maspack.collision

Class SurfaceMeshIntersectorTest

java.lang.Object

maspack.util.UnitTest

maspack.collision.SurfaceMeshIntersectorTest

public class SurfaceMeshIntersectorTest
extends UnitTest

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SurfaceMeshIntersectorTest.TestInfo

Constructor Summary

Constructors

Constructor and Description
SurfaceMeshIntersectorTest(int randomSeed)

Method Summary

Modifier and Type	Method and Description
void	checkRegions(java.lang.String msg, int[][] regionsCheck, double[] areasCheck, java.util.ArrayList<PenetrationRegion> regions, java.util.ArrayList<IntersectionContour> contours, PolygonalMesh mesh, SurfaceMeshIntersector smi, boolean clockwise)
void	closedContourTests()
void	crownCylinderTests()
void	crownTopBoxTests()
static int[]	getFaceIndices(java.util.Collection<Face> faces)
ContactInfo	getLastContactInfo()
PolygonalMesh	getLastIMesh()
PolygonalMesh	getLastMesh0()
PolygonalMesh	getLastMesh1()
RigidTransform3d	getLastMeshToWorld0()
RigidTransform3d	getLastMeshToWorld1()
PolygonalMesh	getLastUMesh()
boolean	getSaveTestResults()
java.lang.String	getTestFailFileName()
static int[]	getVertexIndices(PenetrationRegion region)
static void	main(java.lang.String[] args)
void	miscTests()
void	openContourTests()
void	perturbedPlateTests()
boolean	regionEqualsCheck(PenetrationRegion region, int[] checkContours, int[] checkVertices, java.util.ArrayList<IntersectionContour> contours)
static SurfaceMeshIntersector.CSG	scanProblem(ReaderTokenizer rtok, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo)
static SurfaceMeshIntersector.CSG	scanProblem(java.lang.String fileName, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo)
void	setSaveTestResults(boolean enable)
void	setTestFailFileName(java.lang.String name)
void	simpleBoxTests()
void	singleFaceContourTests()
void	singleFaceTests() Special tests that involve penetration regions consisting of a single face that contacts the contour at only the edges or vertices.
void	specialTests()
void	test()
void	testContacts(PolygonalMesh mesh0, PolygonalMesh mesh1, RigidTransform3d TBW, RigidTransform3d T10, int[][] regions0Check, int[][] regions1Check, double[] regions0AreaCheck, double[] regions1AreaCheck, double[]... contoursCheck)
void	testContacts(PolygonalMesh mesh0, PolygonalMesh mesh1, maspack.collision.SurfaceMeshIntersectorTest.RandomTransform rand, int ntests, int nperturb, int[][] regions0Check, int[][] regions1Check, double[] regions0AreaCheck, double[] regions1AreaCheck, double[]... contoursCheck)
void	testContacts(PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo)
void	torusTests()
static void	writeProblem(java.io.PrintWriter pw, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo)
static void	writeProblem(java.io.PrintWriter pw, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo, SurfaceMeshIntersector.CSG csgOp)
static void	writeProblem(java.lang.String fileName, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo)
static void	writeProblem(java.lang.String fileName, PolygonalMesh mesh0, PolygonalMesh mesh1, SurfaceMeshIntersectorTest.TestInfo tinfo, SurfaceMeshIntersector.CSG csgOp)

Methods inherited from class maspack.util.UnitTest

check, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkNormedEquals, checkNormedEquals, getSilent, printUsageAndExit, runtest, setSilent

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SurfaceMeshIntersectorTest

public SurfaceMeshIntersectorTest(int randomSeed)

Method Detail

getSaveTestResults

public boolean getSaveTestResults()

setSaveTestResults

public void setSaveTestResults(boolean enable)

getTestFailFileName

public java.lang.String getTestFailFileName()

setTestFailFileName

public void setTestFailFileName(java.lang.String name)

getLastMesh0

public PolygonalMesh getLastMesh0()

getLastMesh1

public PolygonalMesh getLastMesh1()

getLastMeshToWorld0

public RigidTransform3d getLastMeshToWorld0()

getLastMeshToWorld1

public RigidTransform3d getLastMeshToWorld1()

getLastIMesh

public PolygonalMesh getLastIMesh()

getLastUMesh

public PolygonalMesh getLastUMesh()

getLastContactInfo

public ContactInfo getLastContactInfo()

writeProblem

public static void writeProblem(java.lang.String fileName,
                                PolygonalMesh mesh0,
                                PolygonalMesh mesh1,
                                SurfaceMeshIntersectorTest.TestInfo tinfo)
                         throws java.io.IOException

