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AP_Math: Add unit tests for 3-D lines

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Rishabh 2021-01-17 15:01:57 +05:30 committed by Randy Mackay
parent de67e2b70c
commit f3d825bebe
1 changed files with 46 additions and 0 deletions
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libraries/AP_Math/tests/test_3d_lines.cpp Normal file
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#include <AP_gtest.h>
#include <AP_Math/vector2.h>
#include <AP_Math/vector3.h>
#include <AP_Math/AP_Math.h>
// check if two vector3f are equal
#define EXPECT_VECTOR3F_EQ(v1, v2) \
do { \
EXPECT_FLOAT_EQ(v1[0], v2[0]); \
EXPECT_FLOAT_EQ(v1[1], v2[1]); \
EXPECT_FLOAT_EQ(v1[2], v2[2]); \
} while (false);
TEST(Lines3dTests, ClosestDistBetweenLinePoint)
{
// check if the 2-d and 3-d variant of this method is same if the third-dimension is zero
float dist_3d = Vector3f::closest_distance_between_line_and_point(Vector3f{0.0f, 1.0f, 0.0f}, Vector3f{0.0f, 10.0f, 0.0f}, Vector3f{6.0f, 5.0f, 0.0f});
float dist_2d = Vector2f::closest_distance_between_line_and_point(Vector2f{0.0f, 1.0f}, Vector2f{0.0f, 10.0f}, Vector2f{6.0f, 5.0f});
EXPECT_FLOAT_EQ(dist_2d, dist_3d);
// random point test
const Vector3f intersection = Vector3f::point_on_line_closest_to_other_point(Vector3f{}, Vector3f{0.0f, 10.0f, 10.0f}, Vector3f{0.0f, 5.0f, 5.0f});
EXPECT_VECTOR3F_EQ((Vector3f{0.0f, 5.0f, 5.0f}), intersection);
}
TEST(Lines3dTests, SegmentToSegmentDistance)
{
// random segments test
Vector3f intersection;
float dist = Vector3f::segment_to_segment_dist(Vector3f{-10.0f,0.0f,0.0f}, Vector3f{10.0f,0.0f,0.0f}, Vector3f{0.0f, -5.0f, 1.0}, Vector3f{0.0f, 5.0f, 1.0f}, intersection);
EXPECT_FLOAT_EQ(dist, 1.0f);
EXPECT_VECTOR3F_EQ(intersection, (Vector3f{0.0f, 0.0f, 1.0f}));
// check for intersecting segments. Verify with the 2-d variant
dist = Vector3f::segment_to_segment_dist(Vector3f{}, Vector3f{10.0f,10.0f,0.0f}, Vector3f{2.0f, -10.0f, 0.0}, Vector3f{3.0f, 10.0f, 0.0f}, intersection);
Vector2f intersection_2d;
const bool result = Vector2f::segment_intersection(Vector2f{}, Vector2f{10.0f,10.0}, Vector2f{2.0f, -10.0f}, Vector2f{3.0f, 10.0f}, intersection_2d);
EXPECT_EQ(true, result);
EXPECT_FLOAT_EQ(dist, 0.0f);
EXPECT_VECTOR3F_EQ(intersection, (Vector3f(intersection_2d.x, intersection_2d.y, 0.0f)));
}
AP_GTEST_MAIN()
int hal = 0; //weirdly the build will fail without this