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    1   /*
    2    * Licensed to the Apache Software Foundation (ASF) under one or more
    3    * contributor license agreements.  See the NOTICE file distributed with
    4    * this work for additional information regarding copyright ownership.
    5    * The ASF licenses this file to You under the Apache License, Version 2.0
    6    * (the "License"); you may not use this file except in compliance with
    7    * the License.  You may obtain a copy of the License at
    8    *
    9    *      http://www.apache.org/licenses/LICENSE-2.0
    10   *
    11   * Unless required by applicable law or agreed to in writing, software
    12   * distributed under the License is distributed on an "AS IS" BASIS,
    13   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14   * See the License for the specific language governing permissions and
    15   * limitations under the License.
    16   */
    17  package org.apache.commons.geometry.euclidean.threed;
    18
    19  import java.util.Arrays;
    20  import java.util.List;
    21
    22  import org.apache.commons.geometry.core.GeometryTestUtils;
    23  import org.apache.commons.geometry.core.RegionLocation;
    24  import org.apache.commons.geometry.core.partitioning.Split;
    25  import org.apache.commons.geometry.core.partitioning.SplitLocation;
    26  import org.apache.commons.geometry.core.precision.DoublePrecisionContext;
    27  import org.apache.commons.geometry.core.precision.EpsilonDoublePrecisionContext;
    28  import org.apache.commons.geometry.euclidean.EuclideanTestUtils;
    29  import org.apache.commons.geometry.euclidean.threed.rotation.QuaternionRotation;
    30  import org.apache.commons.geometry.euclidean.twod.Vector2D;
    31  import org.apache.commons.numbers.angle.PlaneAngleRadians;
    32  import org.junit.Assert;
    33  import org.junit.Test;
    34
    35  public class SimpleTriangle3DTest {
    36
    37      private static final double TEST_EPS = 1e-10;
    38
    39      private static final DoublePrecisionContext TEST_PRECISION =
    40              new EpsilonDoublePrecisionContext(TEST_EPS);
    41
    42      private static final Plane XY_PLANE_Z1 = Planes.fromPointAndPlaneVectors(Vector3D.of(0, 0, 1),
    43              Vector3D.Unit.PLUS_X, Vector3D.Unit.PLUS_Y, TEST_PRECISION);
    44
    45      @Test
    46      public void testProperties() {
    47          // arrange
    48          final Vector3D p1 = Vector3D.of(1, 2, 1);
    49          final Vector3D p2 = Vector3D.of(2, 2, 1);
    50          final Vector3D p3 = Vector3D.of(2, 3, 1);
    51
    52          // act
    53          final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1, p1, p2, p3);
    54
    55          // assert
    56          Assert.assertFalse(tri.isFull());
    57          Assert.assertFalse(tri.isEmpty());
    58          Assert.assertFalse(tri.isInfinite());
    59          Assert.assertTrue(tri.isFinite());
    60
    61          Assert.assertSame(XY_PLANE_Z1, tri.getPlane());
    62          Assert.assertSame(p1, tri.getPoint1());
    63          Assert.assertSame(p2, tri.getPoint2());
    64          Assert.assertSame(p3, tri.getPoint3());
    65
    66          Assert.assertEquals(Arrays.asList(p1, p2, p3), tri.getVertices());
    67
    68          final List<Vector2D> subspaceVertices = tri.getEmbedded().getSubspaceRegion().getVertices();
    69          Assert.assertEquals(3, subspaceVertices.size());
    70          EuclideanTestUtils.assertCoordinatesEqual(Vector2D.of(1, 2), subspaceVertices.get(0), TEST_EPS);
    71          EuclideanTestUtils.assertCoordinatesEqual(Vector2D.of(2, 2), subspaceVertices.get(1), TEST_EPS);
    72          EuclideanTestUtils.assertCoordinatesEqual(Vector2D.of(2, 3), subspaceVertices.get(2), TEST_EPS);
    73
    74          Assert.assertEquals(0.5, tri.getSize(), TEST_EPS);
    75          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(5.0 / 3.0, 7.0 / 3.0, 1), tri.getCentroid(), TEST_EPS);
    76
    77          final Bounds3D bounds = tri.getBounds();
    78          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 1), bounds.getMin(), TEST_EPS);
