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///
/// file: TestUtils3D.cpp
/// purpose: Unit tests for the 3D geometry utilities
///
//-- ensure asserts are compiled in
#ifdef NDEBUG
#undef NDEBUG
#endif
#include "VecGeom/base/Utils3D.h"
#include "ApproxEqual.h"
#include "VecGeom/volumes/Box.h"
#include "test/benchmark/ArgParser.h"
#ifdef VECGEOM_ROOT
#include "VecGeomTest/Visualizer.h"
#include "TPolyMarker3D.h"
#include "TPolyLine3D.h"
#endif
using vecgeom::Precision;
bool ValidXing(vecgeom::Vector3D<Precision> const &point, vecgeom::Vector3D<Precision> const &dir,
vecgeom::Vector3D<Precision> const &n1, Precision p1, vecgeom::Vector3D<Precision> const &n2,
Precision p2)
{
bool valid_dir = ApproxEqual<Precision>(dir.Dot(n1), 0.) && ApproxEqual<Precision>(dir.Dot(n2), 0.);
bool valid_point = ApproxEqual<Precision>(point.Dot(n1 - n2) + (p1 - p2), 0.);
return valid_point & valid_dir;
}
#ifdef VECGEOM_ROOT
void DrawPolygon(vecgeom::Utils3D::Polygon const &poly, vecgeom::Visualizer &visualizer, size_t color)
{
using namespace vecgeom;
using Vec_t = Vector3D<Precision>;
TPolyLine3D pl(poly.fN + 1);
pl.SetLineColor(color);
for (size_t i = 0; i < poly.fN; ++i)
pl.SetNextPoint(poly.GetVertex(i).x(), poly.GetVertex(i).y(), poly.GetVertex(i).z());
pl.SetNextPoint(poly.GetVertex(0).x(), poly.GetVertex(0).y(), poly.GetVertex(0).z());
visualizer.AddLine(pl);
// Compute center of polygon
Vec_t center;
for (size_t i = 0; i < poly.fN; ++i)
center += poly.GetVertex(i);
center *= 1. / poly.fN;
TPolyLine3D plnorm(2);
plnorm.SetLineColor(color);
plnorm.SetNextPoint(center[0], center[1], center[2]);
plnorm.SetNextPoint(center[0] + poly.fNorm[0], center[1] + poly.fNorm[1], center[2] + poly.fNorm[2]);
visualizer.AddLine(plnorm);
}
void DrawPolyhedron(vecgeom::Utils3D::Polyhedron &polyh, vecgeom::Visualizer &visualizer, size_t color)
{
using namespace vecgeom;
for (size_t i = 0; i < polyh.GetNpolygons(); ++i)
DrawPolygon(polyh.GetPolygon(i), visualizer, color);
}
#endif
int main(int argc, char *argv[])
{
using namespace vecgeom;
using namespace vecCore::math;
using Vec_t = Vector3D<Precision>;
using vecgeom::Utils3D::Line;
using vecgeom::Utils3D::Plane;
using vecgeom::Utils3D::Polygon;
using vecgeom::Utils3D::Polyhedron;
const Vec_t dirx(1., 0., 0.);
const Vec_t diry(0., 1., 0.);
const Vec_t dirz(0., 0., 1.);
#ifdef VECGEOM_ROOT
OPTION_INT(vis, 0);
#endif
///* Plane transformations */
Plane pl1(Vec_t(1., 0., 0.), -10.);
Transformation3D transf1(10., 0., 0., 0., 0., 180.);
pl1.Transform(transf1);
assert(ApproxEqual<Precision>(pl1.fNorm[0], -1.) && ApproxEqual<Precision>(pl1.fDist, 0.));
// Polygon intersection
Utils3D::vector_t<Vec_t> pvec1 = {{10., 4., 6.}, {10., -4., 6.}, {10., -4., -6.}, {10., 4., -6.}};
Polygon poly1(4, pvec1, Vec_t(1., 0., 0.));
poly1.fInd = {0, 1, 2, 3};
poly1.Init();
Utils3D::vector_t<Vec_t> pvec2 = {{7.75736, -3.17423, 10.5854},
{7.75736, -7.17423, 3.65722},
{16.2426, 0.174235, -0.585422},
{16.2426, 4.17423, 6.34278}};
Polygon poly2(4, pvec2, true);
poly2.fInd = {0, 1, 2, 3};
poly2.Init();
Line line1;
assert(Utils3D::PolygonXing(poly1, poly2, &line1) == Utils3D::kOverlapping);
