.hpp>
 #include <constants.hpp>
 #include <logger.hpp>
 
 TEST_CASE("Root of simple function", "[ccd][interval]")
 {
     double yshift = GENERATE(
-        -1.1, -1.0 - 10 * ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, -1.0, -0.5,
-        -1e-4, 0.5, 1.0);
+        -1.1, -1.0 - 10 * ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, -1.0,
+        -0.5, -1e-4, 0.5, 1.0);
     double a = 4, b = -4, c = 1 + yshift;
-    auto f = [&](const ipc::rigid::Interval& x) { return a * x * x + b * x + c; };
+    auto f = [&](const ipc::rigid::Interval& x) {
+        return a * x * x + b * x + c;
+    };
     ipc::rigid::Interval sol;
     bool found_root = ipc::rigid::interval_root_finder(
-        f, ipc::rigid::Interval(0, 1), ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, sol);
+        f, ipc::rigid::Interval(0, 1),
+        ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, sol);
     CHECK(found_root == (yshift >= -1.0 && yshift <= 0.0));
     if (found_root) {
         double actual_sol = (-b - sqrt(b * b - 4 * a * c)) / (2 * a);
@@ -29,10 +34,13 @@ TEST_CASE("Root of simple function", "[ccd][interval]")
 TEST_CASE("Root of trig function", "[ccd][interval]")
 {
     double yshift = GENERATE(0);
-    auto f = [&](const ipc::rigid::Interval& x) { return cos(2 * M_PI * x) + yshift; };
+    auto f = [&](const ipc::rigid::Interval& x) {
+        return cos(2 * igl::PI * x) + yshift;
+    };
     ipc::rigid::Interval sol;
     bool found_root = ipc::rigid::interval_root_finder(
-        f, ipc::rigid::Interval(0, 1), ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, sol);
+        f, ipc::rigid::Interval(0, 1),
+        ipc::rigid::Constants::INTERVAL_ROOT_FINDER_TOL, sol);
     CHECK(found_root);
     if (found_root) {
         double actual_sol = 0.25;
@@ -47,7 +55,9 @@ TEST_CASE("Root of simple function with constraints", "[ccd][interval]")
 {
     double yshift = GENERATE(-1.1, -1.0 - 1e-7, -1.0, -0.5, 0.0, 0.5, 1.0);
     double a = 4, b = -4, c = 1 + yshift;
-    auto f = [&](const ipc::rigid::Interval& x) { return a * x * x + b * x + c; };
+    auto f = [&](const ipc::rigid::Interval& x) {
+        return a * x * x + b * x + c;
+    };
     auto constraint_predicate = [](const ipc::rigid::Interval& x) {
         return x.lower() > 0.5;
     };

diff --git a/tests/physics/test_rigid_body.cpp b/tests/physics/test_rigid_body.cpp
@@ -51,14 +51,14 @@ TEST_CASE("2D Rigid Body Transform", "[RB][RB-transform]")
     SECTION("90 Deg Rotation Case")
     {
         rb_step.position << 0.0, 0.0;
-        rb_step.rotation << 0.5 * M_PI;
+        rb_step.rotation << 0.5 * igl::PI;
         vertices_step << 1.0, 0.0, 0.0, 1.0, -1.0, 0.0, 0.0, -1.0;
     }
 
     SECTION("Translation and Rotation Case")
     {
         rb_step.position << 0.5, 0.5;
-        rb_step.rotation << 0.5 * M_PI;
+        rb_step.rotation << 0.5 * igl::PI;
         vertices_step << 1.0, 0.0, 0.0, 1.0, -1.0, 0.0, 0.0, -1.0;
         vertices_step += rb_step.position.transpose().replicate(4, 1);
     }

diff --git a/tests/physics/test_rigid_body_problem.cpp b/tests/physics/test_rigid_body_problem.cpp
@@ -1,4 +1,4 @@
-#include <array>
+igl::PI #include<array>
 #include <iomanip>
 #include <iostream>
 
@@ -10,7 +10,7 @@
 #include <problems/split_distance_barrier_rb_problem.hpp>
 #include <utils/not_implemented_error.hpp>
 
-using namespace ipc;
+    using namespace ipc;
 using namespace ipc::rigid;
 