    79          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(2, 3, 1), bounds.getMax(), TEST_EPS);
    80      }
    81
    82      @Test
    83      public void testVertices_listIsImmutable() {
    84          // arrange
    85          final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    86                  Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    87
    88          // act/assert
    89          GeometryTestUtils.assertThrows(() -> {
    90              tri.getVertices().add(Vector3D.of(-1, 0, 1));
    91          }, UnsupportedOperationException.class);
    92      }
    93
    94      @Test
    95      public void testToTriangles() {
    96          // arrange
    97          final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    98                  Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    99
    100         // act
    101         final List<Triangle3D> triangles = tri.toTriangles();
    102
    103         // assert
    104         Assert.assertEquals(1, triangles.size());
    105         Assert.assertSame(tri, triangles.get(0));
    106     }
    107
    108     @Test
    109     public void testGetSize() {
    110         // arrange
    111         final QuaternionRotation rot = QuaternionRotation.fromAxisAngle(Vector3D.Unit.PLUS_Z, 0.2);
    112
    113         // act/assert
    114         Assert.assertEquals(0.5, new SimpleTriangle3D(XY_PLANE_Z1,
    115                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1)).getSize(), TEST_EPS);
    116
    117         Assert.assertEquals(1, new SimpleTriangle3D(XY_PLANE_Z1,
    118                 Vector3D.of(0, 0, 1), Vector3D.of(2, 0, 1), Vector3D.of(0, 1, 1)).getSize(), TEST_EPS);
    119
    120         Assert.assertEquals(1.5, new SimpleTriangle3D(XY_PLANE_Z1,
    121                 Vector3D.of(1, 2, 1), Vector3D.of(4, 2, 1), Vector3D.of(2, 3, 1)).getSize(), TEST_EPS);
    122
    123         Assert.assertEquals(1.5, new SimpleTriangle3D(XY_PLANE_Z1,
    124                 rot.applyVector(Vector3D.of(1, 2, 1)),
    125                 rot.apply(Vector3D.of(4, 2, 1)),
    126                 rot.applyVector(Vector3D.of(2, 3, 1))).getSize(), TEST_EPS);
    127     }
    128
    129     @Test
    130     public void testClassify() {
    131         // arrange
    132         final Vector3D p1 = Vector3D.of(1, 2, 1);
    133         final Vector3D p2 = Vector3D.of(3, 2, 1);
    134         final Vector3D p3 = Vector3D.of(2, 3, 1);
    135
    136         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1, p1, p2, p3);
    137
    138         // act/assert
    139         checkPoints(tri, RegionLocation.INSIDE, Vector3D.of(2, 2.5, 1), Vector3D.of(2, 2.5, 1 + 1e-15));
    140         checkPoints(tri, RegionLocation.BOUNDARY,
    141                 p1, p2, p3,
    142                 p1.lerp(p2, 0.5), p2.lerp(p3, 0.5), p3.lerp(p1,  0.5));
    143         checkPoints(tri, RegionLocation.OUTSIDE,
    144                 Vector3D.of(2, 2.5, 0), Vector3D.of(2, 2.5, 2),
    145                 Vector3D.of(0, 2, 1), Vector3D.of(4, 2, 1),
    146                 Vector3D.of(2, 4, 1), Vector3D.of(2, 1, 1));
    147     }
    148
    149     @Test
    150     public void testClosest() {
    151         // arrange
    152         final Vector3D p1 = Vector3D.of(1, 2, 1);
    153         final Vector3D p2 = Vector3D.of(3, 2, 1);
    154         final Vector3D p3 = Vector3D.of(2, 3, 1);
    155
    156         final Vector3D centroid = Vector3D.centroid(p1, p2, p3);
    157
    158         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1, p1, p2, p3);
    159
    160         // act/assert
    161         EuclideanTestUtils.assertCoordinatesEqual(centroid, tri.closest(centroid), TEST_EPS);
    162         EuclideanTestUtils.assertCoordinatesEqual(centroid, tri.closest(centroid.add(Vector3D.Unit.PLUS_Z)), TEST_EPS);
    163         EuclideanTestUtils.assertCoordinatesEqual(centroid, tri.closest(centroid.add(Vector3D.Unit.MINUS_Z)), TEST_EPS);
    164
    165         EuclideanTestUtils.assertCoordinatesEqual(p1, tri.closest(Vector3D.of(0, 2, 5)), TEST_EPS);
