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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/geometry/IntersectionTest.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
TEST(IntersectionTest, PointsCoplanar) {
Eigen::Vector3d p0(0, 0, 0);
Eigen::Vector3d p1(1, 0, 0);
Eigen::Vector3d p2(0, 1, 0);
Eigen::Vector3d p3(1, 1, 0);
EXPECT_TRUE(geometry::IntersectionTest::PointsCoplanar(p0, p1, p2, p3));
EXPECT_TRUE(geometry::IntersectionTest::PointsCoplanar(p0, p0, p2, p3));
EXPECT_TRUE(geometry::IntersectionTest::PointsCoplanar(p0, p1, p2, p2));
}
TEST(IntersectionTest, LinesMinimumDistance) {
Eigen::Vector3d p0(0, 0, 0);
Eigen::Vector3d p1(1, 0, 0);
Eigen::Vector3d q0(0, 1, 0);
Eigen::Vector3d q1(1, 1, 0);
EXPECT_EQ(geometry::IntersectionTest::LinesMinimumDistance(p0, p0, q0, q1),
-1.);
EXPECT_EQ(geometry::IntersectionTest::LinesMinimumDistance(p0, p1, q0, q0),
-2.);
EXPECT_EQ(geometry::IntersectionTest::LinesMinimumDistance(p0, p1, q0, q1),
-3.);
Eigen::Vector3d u0(1, 0, 0);
Eigen::Vector3d u1(1, 1, 0);
EXPECT_EQ(geometry::IntersectionTest::LinesMinimumDistance(p0, p1, u0, u1),
0.);
}
TEST(IntersectionTest, LineSegmentsMinimumDistance) {
Eigen::Vector3d p0(0, 0, 0);
Eigen::Vector3d p1(1, 0, 0);
Eigen::Vector3d q0(0, 0, 1);
Eigen::Vector3d q1(1, 0, 1);
EXPECT_EQ(geometry::IntersectionTest::LineSegmentsMinimumDistance(p0, p1,
q0, q1),
1.);
p0 = Eigen::Vector3d(0, 0, 0);
p1 = Eigen::Vector3d(1, 0, 0);
q0 = Eigen::Vector3d(2, 0, 0);
q1 = Eigen::Vector3d(4, 0, 0);
EXPECT_EQ(geometry::IntersectionTest::LineSegmentsMinimumDistance(p0, p1,
q0, q1),
1.);
p0 = Eigen::Vector3d(0, 0, 0);
p1 = Eigen::Vector3d(1, 0, 0);
q0 = Eigen::Vector3d(0, 1, 0);
q1 = Eigen::Vector3d(1, 4, 0);
EXPECT_EQ(geometry::IntersectionTest::LineSegmentsMinimumDistance(p0, p1,
q0, q1),
1.);
}
} // namespace tests
} // namespace open3d
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