/**************************************************************************** * Copyright (c) 2025, ArborX authors * * All rights reserved. * * * * This file is part of the ArborX library. ArborX is * * distributed under a BSD 3-clause license. For the licensing terms see * * the LICENSE file in the top-level directory. * * * * SPDX-License-Identifier: BSD-3-Clause * ****************************************************************************/ #include #include #include #include BOOST_AUTO_TEST_CASE(intersects_box) { using ArborX::Experimental::Ray; constexpr ArborX::Box unit_box{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}}; // origin is within the box BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, .5}, {0, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, .5}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 1, 1}}, unit_box)); // origin is outside the box // hit the center of the face BOOST_TEST(intersects(Ray{{-1, .5, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, .5, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, .5, .5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{2, .5, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, .5, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, .5, .5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, 1.5, .5}, {1, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1.5, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, 1.5, 1.5}, {1, -1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, 0, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{2, -.5, .5}, {-1, 1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, -.5, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{2, -.5, 1.5}, {-1, 1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 0, -1}}, unit_box)); // hit the center of an edge BOOST_TEST(intersects(Ray{{-1, 0, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 0, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 0, .5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{2, 0, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, 0, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, 0, .5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, -1, .5}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, 1, .5}, {1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, -2, .5}, {1, 2, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{2, 2, .5}, {-1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{2, -1, .5}, {-1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{2, 1, .5}, {-1, -1, 0}}, unit_box)); // hit a corner BOOST_TEST(intersects(Ray{{-0.5, 1.5, 1.5}, {1, -1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1, 1}, {-1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{-1, 1, 1}, {0, 1, 1}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, 1, 1}, {1, 0, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{2, 1, 1}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{-1, -1, -1}, {1, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{2, 2, 2}, {-1, -1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1, 2, 3}, {4, 5, 6}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -2, -3}}, unit_box)); // origin is on the box (no 0*inf). BOOST_TEST(intersects(Ray{{0, 0, 0}, {1, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, -1, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {-1, -1, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, .5, .5}, {-1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, .5, .5}, {1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, 1, .5}, {0, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, 1, .5}, {0, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, 1}, {0, 0, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{.5, .5, 1}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, .5}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, .5}, {-1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, .5}, {-1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, .5}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0.5, 0}, {-1, -2, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0.5, 0, 0.5}, {2, 0, -1}}, unit_box)); // origin is on the box (with 0*inf). BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, 1, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 0, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, -1, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {-1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, 0, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 1, 1}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 0, 1}, {1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1, 0}, {0, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 1}, {-1, 