    166         EuclideanTestUtils.assertCoordinatesEqual(p1, tri.closest(Vector3D.of(1, 2, 5)), TEST_EPS);
    167         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(2, 2, 1), tri.closest(Vector3D.of(2, 2, 5)), TEST_EPS);
    168         EuclideanTestUtils.assertCoordinatesEqual(p2, tri.closest(Vector3D.of(3, 2, 5)), TEST_EPS);
    169         EuclideanTestUtils.assertCoordinatesEqual(p2, tri.closest(Vector3D.of(4, 2, 5)), TEST_EPS);
    170
    171         EuclideanTestUtils.assertCoordinatesEqual(p1, tri.closest(Vector3D.of(0, 1, 5)), TEST_EPS);
    172         EuclideanTestUtils.assertCoordinatesEqual(p1, tri.closest(Vector3D.of(1, 1, 5)), TEST_EPS);
    173         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(2, 2, 1), tri.closest(Vector3D.of(2, 1, 5)), TEST_EPS);
    174         EuclideanTestUtils.assertCoordinatesEqual(p2, tri.closest(Vector3D.of(3, 1, 5)), TEST_EPS);
    175         EuclideanTestUtils.assertCoordinatesEqual(p2, tri.closest(Vector3D.of(4, 1, 5)), TEST_EPS);
    176
    177         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1.5, 2.5, 1),
    178                 tri.closest(Vector3D.of(1, 3, -10)), TEST_EPS);
    179     }
    180
    181     @Test
    182     public void testReverse() {
    183         // arrange
    184         final Vector3D p1 = Vector3D.of(1, 2, 1);
    185         final Vector3D p2 = Vector3D.of(3, 2, 1);
    186         final Vector3D p3 = Vector3D.of(2, 3, 1);
    187
    188         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1, p1, p2, p3);
    189
    190         // act
    191         final SimpleTriangle3D result = tri.reverse();
    192
    193         // assert
    194         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.Unit.MINUS_Z, result.getPlane().getNormal(), TEST_EPS);
    195
    196         Assert.assertSame(p1, result.getPoint1());
    197         Assert.assertSame(p3, result.getPoint2());
    198         Assert.assertSame(p2, result.getPoint3());
    199
    200         final Vector3D v1 = result.getPoint1().vectorTo(result.getPoint2());
    201         final Vector3D v2 = result.getPoint1().vectorTo(result.getPoint3());
    202         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.Unit.MINUS_Z, v1.cross(v2).normalize(), TEST_EPS);
    203
    204         Assert.assertEquals(1, result.getSize(), TEST_EPS);
    205     }
    206
    207     @Test
    208     public void testTransform() {
    209         // arrange
    210         final Vector3D p1 = Vector3D.of(1, 2, 1);
    211         final Vector3D p2 = Vector3D.of(3, 2, 1);
    212         final Vector3D p3 = Vector3D.of(2, 3, 1);
    213
    214         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1, p1, p2, p3);
    215
    216         final AffineTransformMatrix3D t = AffineTransformMatrix3D.identity()
    217                 .rotate(QuaternionRotation.fromAxisAngle(Vector3D.Unit.PLUS_Y, -PlaneAngleRadians.PI_OVER_TWO))
    218                 .scale(1, 1, 2)
    219                 .translate(Vector3D.of(1, 0, 0));
    220
    221         // act
    222         final SimpleTriangle3D result = tri.transform(t);
    223
    224         // assert
    225         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.Unit.MINUS_X, result.getPlane().getNormal(), TEST_EPS);
    226
    227         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 2, 2), result.getPoint1(), TEST_EPS);
    228         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 2, 6), result.getPoint2(), TEST_EPS);
    229         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 3, 4), result.getPoint3(), TEST_EPS);
    230
    231         final Vector3D v1 = result.getPoint1().vectorTo(result.getPoint2());
    232         final Vector3D v2 = result.getPoint1().vectorTo(result.getPoint3());
    233         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.Unit.MINUS_X, v1.cross(v2).normalize(), TEST_EPS);
    234
    235         Assert.assertEquals(2, result.getSize(), TEST_EPS);
    236     }
    237
    238     @Test
    239     public void testSplit_plus() {
    240         // arrange
