Exception for the intersectionWith method #64
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Richiedu38
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| return false; |
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To be consistent with the other intersection algos, let's call intersectionToPack.setToNaN() when it's not intersecting.
| Point3DBasics secondIntersectionToPack) | ||
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let's add here:
if (firstIntersectionToPack == null) firstIntersectionToPack = new Point3D();
if (secondIntersectionToPack == null) secondIntersectionToPack = new Point3D();
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| //For each face, we check the possibility of intersection with the line | ||
| for (int i=0; i< getNumberOfFaces(); i++) { | ||
| //If there isn't already a intersection found |
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The conditions in this loop aren't working, also you've got a bug due to a bad copy-paste. I'll let you figure out how to fix this loop.
| break; | ||
| } | ||
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| return numberOfIntersections; |
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Before returning, we need to check the ordering of the 2 intersections to be consistent with the other intersection algorithms
| if (numberOfIntersections == 1) | ||
| return numberOfIntersections; | ||
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| if (numberOfIntersections == 2 && EuclidCoreTools.epsilonEquals(firstIntersectionToPack, secondIntersectionToPack, 1.0e-7)) |
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Here we already know that numberOfIntersections == 2, there is no need to test for it in that if condition.
Also, the secondIntersectionToPack should be set to NaN
| // Swap intersections | ||
| Point3DBasics temp = firstIntersectionToPack; | ||
| firstIntersectionToPack = secondIntersectionToPack; | ||
| secondIntersectionToPack = temp; |
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This won't work, you're changing method's internal references, from the caller's perspective.
Your test should fail on this, if not, you want to update it to test the ordering the intersections.
The only solution here is to update the content of the 2 objects, so:
double tempX = firstInstersectionToPack.getX();
double tempY = firstInstersectionToPack.getY();
double tempZ = firstInstersectionToPack.getZ();
firstInstersectionToPack.set(secondInstersectionToPack);
secondIntersectionToPack.set(tempX, tempY, tempZ);
| assertEquals(2, convexPolytope3D.intersectionWith(pointOnFace, direction, null, actualSecondInstersection)); | ||
| actualFirstInstersection.setToZero(); | ||
| actualSecondInstersection.setToZero(); | ||
| assertEquals(2, convexPolytope3D.intersectionWith(pointOnFace, direction, actualFirstInstersection, actualSecondInstersection)); |
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Ok so your test here only asserts that the method returns the expected number of intersections, it doesn't assert that the computed intersections are correct nor in the right order.
| double y = alpha * A.getY() + beta * B.getY() + gamma * C.getY(); | ||
| double z = alpha * A.getZ() + beta * B.getZ() + gamma * C.getZ(); | ||
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| Point3D pointOnFace = new Point3D(x, y, z); |
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I'd suggest wrapping the above code for generating a random point in a face into a static method here.
Eclipse can help you do that, select the code, then right click, refactor > extract method
| assertEquals(0, convexPolytope3D.intersectionWith(pointOutside, lineDirection, null, actualSecondInstersection)); | ||
| actualFirstInstersection.setToZero(); | ||
| actualSecondInstersection.setToZero(); | ||
| assertEquals(0, convexPolytope3D.intersectionWith(pointOutside, lineDirection, actualFirstInstersection, actualSecondInstersection)); |
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I think we can find more constructions to cover more scenarios with no intersection
| assertEquals(2, convexPolytope3D.intersectionWith(pointInside, lineDirection, null, actualSecondInstersection)); | ||
| actualFirstInstersection.setToZero(); | ||
| actualSecondInstersection.setToZero(); | ||
| assertEquals(2, convexPolytope3D.intersectionWith(pointInside, lineDirection, actualFirstInstersection, actualSecondInstersection)); |
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Here you've got the intersections that are known, you should easily be able to check the ones that are computed
| assertEquals(2, convexPolytope3D.intersectionWith(pointInside, lineDirection, actualFirstInstersection, actualSecondInstersection)); | ||
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Missing test for 1 intersection: through a vertex and through an edge.
Missing annoying edge-case: the line is in-plane of a face, there should be 2 intersections still
src/geometry/java/us/ihmc/euclid/geometry/tools/EuclidGeometryTools.java
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To avoid error messages during compilation due to the absence of the intersectionWith method for some shapes, I added an exception returning 'Intersection line capsule isn't supported'.