test_point_inclusion.cpp

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#include <geometric_shapes/bodies.h>
#include <gtest/gtest.h>

TEST(SpherePointContainment, SimpleInside)
{
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(1.05);
    bool contains = sphere->containsPoint(0,0,1.0);
    delete sphere;
    EXPECT_TRUE(contains);
}

TEST(SpherePointContainment, SimpleOutside)
{ 
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(0.95);
    bool contains = sphere->containsPoint(0,0,1.0);
    delete sphere;
    EXPECT_FALSE(contains);
}

TEST(SpherePointContainment, ComplexInside)
{ 
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(0.95);
    tf::Transform pose;
    pose.setIdentity();    
    pose.setOrigin(tf::Vector3(tfScalar(1),tfScalar(1),tfScalar(1)));
    sphere->setPose(pose);
    bool contains = sphere->containsPoint(0.5,1,1.0);
    delete sphere;
    EXPECT_TRUE(contains);
}

TEST(SpherePointContainment, ComplexOutside)
{   
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(0.95);
    tf::Transform pose;
    pose.setIdentity();    
    pose.setOrigin(tf::Vector3(tfScalar(1),tfScalar(1),tfScalar(1)));
    sphere->setPose(pose);
    bool contains = sphere->containsPoint(0.5,0.0,0.0);
    delete sphere;
    EXPECT_FALSE(contains);
}

TEST(SphereRayIntersection, SimpleRay1)
{
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(1.05);

    tf::Vector3 ray_o(5, 0, 0);
    tf::Vector3 ray_d(-1, 0, 0);
    std::vector<tf::Vector3> p;
    bool intersect = sphere->intersectsRay(ray_o, ray_d, &p);
    
    delete sphere;
    EXPECT_TRUE(intersect);
    EXPECT_EQ(2, (int)p.size());
    EXPECT_NEAR(p[0].x(), 1.05, 1e-12);
    EXPECT_NEAR(p[1].x(), -1.05, 1e-12);
}

TEST(SphereRayIntersection, SimpleRay2)
{
    shapes::Sphere shape(1.0);
    bodies::Body* sphere = new bodies::Sphere(&shape);
    sphere->setScale(1.05);

    tf::Vector3 ray_o(5, 0, 0);
    tf::Vector3 ray_d(1, 0, 0);
    std::vector<tf::Vector3> p;
    bool intersect = sphere->intersectsRay(ray_o, ray_d, &p);
    
    delete sphere;
    EXPECT_FALSE(intersect);
    EXPECT_EQ(0, (int)p.size());
}

TEST(BoxPointContainment, SimpleInside)
{    
    shapes::Box shape(1.0, 2.0, 3.0);
    bodies::Body* box = new bodies::Box(&shape);
    box->setScale(0.95);
    bool contains = box->containsPoint(0,0,1.0);
    delete box;
    EXPECT_TRUE(contains);
}


TEST(BoxPointContainment, SimpleOutside)
{
    shapes::Box shape(1.0, 2.0, 3.0);
    bodies::Body* box = new bodies::Box(&shape);
    box->setScale(0.95);
    bool contains = box->containsPoint(0,0,3.0);
    delete box;
    EXPECT_FALSE(contains);
}


TEST(BoxPointContainment, ComplexInside)
{  
    shapes::Box shape(1.0, 1.0, 1.0);
    bodies::Body* box = new bodies::Box(&shape);
    box->setScale(1.01);
    tf::Transform pose;
    pose.setIdentity();    
    pose.setOrigin(tf::Vector3(tfScalar(1),tfScalar(1),tfScalar(1)));
    tf::Quaternion quat(tf::Vector3(tfScalar(1), tfScalar(0), tfScalar(0)), M_PI/3.0);
    pose.setRotation(quat);
    box->setPose(pose);    

    bool contains = box->containsPoint(1.5,1.0,1.5);
    delete box;
    EXPECT_TRUE(contains);
}

TEST(BoxPointContainment, ComplexOutside)
{    
    shapes::Box shape(1.0, 1.0, 1.0);
    bodies::Body* box = new bodies::Box(&shape);
    box->setScale(1.01);
    tf::Transform pose;
    pose.setIdentity();    
    pose.setOrigin(tf::Vector3(tfScalar(1),tfScalar(1),tfScalar(1)));
    tf::Quaternion quat(tf::Vector3(tfScalar(1), tfScalar(0), tfScalar(0)), M_PI/3.0);
    pose.setRotation(quat);
    box->setPose(pose);    

    bool contains = box->containsPoint(1.5,1.5,1.5);
    delete box;
    EXPECT_FALSE(contains);
}

TEST(BoxRayIntersection, SimpleRay1)
{
    shapes::Box shape(1.0, 1.0, 3.0);
    bodies::Body* box = new bodies::Box(&shape);
    box->setScale(0.95);
    
    tf::Vector3 ray_o(10, 0.449, 0);
    tf::Vector3 ray_d(-1, 0, 0);
    std::vector<tf::Vector3> p;
    
    bool intersect = box->intersectsRay(ray_o, ray_d, &p);
    
    //    for (unsigned int i = 0; i < p.size() ; ++i)
    //  printf("intersection at %f, %f, %f\n", p[i].x(), p[i].y(), p[i].z());
    
    delete box;
    EXPECT_TRUE(intersect);
}


TEST(CylinderPointContainment, SimpleInside)
{
    shapes::Cylinder shape(1.0, 4.0);
    bodies::Body* cylinder = new bodies::Cylinder(&shape);
    cylinder->setScale(1.05);
    bool contains = cylinder->containsPoint(0, 0, 2.0);
    delete cylinder;
    EXPECT_TRUE(contains);
}


TEST(CylinderPointContainment, SimpleOutside)
{
    shapes::Cylinder shape(1.0, 4.0);
    bodies::Body* cylinder = new bodies::Cylinder(&shape);
    cylinder->setScale(0.95);
    bool contains = cylinder->containsPoint(0,0,2.0);
    delete cylinder;
    EXPECT_FALSE(contains);
}

TEST(CylinderPointContainment, CylinderPadding)
{
  shapes::Cylinder shape(1.0, 4.0);
  bodies::Body* cylinder = new bodies::Cylinder(&shape);
  bool contains = cylinder->containsPoint(0,1.01,0);
  EXPECT_FALSE(contains);
  cylinder->setPadding(.02);
  contains = cylinder->containsPoint(0,1.01,0);
  EXPECT_TRUE(contains);
  cylinder->setPadding(0.0);
  bodies::BoundingSphere bsphere;
  cylinder->computeBoundingSphere(bsphere);
  EXPECT_TRUE(bsphere.radius > 2.0);
}

int main(int argc, char **argv)
{ 
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}