0, -1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 0, 1}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 0, 0}, {0, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 0, 0}, {-1, 0, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 1, 0}, {0, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 1, 0}, {0, 0, -1}}, unit_box)); // more cases with 0*inf: BOOST_TEST(intersects(Ray{{0, 1.5, 1.5}, {0, -1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{0, 1.5, 1.5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 0, 1.5}, {-1, 0, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 0, 1.5}, {1, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 1.5, 0}, {-1, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 1.5, 0}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1.5, 1.5}, {0, -1, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1, 1.5, 1.5}, {0, 1, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 1, 1.5}, {-1, 0, -1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 1, 1.5}, {1, 0, 1}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 1.5, 1}, {-1, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 1.5, 1}, {1, 1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 0, 0}, {-1, 0, 2}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 0, 0}, {-1, 2, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 0, 0}, {-1, 0, 2.1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 0, 0}, {-1, 2.1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 1, 1}, {-1, 0, -2}}, unit_box)); BOOST_TEST(intersects(Ray{{1.5, 1, 1}, {-1, -2, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 1, 1}, {-1, 0, -2.1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1.5, 1, 1}, {-1, -2.1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 1.5, 0}, {0, -1, 2}}, unit_box)); BOOST_TEST(intersects(Ray{{0, 1.5, 0}, {2, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{0, 1.5, 0}, {0, -1, 2.1}}, unit_box)); BOOST_TEST(!intersects(Ray{{0, 1.5, 0}, {2.1, -1, 0}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1.5, 1}, {0, -1, -2}}, unit_box)); BOOST_TEST(intersects(Ray{{1, 1.5, 1}, {-2, -1, 0}}, unit_box)); BOOST_TEST(!intersects(Ray{{1, 1.5, 1}, {0, -1, -2.1}}, unit_box)); BOOST_TEST(!intersects(Ray{{1, 1.5, 1}, {-2.1, -1, 0}}, unit_box)); } #define ARBORX_TEST_RAY_BOX_INTERSECTION(ray, box, t0_ref, t1_ref) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(ArborX::Experimental::intersection(ray, box, t0, t1)); \ BOOST_TEST(t0 == t0_ref); \ BOOST_TEST(t1 == t1_ref); \ } while (false) #define ARBORX_TEST_RAY_BOX_NO_INTERSECTION(ray, box) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(!ArborX::Experimental::intersection(ray, box, t0, t1)); \ BOOST_TEST((t0 == inf || t1 == -inf)); \ } while (false) BOOST_AUTO_TEST_CASE(ray_box_intersection, *boost::unit_test::tolerance(1e-6f)) { using ArborX::Experimental::Ray; namespace KokkosExt = ArborX::Details::KokkosExt; #ifdef _MSC_VER auto const inf = KokkosExt::ArithmeticTraits::infinity::value; #else constexpr auto inf = KokkosExt::ArithmeticTraits::infinity::value; #endif constexpr ArborX::Box unit_box{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}}; auto const sqrtf_5 = std::sqrt(5.f); auto const sqrtf_3 = std::sqrt(3.f); auto const sqrtf_2 = std::sqrt(2.f); // clang-format off // origin is within the box ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 0, 0}}), unit_box, -.5f, .5f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {0, 1, 0}}), unit_box, -.5f, .5f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {0, 0, 1}}), unit_box, -.5f, .5f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 1, 0}}), unit_box, -.5f*sqrtf_2, .5f*sqrtf_2); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 1, 1}}), unit_box, -.5f*sqrtf_3, .5f*sqrtf_3); // origin is outside the box // hit the center of the face ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, .5, .5}, {1, 0, 0}}), unit_box, 1.f, 2.f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, .5, .5}, {-1, 0, 0}}), unit_box, -2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, .5, .5}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, .5, .5}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, .5, .5}, {-1, 0, 0}}), unit_box, 1.f, 2.f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, .5, .5}, {1, 0, 0}}), unit_box, -2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, .5, .5}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1.5, .5}, {1, -1, 0}}), unit_box, sqrtf_2, 1.5f*sqrtf_2); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, .5}, {1, 0, 0}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, -1, -1}}), unit_box, sqrtf_3, 1.5f*sqrtf_3); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, 0, 