///* Test plane crossings */
Vector3D<Precision> point, direction;
Vector3D<Precision> n1, n2;
Precision p1, p2;
// identical planes
n1.Set(0., 0., 1.);
n2.Set(0., 0., 1.);
p1 = -3.;
p2 = -3.;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kIdentical);
// identical planes with opposite normals
n1.Set(0., 0., 1.);
n2.Set(0., 0., -1.);
p1 = -3.;
p2 = 3.;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kIdentical);
// opposite planes with opposite normals
n1.Set(0., 0., 1.);
n2.Set(0., 0., -1.);
p1 = -3;
p2 = -3;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kParallel);
// opposite planes with identical normal
n1.Set(0., 0., 1.);
n2.Set(0., 0., 1.);
p1 = -3;
p2 = 3;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kParallel);
// arbitrary parallel planes
n1.Set(1., 2., 3.);
n1.Normalize();
n2 = -n1;
p1 = 1;
p2 = -2;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kParallel);
// +z face of a box with +x face of the same box
n1.Set(0., 0., 1.);
n2.Set(1., 0., 0.);
p1 = -3;
p2 = -2;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kIntersecting);
assert(ValidXing(point, direction, n1, p1, n2, p2));
// same as above but 1 face has opposite normal
n2 = -n2;
p2 = -p2;
assert(Utils3D::PlaneXing(Plane(n1, p1), Plane(n2, p2), point, direction) == Utils3D::kIntersecting);
assert(ValidXing(point, direction, n1, p1, n2, p2));
///* Test box crossings */
Vec_t box1(1., 2., 3.);
Vec_t box2(2., 3., 4.);
Polyhedron polyh1, polyh2;
Utils3D::FillBoxPolyhedron(box1, polyh1);
Utils3D::FillBoxPolyhedron(box2, polyh2);
Transformation3D tr1, tr2, tr3;
// Touching boxes
tr1 = Transformation3D(0., 0., 0.);
tr2 = Transformation3D(3., 5., 0.);
assert(Utils3D::BoxCollision(box1, tr1, box2, tr2) == Utils3D::kTouching);
// Disjoint boxes
tr1 = Transformation3D(0., 0., 0.);
tr2 = Transformation3D(2.5, 4.5, 10.2);
assert(Utils3D::BoxCollision(box1, tr1, box2, tr2) == Utils3D::kDisjoint);
// Overlapping boxes
tr1 = Transformation3D(0., 0., 0.);
tr2 = Transformation3D(2.5, 4.5, 6.5);
assert(Utils3D::BoxCollision(box1, tr1, box2, tr2) == Utils3D::kOverlapping);
tr1 = Transformation3D(-1, -0.5, 0.5);
tr2 = Transformation3D(-3., -0.5, 0.5);
tr3 = Transformation3D(1., 2., 3., 0., 45., 45.);
polyh1.Transform(tr1);
polyh2.Transform(tr3);
assert(Utils3D::BoxCollision(box1, tr1, box2, tr3) == Utils3D::kOverlapping &&
Utils3D::BoxCollision(box1, tr2, box2, tr3) == Utils3D::kDisjoint);
std::cout << "TestUtils3D passed\n";
#ifdef VECGEOM_ROOT
if (vis == 0) return 0;
Visualizer visualizer;
SimpleBox boxshape("box", 7, 7, 7);
visualizer.AddVolume(boxshape);
Utils3D::vector_t<Utils3D::Line> lines;
DrawPolyhedron(polyh1, visualizer, kBlue);
DrawPolyhedron(polyh2, visualizer, kGreen);
if (PolyhedronXing(polyh1, polyh2, lines) == Utils3D::kOverlapping) {
TPolyLine3D pl(2);
pl.SetLineColor(kRed);
for (auto line : lines) {
pl.SetNextPoint(line.fPts[0].x(), line.fPts[0].y(), line.fPts[0].z());
pl.SetNextPoint(line.fPts[1].x(), line.fPts[1].y(), line.fPts[1].z());
visualizer.AddLine(pl);
}
}
visualizer.Show();
#endif
return 0;
}
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