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//#undef NDEBUG
#include <cu/cu.h>
#include <ccd/polytope.h>
#include <ccd/dbg.h>
TEST(ptSetUp)
{
}
TEST(ptTearDown)
{
}
TEST(ptCreate1)
{
ccd_pt_t pt;
ccd_pt_vertex_t *v[3];
ccd_pt_edge_t *e[3];
ccd_pt_face_t *f;
ccd_vec3_t u;
int res;
size_t i;
DBG2("------");
ccdPtInit(&pt);
ccdPtDestroy(&pt);
ccdPtInit(&pt);
ccdVec3Set(&u, -1., -1., 0.);
v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
ccdVec3Set(&u, 1., 0., 0.);
v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
ccdVec3Set(&u, 0., 0., 1.);
v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
for (i = 0; i < 3; i++){
assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
}
e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
for (i = 0; i < 3; i++){
DBG("e[%d]->dist: %lf", i, e[i]->dist);
DBG_VEC3(&e[i]->witness, " ->witness: ");
}
f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
DBG("f->dist: %lf", f->dist);
DBG_VEC3(&f->witness, " ->witness: ");
for (i = 0; i < 3; i++){
res = ccdPtDelVertex(&pt, v[i]);
assertFalse(res == 0);
res = ccdPtDelEdge(&pt, e[i]);
assertFalse(res == 0);
}
ccdPtDelFace(&pt, f);
for (i = 0; i < 3; i++){
res = ccdPtDelVertex(&pt, v[i]);
assertFalse(res == 0);
}
for (i = 0; i < 3; i++){
res = ccdPtDelEdge(&pt, e[i]);
assertTrue(res == 0);
}
for (i = 0; i < 3; i++){
res = ccdPtDelVertex(&pt, v[i]);
assertTrue(res == 0);
}
v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
ccdPtDestroy(&pt);
}
TEST(ptCreate2)
{
ccd_pt_t pt;
ccd_pt_vertex_t *v[4];
ccd_pt_edge_t *e[6];
ccd_pt_face_t *f[4];
ccd_vec3_t u;
int res;
unsigned int i;
DBG2("------");
ccdPtInit(&pt);
ccdVec3Set(&u, -1., -1., 0.);
v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
ccdVec3Set(&u, 1., 0., 0.);
v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
ccdVec3Set(&u, 0., 0., 1.);
v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
ccdVec3Set(&u, 0., 1., 0.);
v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
assertTrue(ccdVec3Eq(&u, &v[3]->v.v));
for (i = 0; i < 4; i++){
assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
}
for (i = 0; i < 4; i++){
DBG("v[%d]->dist: %lf", i, v[i]->dist);
DBG_VEC3(&v[i]->witness, " ->witness: ");
}
e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
for (i = 0; i < 6; i++){
DBG("e[%d]->dist: %lf", i, e[i]->dist);
DBG_VEC3(&e[i]->witness, " ->witness: ");
}
f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
for (i = 0; i < 4; i++){
DBG("f[%d]->dist: %lf", i, f[i]->dist);
DBG_VEC3(&f[i]->witness, " ->witness: ");
}
for (i = 0; i < 4; i++){
res = ccdPtDelVertex(&pt, v[i]);
assertFalse(res == 0);
}
for (i = 0; i < 6; i++){
res = ccdPtDelEdge(&pt, e[i]);
assertFalse(res == 0);
}
res = ccdPtDelFace(&pt, f[0]);
for (i = 0; i < 6; i++){
res = ccdPtDelEdge(&pt, e[i]);
assertFalse(res == 0);
}
res = ccdPtDelFace(&pt, f[1]);
assertTrue(ccdPtDelEdge(&pt, e[0]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[1]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[4]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
for (i = 0; i < 4; i++){
res = ccdPtDelVertex(&pt, v[i]);
assertFalse(res == 0);
}
res = ccdPtDelFace(&pt, f[2]);
assertTrue(ccdPtDelEdge(&pt, e[1]) == 0);
assertTrue(ccdPtDelEdge(&pt, e[4]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
assertTrue(ccdPtDelVertex(&pt, v[1]) == 0);
assertFalse(ccdPtDelVertex(&pt, v[0]) == 0);
assertFalse(ccdPtDelVertex(&pt, v[2]) == 0);
assertFalse(ccdPtDelVertex(&pt, v[3]) == 0);
res = ccdPtDelFace(&pt, f[3]);
assertTrue(ccdPtDelEdge(&pt, e[2]) == 0);
assertTrue(ccdPtDelEdge(&pt, e[3]) == 0);
assertTrue(ccdPtDelEdge(&pt, e[5]) == 0);
assertTrue(ccdPtDelVertex(&pt, v[0]) == 0);
assertTrue(ccdPtDelVertex(&pt, v[2]) == 0);
assertTrue(ccdPtDelVertex(&pt, v[3]) == 0);
v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
ccdPtDestroy(&pt);
}
TEST(ptNearest)
{
ccd_pt_t pt;
ccd_pt_vertex_t *v[4];
ccd_pt_edge_t *e[6];
ccd_pt_face_t *f[4];
ccd_pt_el_t *nearest;
DBG2("------");
ccdPtInit(&pt);
v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_FACE);
assertEquals(nearest, (ccd_pt_el_t *)f[1]);
assertTrue(ccdPtDelFace(&pt, f[1]) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_FACE);
assertTrue(nearest == (ccd_pt_el_t *)f[0]
|| nearest == (ccd_pt_el_t *)f[3]);
assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_FACE);
assertTrue(nearest == (ccd_pt_el_t *)f[0]
|| nearest == (ccd_pt_el_t *)f[3]);
assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[0]
|| nearest == (ccd_pt_el_t *)e[3]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[0]
|| nearest == (ccd_pt_el_t *)e[3]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_FACE);
assertEquals(nearest, (ccd_pt_el_t *)f[2]);
assertTrue(ccdPtDelFace(&pt, f[2]) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[1]
|| nearest == (ccd_pt_el_t *)e[4]
|| nearest == (ccd_pt_el_t *)e[5]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[1]
|| nearest == (ccd_pt_el_t *)e[4]
|| nearest == (ccd_pt_el_t *)e[5]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[1]
|| nearest == (ccd_pt_el_t *)e[4]
|| nearest == (ccd_pt_el_t *)e[5]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_EDGE);
assertTrue(nearest == (ccd_pt_el_t *)e[2]);
assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_VERTEX);
assertTrue(nearest == (ccd_pt_el_t *)v[1]
|| nearest == (ccd_pt_el_t *)v[2]
|| nearest == (ccd_pt_el_t *)v[3]);
assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_VERTEX);
assertTrue(nearest == (ccd_pt_el_t *)v[1]
|| nearest == (ccd_pt_el_t *)v[2]
|| nearest == (ccd_pt_el_t *)v[3]);
assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_VERTEX);
assertTrue(nearest == (ccd_pt_el_t *)v[1]
|| nearest == (ccd_pt_el_t *)v[2]
|| nearest == (ccd_pt_el_t *)v[3]);
assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
//DBG("nearest->type: %d", nearest->type);
//DBG(" ->dist: %lf", nearest->dist);
//DBG_VEC3(&nearest->witness, " ->witness: ");
assertEquals(nearest->type, CCD_PT_VERTEX);
assertTrue(nearest == (ccd_pt_el_t *)v[0]);
assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
nearest = ccdPtNearest(&pt);
assertTrue(nearest == NULL);
ccdPtDestroy(&pt);
}
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