Throws:

java.io.IOException

writeProblem

public static void writeProblem(java.lang.String fileName,
                                PolygonalMesh mesh0,
                                PolygonalMesh mesh1,
                                SurfaceMeshIntersectorTest.TestInfo tinfo,
                                SurfaceMeshIntersector.CSG csgOp)
                         throws java.io.IOException

Throws:

java.io.IOException

writeProblem

public static void writeProblem(java.io.PrintWriter pw,
                                PolygonalMesh mesh0,
                                PolygonalMesh mesh1,
                                SurfaceMeshIntersectorTest.TestInfo tinfo)
                         throws java.io.IOException

Throws:

java.io.IOException

writeProblem

public static void writeProblem(java.io.PrintWriter pw,
                                PolygonalMesh mesh0,
                                PolygonalMesh mesh1,
                                SurfaceMeshIntersectorTest.TestInfo tinfo,
                                SurfaceMeshIntersector.CSG csgOp)
                         throws java.io.IOException

Throws:

java.io.IOException

scanProblem

public static SurfaceMeshIntersector.CSG scanProblem(java.lang.String fileName,
                                                     PolygonalMesh mesh0,
                                                     PolygonalMesh mesh1,
                                                     SurfaceMeshIntersectorTest.TestInfo tinfo)
                                              throws java.io.IOException

Throws:

java.io.IOException

scanProblem

public static SurfaceMeshIntersector.CSG scanProblem(ReaderTokenizer rtok,
                                                     PolygonalMesh mesh0,
                                                     PolygonalMesh mesh1,
                                                     SurfaceMeshIntersectorTest.TestInfo tinfo)
                                              throws java.io.IOException

Throws:

java.io.IOException

getVertexIndices

public static int[] getVertexIndices(PenetrationRegion region)

regionEqualsCheck

public boolean regionEqualsCheck(PenetrationRegion region,
                                 int[] checkContours,
                                 int[] checkVertices,
                                 java.util.ArrayList<IntersectionContour> contours)

checkRegions

public void checkRegions(java.lang.String msg,
                         int[][] regionsCheck,
                         double[] areasCheck,
                         java.util.ArrayList<PenetrationRegion> regions,
                         java.util.ArrayList<IntersectionContour> contours,
                         PolygonalMesh mesh,
                         SurfaceMeshIntersector smi,
                         boolean clockwise)

testContacts

public void testContacts(PolygonalMesh mesh0,
                         PolygonalMesh mesh1,
                         maspack.collision.SurfaceMeshIntersectorTest.RandomTransform rand,
                         int ntests,
                         int nperturb,
                         int[][] regions0Check,
                         int[][] regions1Check,
                         double[] regions0AreaCheck,
                         double[] regions1AreaCheck,
                         double[]... contoursCheck)

testContacts

public void testContacts(PolygonalMesh mesh0,
                         PolygonalMesh mesh1,
                         RigidTransform3d TBW,
                         RigidTransform3d T10,
                         int[][] regions0Check,
                         int[][] regions1Check,
                         double[] regions0AreaCheck,
                         double[] regions1AreaCheck,
                         double[]... contoursCheck)

testContacts

public void testContacts(PolygonalMesh mesh0,
                         PolygonalMesh mesh1,
                         SurfaceMeshIntersectorTest.TestInfo tinfo)

specialTests

public void specialTests()

singleFaceTests

public void singleFaceTests()

Special tests that involve penetration regions consisting of a single face that contacts the contour at only the edges or vertices.

simpleBoxTests

public void simpleBoxTests()

torusTests

public void torusTests()

singleFaceContourTests

public void singleFaceContourTests()

crownTopBoxTests

public void crownTopBoxTests()

crownCylinderTests

public void crownCylinderTests()

perturbedPlateTests

public void perturbedPlateTests()

miscTests

public void miscTests()

closedContourTests

public void closedContourTests()

openContourTests

public void openContourTests()

getFaceIndices

public static int[] getFaceIndices(java.util.Collection<Face> faces)

test

public void test()

Overrides:

test in class UnitTest

main

public static void main(java.lang.String[] args)