 RigidBody rb_from_displacements(
@@ -75,8 +75,8 @@ TEST_CASE(
 
     SECTION("90 Deg Rotation Case")
     {
-        rb1_pose_t1.rotation << 0.5 * M_PI;
-        rb2_pose_t1.rotation << M_PI;
+        rb1_pose_t1.rotation << 0.5 * igl::PI;
+        rb2_pose_t1.rotation << igl::PI;
         dx = 0.5 * moment_inertia
             * (rb1_pose_t1.rotation.squaredNorm()
                + rb2_pose_t1.rotation.squaredNorm());
@@ -124,15 +124,15 @@ TEST_CASE(
 
     SECTION("90 Deg Rotation Case")
     {
-        vel_1.rotation << 0.5 * M_PI;
-        vel_2.rotation << M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
+        vel_2.rotation << igl::PI;
     }
     SECTION("Translation and Rotation Case")
     {
         vel_1.position << 0.5, 0.5;
-        vel_1.rotation << 0.5 * M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
         vel_2.position << 1.0, 1.0;
-        vel_2.rotation << M_PI;
+        vel_2.rotation << igl::PI;
     }
 
     std::vector<RigidBody> rbs;
@@ -173,15 +173,15 @@ TEST_CASE("Rigid Body Problem Hessian", "[RB][RB-Problem][RB-Problem-hessian]")
 
     SECTION("90 Deg Rotation Case")
     {
-        vel_1.rotation << 0.5 * M_PI;
-        vel_2.rotation << M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
+        vel_2.rotation << igl::PI;
     }
     SECTION("Translation and Rotation Case")
     {
         vel_1.position << 0.5, 0.5;
-        vel_1.rotation << 0.5 * M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
         vel_2.position << 1.0, 1.0;
-        vel_2.rotation << M_PI;
+        vel_2.rotation << igl::PI;
     }
 
     std::vector<RigidBody> rbs;
@@ -224,15 +224,15 @@ TEST_CASE("dof -> poses -> dof", "[RB][RB-Problem]")
 
     SECTION("90 Deg Rotation Case")
     {
-        vel_1.rotation << 0.5 * M_PI;
-        vel_2.rotation << M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
+        vel_2.rotation << igl::PI;
     }
     SECTION("Translation and Rotation Case")
     {
         vel_1.position << 0.5, 0.5;
-        vel_1.rotation << 0.5 * M_PI;
+        vel_1.rotation << 0.5 * igl::PI;
         vel_2.position << 1.0, 1.0;
-        vel_2.rotation << M_PI;
+        vel_2.rotation << igl::PI;
     }
 
     std::vector<RigidBody> rbs = {

diff --git a/tests/physics/test_rigid_body_system.cpp b/tests/physics/test_rigid_body_system.cpp
@@ -54,8 +54,8 @@ TEST_CASE("Rigid Body System Transform", "[RB][RB-System][RB-System-transform]")
 
     SECTION("90 Deg Rotation Case")
     {
-        rb1_pose_t1.rotation << 0.5 * M_PI;
-        rb2_pose_t1.rotation << M_PI;
+        rb1_pose_t1.rotation << 0.5 * igl::PI;
+        rb2_pose_t1.rotation << igl::PI;
         expected.resize(8, 2);
         expected.block(0, 0, 4, 2) << 1.0, 0.0, 0.0, 1.0, -1.0, 0.0, 0.0, -1.0;
         expected.block(4, 0, 4, 2) << 1.0, 1.0, -1.0, 1.0, -1.0, -1.0, 1.0,

diff --git a/tests/solvers/test_barrier_displacements_opt.cpp b/tests/solvers/test_barrier_displacements_opt.cpp
@@ -5,7 +5,9 @@
 
 //#include <catch2/catch.hpp>
 
+// #include <igl/PI.h>
 //#include <finitediff.hpp>
+
 //#include <state.hpp>
 
 //#include <Eigen/Geometry>
@@ -111,8 +113,8 @@
 //    state.getCollisionConstraint().update_collision_set = GENERATE(false,
 //    true); state.opt_method = ipc::rigid::OptimizationMethod::BARRIER_SOLVER;
 
-//    double theta1 = 2 * M_PI / NUM_ANGLES * GENERATE(range(0, NUM_ANGLES));
-//    double theta2 = 2 * M_PI / NUM_ANGLES * GENERATE(range(0, NUM_ANGLES));
+//    double theta1 = 2 * igl::PI / NUM_ANGLES * GENERATE(range(0, NUM_ANGLES));
+//    double theta2 = 2 * igl::PI / NUM_ANGLES * GENERATE(range(0, NUM_ANGLES));
 
 //    for (int i = 0; i < state.edges.rows(); i++) {
 //        Eigen::Rotation2D<double> R(i == 0 ? theta1 : theta2);