0}}), unit_box); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, -1, 0}}), unit_box); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, 0, -1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -.5, .5}, {-1, 1, 0}}), unit_box, sqrtf_2, 1.5f*sqrtf_2); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, .5}, {-1, 0, 0}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 1, -1}}), unit_box, sqrtf_3, 1.5f*sqrtf_3); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 0, 0}}), unit_box); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 1, 0}}), unit_box); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 0, -1}}), unit_box); // hit the center of an edge ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 0, .5}, {1, 0, 0}}), unit_box, 1.f, 2.f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 0, .5}, {-1, 0, 0}}), unit_box, -2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 0, .5}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 0, .5}, {-1, 0, 0}}), unit_box, 1.f, 2.f); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 0, .5}, {1, 0, 0}}), unit_box, -2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, 0, .5}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -1, .5}, {1, 1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1, .5}, {1, -1, 0}}), unit_box, sqrtf_2, sqrtf_2); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -2, .5}, {1, 2, 0}}), unit_box, sqrtf_5, 1.5f*sqrtf_5); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 2, .5}, {-1, -1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -1, .5}, {-1, 1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 1, .5}, {-1, -1, 0}}), unit_box, sqrtf_2, sqrtf_2); // hit a corner ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-0.5, 1.5, 1.5}, {1, -1, -1}}), unit_box, .5f*sqrtf_3, 1.5f*sqrtf_3); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1, 1}, {-1, 0, 0}}), unit_box,-2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1, 1}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 1, 1}, {1, 0, 0}}), unit_box, -2.f, -1.f); ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, 1, 1}, {0, 1, 1}}), unit_box); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -1, -1}, {1, 1, 1}}), unit_box, sqrtf_3, 2*sqrtf_3); ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 2, 2}, {-1, -1, -1}}), unit_box, sqrtf_3, 2*sqrtf_3); // clang-format on } #undef ARBORX_TEST_RAY_BOX_INTERSECTION #undef ARBORX_TEST_RAY_BOX_NO_INTERSECTION BOOST_AUTO_TEST_CASE(ray_box_distance) { using ArborX::Experimental::Ray; // use const instead of constexpr because MSVC shows error(error:expression // must have a constant value) constexpr ArborX::Box unit_box{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}}; namespace KokkosExt = ArborX::Details::KokkosExt; #ifdef _MSC_VER auto const inf = KokkosExt::ArithmeticTraits::infinity::value; #else constexpr auto inf = KokkosExt::ArithmeticTraits::infinity::value; #endif // clang-format off // origin is within the box BOOST_TEST(distance(Ray{{.5, .5, .5}, {1, 0, 0}}, unit_box) == 0.f); // origin outside box, ray hitting box BOOST_TEST(distance(Ray{{.5, .5, -.5}, {0, 0, 1}}, unit_box) == .5f); // origin outside box, ray missing box BOOST_TEST(distance(Ray{{.5, .5, -.5}, {0, 0, -1}}, unit_box) == inf); } // NOTE until boost 1.70 need to cast both operands when comparing floating // points BOOST_AUTO_TEST_CASE(overlap_distance_sphere, *boost::unit_test::tolerance(1e-6f)) { using ArborX::Experimental::Ray; constexpr ArborX::Sphere unit_sphere{{0.f, 0.f, 0.f}, 1.f}; auto const sqrtf_3 = std::sqrt(3.f); auto const half_sqrtf_2 = std::sqrt(2.f) / 2; auto const half_sqrtf_3 = std::sqrt(3.f) / 2; // hit center of the sphere BOOST_TEST(overlapDistance(Ray{{-2, 0, 0}, {1, 0, 0}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{0, 3, 0}, {0, -1, 0}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{0, 0, -4}, {0, 0, 1}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{-2, -2, -2}, {1, 1, 1}}, unit_sphere) == 2.f); // miss it BOOST_TEST(overlapDistance(Ray{{-2, -2, -2}, {1, 0, 0}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{1, 2, 3}, {4, 5, 6}}, unit_sphere) == 0.f); // half-radius BOOST_TEST(overlapDistance(Ray{{-2, 0, 0.5}, {1, 0, 0}}, unit_sphere) == sqrtf_3); BOOST_TEST(overlapDistance(Ray{{0, -0.5, 2}, {0, 0, -1}}, unit_sphere) == sqrtf_3); // touch surface but no intersection BOOST_TEST(overlapDistance(Ray{{1, -2, 0}, {0, 1, 0}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{2, 2, -1}, {-1, -1, 0}}, unit_sphere) == 0.f); // behind the origin BOOST_TEST(overlapDistance(Ray{{-2, 0, 0}, {-1, 0, 0}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{0, 2, 2}, {0, 1, 1}}, unit_sphere) == 0.f); // origin inside BOOST_TEST(overlapDistance(Ray{{0.5, 