    241         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    242                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    243
    244         final Plane splitter = Planes.fromPointAndNormal(Vector3D.ZERO, Vector3D.Unit.PLUS_X, TEST_PRECISION);
    245
    246         // act
    247         final Split<PlaneConvexSubset> split = tri.split(splitter);
    248
    249         // assert
    250         Assert.assertEquals(SplitLocation.PLUS, split.getLocation());
    251
    252         Assert.assertNull(split.getMinus());
    253         Assert.assertSame(tri, split.getPlus());
    254     }
    255
    256     @Test
    257     public void testSplit_minus() {
    258         // arrange
    259         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    260                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    261
    262         final Plane splitter = Planes.fromPointAndNormal(Vector3D.ZERO, Vector3D.Unit.MINUS_Z, TEST_PRECISION);
    263
    264         // act
    265         final Split<PlaneConvexSubset> split = tri.split(splitter);
    266
    267         // assert
    268         Assert.assertEquals(SplitLocation.MINUS, split.getLocation());
    269
    270         Assert.assertSame(tri, split.getMinus());
    271         Assert.assertNull(split.getPlus());
    272     }
    273
    274     @Test
    275     public void testSplit_both() {
    276         // arrange
    277         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    278                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    279
    280         final Plane splitter = Planes.fromPointAndNormal(Vector3D.ZERO, Vector3D.of(-1, 1, 0), TEST_PRECISION);
    281
    282         // act
    283         final Split<PlaneConvexSubset> split = tri.split(splitter);
    284
    285         // assert
    286         Assert.assertEquals(SplitLocation.BOTH, split.getLocation());
    287
    288         final PlaneConvexSubset minus = split.getMinus();
    289         EuclideanTestUtils.assertVertexLoopSequence(
    290                 Arrays.asList(Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0.5, 0.5, 1)),
    291                 minus.getVertices(), TEST_PRECISION);
    292
    293         final PlaneConvexSubset plus = split.getPlus();
    294         EuclideanTestUtils.assertVertexLoopSequence(
    295                 Arrays.asList(Vector3D.of(0, 0, 1), Vector3D.of(0.5, 0.5, 1), Vector3D.of(0, 1, 1)),
    296                 plus.getVertices(), TEST_PRECISION);
    297     }
    298
    299     @Test
    300     public void testSplit_neither() {
    301         // arrange
    302         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    303                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    304
    305         final Plane splitter = Planes.fromPointAndNormal(Vector3D.of(0, 0, 1), Vector3D.of(0, 1e-15, -1), TEST_PRECISION);
    306
    307         // act
    308         final Split<PlaneConvexSubset> split = tri.split(splitter);
    309
    310         // assert
    311         Assert.assertEquals(SplitLocation.NEITHER, split.getLocation());
    312
    313         Assert.assertNull(split.getMinus());
    314         Assert.assertNull(split.getPlus());
    315     }
    316
    317     @Test
    318     public void testToString() {
    319         // arrange
    320         final SimpleTriangle3D tri = new SimpleTriangle3D(XY_PLANE_Z1,
    321                 Vector3D.of(0, 0, 1), Vector3D.of(1, 0, 1), Vector3D.of(0, 1, 1));
    322
    323         // act
    324         final String str = tri.toString();
    325
    326         // assert
    327         GeometryTestUtils.assertContains("SimpleTriangle3D[normal= (", str);
    328         GeometryTestUtils.assertContains("vertices= [", str);
    329     }
    330
    331     private static void checkPoints(final ConvexPolygon3D ps, final RegionLocation loc, final Vector3D... pts) {
    332         for (final Vector3D pt : pts) {
    333             Assert.assertEquals("Unexpected location for point " + pt, loc, ps.classify(pt));
    334         }
    335     }
    336 }