0, 0}, {0, 1, 1}}, unit_sphere) == half_sqrtf_3); BOOST_TEST(overlapDistance(Ray{{0, -half_sqrtf_3, 0}, {0, 0, 1}}, unit_sphere) == 0.5f); BOOST_TEST(overlapDistance(Ray{{0, 0, half_sqrtf_2}, {1, -1, 0}}, unit_sphere) == half_sqrtf_2); BOOST_TEST(overlapDistance(Ray{{0, 0.6, 0}, {0, 1, 0}}, unit_sphere) == 0.4f); BOOST_TEST(overlapDistance(Ray{{0, 0, 0}, {1, 2, 3}}, unit_sphere) == 1.f); // origin on surface // tangent BOOST_TEST(overlapDistance(Ray{{0, 0, 1}, {1, -1, 0}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{0, 1, 0}, {2, 0, 3}}, unit_sphere) == 0.f); BOOST_TEST( overlapDistance(Ray{{half_sqrtf_2, half_sqrtf_2, 0}, {1, -1, 0}}, unit_sphere) == 0.f, boost::test_tools::tolerance(5e-4f)); // inside at machine precision... BOOST_TEST(overlapDistance(Ray{{-half_sqrtf_3, 0.5, 0}, {1, 2, 0}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{0.5, half_sqrtf_3, 0}, {2, -1, 0}}, unit_sphere) == 0.f); // directed at sphere BOOST_TEST(overlapDistance(Ray{{1, 0, 0}, {-2, 0, 0}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{1, 0, 0}, {-2, 0, 0}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{0, -half_sqrtf_2, half_sqrtf_2}, {0, 1, -1}}, unit_sphere) == 2.f); BOOST_TEST(overlapDistance(Ray{{half_sqrtf_3, 0.5, 0}, {-1, 0, 0}}, unit_sphere) == sqrtf_3); // directed away BOOST_TEST(overlapDistance(Ray{{0, 0, 1}, {1, 1, 1}}, unit_sphere) == 0.f); BOOST_TEST(overlapDistance(Ray{{half_sqrtf_3, 0.5, 0}, {1, 0, 0}}, unit_sphere) == 0.f); } #define ARBORX_TEST_RAY_SPHERE_INTERSECTION(ray, sphere, t0_ref, t1_ref) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(ArborX::Experimental::intersection(ray, sphere, t0, t1)); \ BOOST_TEST(t0 == t0_ref); \ BOOST_TEST(t1 == t1_ref); \ } while (false) #define ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION(ray, sphere) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(!ArborX::Experimental::intersection(ray, sphere, t0, t1)); \ BOOST_TEST((t0 == inf && t1 == -inf)); \ } while (false) BOOST_AUTO_TEST_CASE(ray_sphere_intersection, *boost::unit_test::tolerance(1e-6f)) { using ArborX::Experimental::Ray; constexpr ArborX::Sphere unit_sphere{{0.f, 0.f, 0.f}, 1.f}; auto const sqrtf_3 = std::sqrt(3.f); auto const sqrtf_2 = std::sqrt(2.f); namespace KokkosExt = ArborX::Details::KokkosExt; #ifdef _MSC_VER auto const inf = KokkosExt::ArithmeticTraits::infinity::value; #else constexpr auto inf = KokkosExt::ArithmeticTraits::infinity::value; #endif // clang-format off // hit center of the sphere ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0}, {1, 0, 0}}), unit_sphere, 1.f, 3.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 3, 0}, {0, -1, 0}}), unit_sphere, 2.f, 4.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 0, -4}, {0, 0, 1}}), unit_sphere, 3.f, 5.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, -2, -2}, {1, 1, 1}}), unit_sphere, 2*sqrtf_3-1, 2*sqrtf_3+1); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{1, 0, 0}, {1, 0, 0}}), unit_sphere, -2.f, 0.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 3, 0}, {0, 1, 0}}), unit_sphere, -4.f, -2.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 0, -4}, {0, 0, -1}}), unit_sphere, -5.f, -3.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{2, 2, 2}, {1, 1, 1}}), unit_sphere, -2*sqrtf_3-1, -2*sqrtf_3+1); ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION((Ray{{-2, -2, -2}, {1, 0, 0}}), unit_sphere); // half-radius ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0.5}, {1, 0, 0}}), unit_sphere, 2-sqrtf_3/2, 2+sqrtf_3/2); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, -0.5, 2}, {0, 0, -1}}), unit_sphere, 2-sqrtf_3/2, 2+sqrtf_3/2); // touch surface ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{1, -2, 0}, {0, 1, 0}}), unit_sphere, 2.f, 2.f); // ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{2, 2, -1}, {-1, -1, 0}}), unit_sphere, 2*sqrtf_2, 2*sqrtf_2); // machine precision // behind the origin ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0}, {-1, 0, 0}}), unit_sphere, -3.f, -1.f); ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 2, 2}, {0, 1, 1}}), unit_sphere, -2*sqrtf_2-1, -2*sqrtf_2+1); // clang-format on } #undef ARBORX_TEST_RAY_SPHERE_INTERSECTION #undef ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION BOOST_AUTO_TEST_CASE(intersects_triangle) { using ArborX::Point; using ArborX::Triangle; using ArborX::Experimental::Ray; constexpr Triangle unit_triangle{ {0.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}}; BOOST_TEST(intersects(Ray{{.1, .2, .3}, {0, 0, -1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1.1, 1.2, 1}, {-1, -1, -1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{-1.9, 3.2, -1}, {2, -3, 1}}, unit_triangle)); BOOST_TEST(!intersects(Ray{{1, 2, 3}, {1, 1, 0}}, unit_triangle)); BOOST_TEST(!intersects(Ray{{1, 2, 3}, {1, 0, 0}}, unit_triangle)); BOOST_TEST(!intersects(Ray{{1, 2, 3}, {0, 1, 0}}, unit_triangle)); // ray origin on the triangle BOOST_TEST(intersects(Ray{{.1, .2, 0}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{.1, .2, 0}, {0, 0, -1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{.1, .2, 0}, {1, 2, 3}}, unit_triangle)); // ray directed away from the triangle BOOST_TEST(!intersects(Ray{{.1, .2, .3}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(!intersects(Ray{{1.0, 1.0, 0.0}, {0, 1, 0}}, unit_triangle)); // ray in the same plane as the triangle BOOST_TEST(intersects(Ray{{.3, .3, 0}, {1, 1, 0}}, unit_triangle)); BOOST_TEST(intersects(Ray{{-0.1, 0, 0}, {1, 0, 0}}, unit_triangle)); BOOST_TEST(intersects(Ray{{0.1, -0.2, 0}, {0, 1, 0}}, unit_triangle)); BOOST_TEST(!intersects(Ray{{-1, -1, 0}, {0, 1, 0}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1.0, 0.0, 0.0}, {-1, 1, 0}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1.0, 0.0, 0.0}, {1, 2, 3}}, unit_triangle)); // ray misses the triangle BOOST_TEST(!intersects(Ray{{-1, 2, -3}, {0, 0, 1}}, unit_triangle)); // ray hits vertices BOOST_TEST(intersects(Ray{{0, 0, -1}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1, 0, -2}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{0, 1, -3}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -2, -3}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1, 2, 3}, {0, -2, -3}}, unit_triangle)); BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -1, -3}}, unit_triangle)); // ray hits edges BOOST_TEST(intersects(Ray{{.1, 0, -1}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{0, .2, -2}, {0, 0, 1}}, unit_triangle)); BOOST_TEST(intersects(Ray{{.5, .5, -3}, {0, 0, 1}}, unit_triangle)); // ray in a plane parallel to the triangle BOOST_TEST(!intersects(Ray{{-0.1, 0, 1}, {1, 0, 0}}, unit_triangle)); constexpr Triangle tilted_triangle{ {0.f, 0.f, 0.f}, {2.f, 0.f, 1.f}, {0.f, 2.f, 1.f}}; // ray in the same plane as the triangle BOOST_TEST(!intersects(Ray{{10, 0, 0}, {1, 1, 1}}, tilted_triangle)); BOOST_TEST(intersects(Ray{{3, 3, 3}, {-1, -1, -1}}, tilted_triangle)); // ray in a plane parallel to the triangle BOOST_TEST(!intersects(Ray{{0., 0., 0.1}, {1, 1, 1}}, tilted_triangle)); } #define ARBORX_TEST_RAY_TRIANGLE_INTERSECTION(ray, triangle, t0_ref, t1_ref) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(ArborX::Experimental::intersection(ray, triangle, t0, t1)); \ BOOST_TEST(t0 == t0_ref); \ BOOST_TEST(t1 == t1_ref); \ } while (false) #define ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION(ray, triangle) \ do \ { \ float t0; \ float t1; \ BOOST_TEST(!ArborX::Experimental::intersection(ray, triangle, t0, t1)); \ BOOST_TEST((t0 == inf && t1 == -inf)); \ } while (false) BOOST_AUTO_TEST_CASE(ray_triangle_intersection, *boost::unit_test::tolerance(2e-6f)) { using ArborX::Point; using ArborX::Triangle; using ArborX::Experimental::Ray; namespace KokkosExt = ArborX::Details::KokkosExt; #ifdef _MSC_VER auto const inf = KokkosExt::ArithmeticTraits::infinity::value; #else constexpr auto inf = KokkosExt::ArithmeticTraits::infinity::value; #endif constexpr Triangle unit_triangle{ {0.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}}; constexpr Triangle narrow_triangle{ {0.5f, 0.5f, 0.f}, {0.24f, 0.74f, 0.f}, {0.f, 1.f, 0.f}}; auto const sqrtf_3 = std::sqrt(3.f); auto const sqrtf_2 = std::sqrt(2.f); // clang-format off // intersection forward, ray is perpendicular to the triangle ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {0, 0, 1}}), unit_triangle, 1.f, 1.f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, 1.0}, {0, 0, -1}}), unit_triangle, 1.f, 1.f); // intersection backward, ray is perpendicular to the triangle ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {0, 0, -1}}), unit_triangle, -1.f, -1.f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, 1.0}, {0, 0, 1}}), unit_triangle, -1.f, -1.f); // ray in a plane parallel to the triangle ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {1, 0, 0}}), unit_triangle); // intersection forward ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, -0.3}, {1, 1, 1}}), unit_triangle, 0.3f*sqrtf_3, 0.3f*sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.3, -0.3}, {1, 0, 1}}), unit_triangle, 0.3f*sqrtf_2, 0.3f*sqrtf_2); // intersection backward ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, -0.3}, {-1, -1, -1}}), unit_triangle, -0.3f*sqrtf_3, -0.3f*sqrtf_3); // ray intersection forward with edges ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 0.0, 0.0}, {1, 0, 0}}), unit_triangle, 1.f, 2.f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1, 0}}), unit_triangle, sqrtf_2, 2.0f*sqrtf_2); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, -1.0, 0.0}, {-1, 1, 0}}), unit_triangle, sqrtf_2, 2.0f*sqrtf_2); // ray intersection backward with edges ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {-1, 1, 0}}), unit_triangle, -sqrtf_2, -2.0f*sqrtf_2); // ray origin on the edge ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.5, 0.5, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 0.0, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f); // ray origin on the vertice ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 1.0, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f); // ray intersection backward with the vertice ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {0, 1, 0}}), unit_triangle, -1.f, -1.f); // ray coplanar to the triangle misses ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {-1, 1, 0}}), unit_triangle); // ray coplanar to the triangle auto const sqrtf_1p01=std::sqrt(1.01f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-4.0, 0.5, 0.0}, {5.0, -0.5, 0.0}}), unit_triangle, 4.f*sqrtf_1p01, 5.f*sqrtf_1p01); //narrow_triangle ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1, 0}}), narrow_triangle, sqrtf_2, 1.5f*sqrtf_2); ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1.02, 0}}), narrow_triangle); // a pyramid-shape test // These tests are inspired by the Fig. 1 in the paper [1] Woop, S, et al. (2013), // the left subfigure shows the crack in the middle where the edges meet, and the right // subfigure shows that the proposed algorithm fixed the issue. In their own word, // "Plucker coordinates guarantee watertightness along the edges, but edges do not meet // exactly at the vertices. The algorithm described in this paper fixed this issue, and // guarantees watertightness along the edges and at the vertices". I assume the below // test would fail the "Plucker coordinates"-based algorithm, thus it is necessary to // keep them here to show the watertightness of the current algorithm implemented. constexpr Point O{1.f, 1.f, 1.f}; constexpr Point A{2.f, 2.f, 0.f}; constexpr Point B{2.f, -1.f, 0.f}; constexpr Point C{-1.f, -1.f, 0.f}; constexpr Point D{-1.f, 2.f, 0.f}; constexpr Triangle triangle_up{D, A, O}; constexpr Triangle triangle_right{O, A, B}; constexpr Triangle triangle_down{B, O, C}; constexpr Triangle triangle_left{C, D, O}; // ray hits the vertice shared by four triangles ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_up, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_right, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_down, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_left, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-1, -1, -1}}), triangle_up, -sqrtf_3, -sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_up, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_right, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_down, sqrtf_3, sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_left, sqrtf_3, sqrtf_3); // ray hits one edge ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {0, 0, 1}}), triangle_down, 0.5f, 0.5f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, -1.0, 0.5}, {0, 1, 0}}), triangle_down, 1.0f, 1.0f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {0, 0, 1}}), triangle_left, 0.5f, 0.5f); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {1, 1, 1}}), triangle_up, 0.5f*sqrtf_3, 0.5f*sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {1, 1, 1}}), triangle_right, 0.5f*sqrtf_3, 0.5f*sqrtf_3); // Problem with extreme sizes (compared to the above tests): // In the original algorithm, the u, v, w scale with the size of the problem, which // leads to precision problems. The problem is fixed by normalizing the distances // between the origin of the ray and the vertices. // These tests will fail if there is no normalization. float const size_s = 0.0001; Triangle small_triangle{{-size_s, 0.f, 0.f}, {0.f, size_s, 0.f}, {0.f, 0.f, size_s}}; ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-size_s, size_s, size_s}}), small_triangle, size_s/sqrtf_3, size_s/sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-2.f*size_s, -size_s, 0.0}, {size_s, size_s, 0}}), small_triangle, sqrtf_2*size_s, 2.f*sqrtf_2*size_s); float const size_l = 10000; Triangle large_triangle{{-size_l, 0.f, 0.f}, {0.f, 10000.f, 0.f}, {0.f, 0.f, 10000.f}}; ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-size_l, size_l, size_l}}), large_triangle, size_l/sqrtf_3, size_l/sqrtf_3); ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-2.f*size_l, -size_l, 0.0}, {size_l, size_l, 0}}), large_triangle, sqrtf_2*size_l, 2.f*sqrtf_2*size_l); // clang-format on } #undef ARBORX_TEST_RAY_TRIANGLE_INTERSECTION #undef ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION