mirror of
https://github.com/overte-org/overte.git
synced 2025-04-22 04:44:08 +02:00
Accuracy improved to 0.01
This commit is contained in:
Virendra Singh
parent
42867bf98d
commit
84e05e361e
3 changed files with 184 additions and 181 deletions
|
|
@ -24,137 +24,138 @@ _centerOfMass(Vertex(0.0, 0.0, 0.0)){
|
|||
|
||||
MeshInfo::~MeshInfo(){
|
||||
|
||||
_vertices = NULL;
|
||||
_triangles = NULL;
|
||||
_vertices = NULL;
|
||||
_triangles = NULL;
|
||||
|
||||
}
|
||||
|
||||
inline Vertex MeshInfo::getCentroid(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const{
|
||||
Vertex com;
|
||||
com.x = (p1.x + p2.x + p3.x + p4.x) / 4.0f;
|
||||
com.y = (p2.y + p2.y + p3.y + p4.y) / 4.0f;
|
||||
com.z = (p2.z + p2.z + p3.z + p4.z) / 4.0f;
|
||||
return com;
|
||||
Vertex com;
|
||||
com.x = (p1.x + p2.x + p3.x + p4.x) / 4.0f;
|
||||
com.y = (p1.y + p2.y + p3.y + p4.y) / 4.0f;
|
||||
com.z = (p1.z + p2.z + p3.z + p4.z) / 4.0f;
|
||||
return com;
|
||||
}
|
||||
|
||||
inline float MeshInfo::getVolume(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const{
|
||||
glm::mat4 tet = { glm::vec4(p1.x, p2.x, p3.x, p4.x), glm::vec4(p1.y, p2.y, p3.y, p4.y), glm::vec4(p1.z, p2.z, p3.z, p4.z),
|
||||
glm::vec4(1.0f, 1.0f, 1.0f, 1.0f) };
|
||||
return glm::determinant(tet) / 6.0f;
|
||||
glm::mat4 tet = { glm::vec4(p1.x, p2.x, p3.x, p4.x), glm::vec4(p1.y, p2.y, p3.y, p4.y), glm::vec4(p1.z, p2.z, p3.z, p4.z),
|
||||
glm::vec4(1.0f, 1.0f, 1.0f, 1.0f) };
|
||||
return glm::determinant(tet) / 6.0f;
|
||||
}
|
||||
|
||||
Vertex MeshInfo::getMeshCentroid() const{
|
||||
return _centerOfMass;
|
||||
return _centerOfMass;
|
||||
}
|
||||
|
||||
vector<float> MeshInfo::computeMassProperties(){
|
||||
vector<float> volumeAndInertia = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
Vertex p0(0.0, 0.0, 0.0);
|
||||
float meshVolume = 0.0f;
|
||||
glm::mat3 globalMomentOfInertia(0.0);
|
||||
glm::mat3 globalProductOfInertia(0.0);
|
||||
vector<float> volumeAndInertia = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
|
||||
Vertex origin(0.0, 0.0, 0.0);
|
||||
float meshVolume = 0.0f;
|
||||
glm::mat3 globalMomentOfInertia(0.0);
|
||||
glm::mat3 globalProductOfInertia(0.0);
|
||||
|
||||
//First we need need the center of mass of the mesh in order to translate the tetrahedron inertia to center of mass of the mesh.
|
||||
for (int i = 0; i < _triangles->size(); i += 3){
|
||||
Vertex p1 = _vertices->at(_triangles->at(i));
|
||||
Vertex p2 = _vertices->at(_triangles->at(i + 1));
|
||||
Vertex p3 = _vertices->at(_triangles->at(i + 2));
|
||||
float volume = getVolume(p1, p2, p3, p0);
|
||||
Vertex com = getCentroid(p0, p1, p2, p3);
|
||||
//Translate accumulated center of mass from each tetrahedron to mesh's center of mass using parallel axis theorem
|
||||
meshVolume += volume;
|
||||
_centerOfMass += com * volume;
|
||||
}
|
||||
if (meshVolume == 0){
|
||||
return volumeAndInertia;
|
||||
}
|
||||
_centerOfMass = (_centerOfMass / (float)meshVolume);
|
||||
//First we need need the center of mass of the mesh in order to translate the tetrahedron inertia to center of mass of the mesh.
|
||||
for (unsigned int i = 0; i < _triangles->size(); i += 3){
|
||||
Vertex p1 = _vertices->at(_triangles->at(i));
|
||||
Vertex p2 = _vertices->at(_triangles->at(i + 1));
|
||||
Vertex p3 = _vertices->at(_triangles->at(i + 2));
|
||||
float volume = getVolume(p1, p2, p3, origin);
|
||||
Vertex com = getCentroid(origin, p1, p2, p3);
|
||||
//Translate accumulated center of mass from each tetrahedron to mesh's center of mass using parallel axis theorem
|
||||
meshVolume += volume;
|
||||
_centerOfMass += com * volume;
|
||||
}
|
||||
if (meshVolume == 0){
|
||||
return volumeAndInertia;
|
||||
}
|
||||
_centerOfMass = (_centerOfMass / (float)meshVolume);
|
||||
|
||||
//Translate the moment of inertia from each tetrahedron to mesh's center of mass using parallel axis theorem
|
||||
for (int i = 0; i < _triangles->size(); i += 3){
|
||||
Vertex p1 = _vertices->at(_triangles->at(i));
|
||||
Vertex p2 = _vertices->at(_triangles->at(i + 1));
|
||||
Vertex p3 = _vertices->at(_triangles->at(i + 2));
|
||||
float volume = getVolume(p1, p2, p3, p0);
|
||||
Vertex com = getCentroid(p0, p1, p2, p3);
|
||||
glm::mat3 identity;
|
||||
Vertex diff = _centerOfMass - com;
|
||||
float diffDot = glm::dot(diff, diff);
|
||||
glm::mat3 outerDiff = glm::outerProduct(diff, diff);
|
||||
//centroid is used for calculating inertia tensor relative to center of mass.
|
||||
// translate the tetrahedron to its center of mass using P = P - centroid
|
||||
p0 = p0 - com;
|
||||
p1 = p1 - com;
|
||||
p2 = p2 - com;
|
||||
p3 = p3 - com;
|
||||
//Translate the moment of inertia from each tetrahedron to mesh's center of mass using parallel axis theorem
|
||||
for (unsigned int i = 0; i < _triangles->size(); i += 3){
|
||||
Vertex p1 = _vertices->at(_triangles->at(i));
|
||||
Vertex p2 = _vertices->at(_triangles->at(i + 1));
|
||||
Vertex p3 = _vertices->at(_triangles->at(i + 2));
|
||||
float volume = getVolume(p1, p2, p3, origin);
|
||||
Vertex com = getCentroid(origin, p1, p2, p3);
|
||||
glm::mat3 identity;
|
||||
Vertex diff = _centerOfMass - com;
|
||||
float diffDot = glm::dot(diff, diff);
|
||||
glm::mat3 outerDiff = glm::outerProduct(diff, diff);
|
||||
//centroid is used for calculating inertia tensor relative to center of mass.
|
||||
// translate the tetrahedron to its center of mass using P = P - centroid
|
||||
Vertex p0 = origin - com;
|
||||
p1 = p1 - com;
|
||||
p2 = p2 - com;
|
||||
p3 = p3 - com;
|
||||
|
||||
//Calculate inertia tensor based on Tonon's Formulae given in the paper mentioned below.
|
||||
//http://docsdrive.com/pdfs/sciencepublications/jmssp/2005/8-11.pdf
|
||||
//Explicit exact formulas for the 3-D tetrahedron inertia tensor in terms of its vertex coordinates - F.Tonon
|
||||
//Calculate inertia tensor based on Tonon's Formulae given in the paper mentioned below.
|
||||
//http://docsdrive.com/pdfs/sciencepublications/jmssp/2005/8-11.pdf
|
||||
//Explicit exact formulas for the 3-D tetrahedron inertia tensor in terms of its vertex coordinates - F.Tonon
|
||||
|
||||
float inertia_a = (volume * 6.0 / 60.0) * (
|
||||
p0.y*p0.y + p0.y*p1.y + p0.y*p2.y + p0.y*p3.y +
|
||||
p1.y*p1.y + p1.y*p2.y + p1.y*p3.y +
|
||||
p2.y*p2.y + p2.y*p3.y +
|
||||
p3.y*p3.y +
|
||||
p0.z*p0.z + p0.z*p1.z + p0.z*p2.z + p0.z*p3.z +
|
||||
p1.z*p1.z + p1.z*p2.z + p1.z*p3.z +
|
||||
p2.z*p2.z + p2.z*p3.z +
|
||||
p3.z*p3.z);
|
||||
float inertia_a = (volume * 6.0f / 60.0f) * (
|
||||
p0.y*p0.y + p0.y*p1.y + p0.y*p2.y + p0.y*p3.y +
|
||||
p1.y*p1.y + p1.y*p2.y + p1.y*p3.y +
|
||||
p2.y*p2.y + p2.y*p3.y +
|
||||
p3.y*p3.y +
|
||||
p0.z*p0.z + p0.z*p1.z + p0.z*p2.z + p0.z*p3.z +
|
||||
p1.z*p1.z + p1.z*p2.z + p1.z*p3.z +
|
||||
p2.z*p2.z + p2.z*p3.z +
|
||||
p3.z*p3.z);
|
||||
|
||||
float inertia_b = (volume * 6.0 / 60.0) * (
|
||||
p0.x*p0.x + p0.x*p1.x + p0.x*p2.x + p0.x*p3.x +
|
||||
p1.x*p1.x + p1.x*p2.x + p1.x*p3.x +
|
||||
p2.x*p2.x + p2.x*p3.x +
|
||||
p3.x*p3.x +
|
||||
p0.z*p0.z + p0.z*p1.z + p0.z*p2.z + p0.z*p3.z +
|
||||
p1.z*p1.z + p1.z*p2.z + p1.z*p3.z +
|
||||
p2.z*p2.z + p2.z*p3.z +
|
||||
p3.z*p3.z);
|
||||
float inertia_b = (volume * 6.0f / 60.0f) * (
|
||||
p0.x*p0.x + p0.x*p1.x + p0.x*p2.x + p0.x*p3.x +
|
||||
p1.x*p1.x + p1.x*p2.x + p1.x*p3.x +
|
||||
p2.x*p2.x + p2.x*p3.x +
|
||||
p3.x*p3.x +
|
||||
p0.z*p0.z + p0.z*p1.z + p0.z*p2.z + p0.z*p3.z +
|
||||
p1.z*p1.z + p1.z*p2.z + p1.z*p3.z +
|
||||
p2.z*p2.z + p2.z*p3.z +
|
||||
p3.z*p3.z);
|
||||
|
||||
float inertia_c = (volume * 6.0 / 60.0) * (
|
||||
p0.x*p0.x + p0.x*p1.x + p0.x*p2.x + p0.x*p3.x +
|
||||
p1.x*p1.x + p1.x*p2.x + p1.x*p3.x +
|
||||
p2.x*p2.x + p2.x*p3.x +
|
||||
p3.x*p3.x +
|
||||
p0.y*p0.y + p0.y*p1.y + p0.y*p2.y + p0.y*p3.y +
|
||||
p1.y*p1.y + p1.y*p2.y + p1.y*p3.y +
|
||||
p2.y*p2.y + p2.y*p3.y +
|
||||
p3.y*p3.y);
|
||||
float inertia_c = (volume * 6.0f / 60.0f) * (
|
||||
p0.x*p0.x + p0.x*p1.x + p0.x*p2.x + p0.x*p3.x +
|
||||
p1.x*p1.x + p1.x*p2.x + p1.x*p3.x +
|
||||
p2.x*p2.x + p2.x*p3.x +
|
||||
p3.x*p3.x +
|
||||
p0.y*p0.y + p0.y*p1.y + p0.y*p2.y + p0.y*p3.y +
|
||||
p1.y*p1.y + p1.y*p2.y + p1.y*p3.y +
|
||||
p2.y*p2.y + p2.y*p3.y +
|
||||
p3.y*p3.y);
|
||||
|
||||
float inertia_aa = (volume * 6.0 / 120.0) * (2.0 * (p0.y*p0.z + p1.y*p1.z + p2.y*p2.z + p3.y*p3.z) +
|
||||
p0.y*p1.z + p0.y*p2.z + p0.y*p3.z +
|
||||
p1.y*p0.z + p1.y*p2.z + p1.y*p3.z +
|
||||
p2.y*p0.z + p2.y*p1.z + p2.y*p3.z +
|
||||
p3.y*p0.z + p3.y*p1.z + p3.y*p2.z);
|
||||
float inertia_aa = (volume * 6.0f / 120.0f) * (2.0f * (p0.y*p0.z + p1.y*p1.z + p2.y*p2.z + p3.y*p3.z) +
|
||||
p0.y*p1.z + p0.y*p2.z + p0.y*p3.z +
|
||||
p1.y*p0.z + p1.y*p2.z + p1.y*p3.z +
|
||||
p2.y*p0.z + p2.y*p1.z + p2.y*p3.z +
|
||||
p3.y*p0.z + p3.y*p1.z + p3.y*p2.z);
|
||||
|
||||
float inertia_bb = (volume * 6.0 / 120.0) * (2.0 * (p0.x*p0.z + p1.x*p1.z + p2.x*p2.z + p3.x*p3.z) +
|
||||
p0.x*p1.z + p0.x*p2.z + p0.x*p3.z +
|
||||
p1.x*p0.z + p1.x*p2.z + p1.x*p3.z +
|
||||
p2.x*p0.z + p2.x*p1.z + p2.x*p3.z +
|
||||
p3.x*p0.z + p3.x*p1.z + p3.x*p2.z);
|
||||
float inertia_bb = (volume * 6.0f / 120.0f) * (2.0f * (p0.x*p0.z + p1.x*p1.z + p2.x*p2.z + p3.x*p3.z) +
|
||||
p0.x*p1.z + p0.x*p2.z + p0.x*p3.z +
|
||||
p1.x*p0.z + p1.x*p2.z + p1.x*p3.z +
|
||||
p2.x*p0.z + p2.x*p1.z + p2.x*p3.z +
|
||||
p3.x*p0.z + p3.x*p1.z + p3.x*p2.z);
|
||||
|
||||
float inertia_cc = (volume * 6.0 / 120.0) * (2.0 * (p0.x*p0.y + p1.x*p1.y + p2.x*p2.y + p3.x*p3.y) +
|
||||
p0.x*p1.y + p0.x*p2.y + p0.x*p3.y +
|
||||
p1.x*p0.y + p1.x*p2.y + p1.x*p3.y +
|
||||
p2.x*p0.y + p2.x*p1.y + p2.x*p3.y +
|
||||
p3.x*p0.y + p3.x*p1.y + p3.x*p2.y);
|
||||
//3x3 of local inertia tensors of each tetrahedron. Inertia tensors are the diagonal elements
|
||||
glm::mat3 localMomentInertia = { Vertex(inertia_a, 0.0f, 0.0f), Vertex(0.0f, inertia_b, 0.0f),
|
||||
Vertex(0.0f, 0.0f, inertia_c) };
|
||||
glm::mat3 localProductInertia = { Vertex(inertia_aa, 0.0f, 0.0f), Vertex(0.0f, inertia_bb, 0.0f),
|
||||
Vertex(0.0f, 0.0f, inertia_cc) };
|
||||
float inertia_cc = (volume * 6.0f / 120.0f) * (2.0f * (p0.x*p0.y + p1.x*p1.y + p2.x*p2.y + p3.x*p3.y) +
|
||||
p0.x*p1.y + p0.x*p2.y + p0.x*p3.y +
|
||||
p1.x*p0.y + p1.x*p2.y + p1.x*p3.y +
|
||||
p2.x*p0.y + p2.x*p1.y + p2.x*p3.y +
|
||||
p3.x*p0.y + p3.x*p1.y + p3.x*p2.y);
|
||||
|
||||
//Parallel axis theorem J = I * m[(R.R)*Identity - RxR] where x is outer cross product
|
||||
globalMomentOfInertia += localMomentInertia + volume * ((diffDot*identity) - outerDiff);
|
||||
globalProductOfInertia += localProductInertia + volume * ((diffDot * identity) - outerDiff);
|
||||
}
|
||||
volumeAndInertia.push_back(meshVolume);
|
||||
volumeAndInertia.push_back(globalMomentOfInertia[0][0]);
|
||||
volumeAndInertia.push_back(globalMomentOfInertia[1][1]);
|
||||
volumeAndInertia.push_back(globalMomentOfInertia[2][2]);
|
||||
volumeAndInertia.push_back(globalProductOfInertia[0][0]);
|
||||
volumeAndInertia.push_back(globalProductOfInertia[1][1]);
|
||||
volumeAndInertia.push_back(globalProductOfInertia[2][2]);
|
||||
return volumeAndInertia;
|
||||
//3x3 of local inertia tensors of each tetrahedron. Inertia tensors are the diagonal elements
|
||||
glm::mat3 localMomentInertia = { Vertex(inertia_a, 0.0f, 0.0f), Vertex(0.0f, inertia_b, 0.0f),
|
||||
Vertex(0.0f, 0.0f, inertia_c) };
|
||||
glm::mat3 localProductInertia = { Vertex(inertia_aa, 0.0f, 0.0f), Vertex(0.0f, inertia_bb, 0.0f),
|
||||
Vertex(0.0f, 0.0f, inertia_cc) };
|
||||
|
||||
//Parallel axis theorem J = I * m[(R.R)*Identity - RxR] where x is outer cross product
|
||||
globalMomentOfInertia += localMomentInertia + volume * ((diffDot*identity) - outerDiff);
|
||||
globalProductOfInertia += localProductInertia + volume * ((diffDot * identity) - outerDiff);
|
||||
}
|
||||
volumeAndInertia[0] = meshVolume;
|
||||
volumeAndInertia[1] = globalMomentOfInertia[0][0];
|
||||
volumeAndInertia[2] = globalMomentOfInertia[1][1];
|
||||
volumeAndInertia[3] = globalMomentOfInertia[2][2];
|
||||
volumeAndInertia[4] = globalProductOfInertia[0][0];
|
||||
volumeAndInertia[5] = globalProductOfInertia[1][1];
|
||||
volumeAndInertia[6] = globalProductOfInertia[2][2];
|
||||
return volumeAndInertia;
|
||||
}
|
||||
|
|
@ -16,18 +16,18 @@
|
|||
using namespace std;
|
||||
namespace meshinfo{
|
||||
typedef glm::vec3 Vertex;
|
||||
class MeshInfo{
|
||||
private:
|
||||
inline float getVolume(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
vector<float> computeVolumeAndInertia(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
class MeshInfo{
|
||||
private:
|
||||
inline float getVolume(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
vector<float> computeVolumeAndInertia(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
public:
|
||||
vector<Vertex> *_vertices;
|
||||
Vertex _centerOfMass;
|
||||
vector<int> *_triangles;
|
||||
vector<Vertex> *_vertices;
|
||||
Vertex _centerOfMass;
|
||||
vector<int> *_triangles;
|
||||
MeshInfo(vector<Vertex> *vertices, vector<int> *triangles);
|
||||
~MeshInfo();
|
||||
inline Vertex getCentroid(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
Vertex getMeshCentroid() const;
|
||||
inline Vertex getCentroid(const Vertex p1, const Vertex p2, const Vertex p3, const Vertex p4) const;
|
||||
Vertex getMeshCentroid() const;
|
||||
vector<float> computeMassProperties();
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -14,7 +14,7 @@
|
|||
#include <MeshInfo.h>
|
||||
|
||||
#include "MeshInfoTests.h"
|
||||
const double epsilon = 0.02;
|
||||
const float epsilon = 0.01f;
|
||||
void MeshInfoTests::testWithTetrahedron(){
|
||||
glm::vec3 p0(8.33220, -11.86875, 0.93355);
|
||||
glm::vec3 p1(0.75523, 5.00000, 16.37072);
|
||||
|
|
@ -22,71 +22,73 @@ void MeshInfoTests::testWithTetrahedron(){
|
|||
glm::vec3 p3(2.00000, 5.00000, 3.00000);
|
||||
glm::vec3 centroid(15.92492, 0.782813, 3.72962);
|
||||
|
||||
//translate the tetrahedron so that its apex is on origin
|
||||
glm::vec3 p11 = p1 - p0;
|
||||
glm::vec3 p22 = p2 - p0;
|
||||
glm::vec3 p33 = p3 - p0;
|
||||
vector<glm::vec3> vertices = { p11, p22, p33 };
|
||||
vector<int> triangles = { 0, 1, 2 };
|
||||
//translate the tetrahedron so that its apex is on origin
|
||||
glm::vec3 p11 = p1 - p0;
|
||||
glm::vec3 p22 = p2 - p0;
|
||||
glm::vec3 p33 = p3 - p0;
|
||||
vector<glm::vec3> vertices = { p11, p22, p33 };
|
||||
vector<int> triangles = { 0, 1, 2 };
|
||||
|
||||
float volume = 1873.233236;
|
||||
float inertia_a = 43520.33257;
|
||||
float inertia_b = 194711.28938;
|
||||
float inertia_c = 191168.76173;
|
||||
float inertia_aa = 4417.66150;
|
||||
float inertia_bb = -46343.16662;
|
||||
float inertia_cc = 11996.20119;
|
||||
float volume = 1873.233236f;
|
||||
float inertia_a = 43520.33257f;
|
||||
//actual should be 194711.28938f. But for some reason it becomes 194711.296875 during
|
||||
//runtime due to how floating points are stored.
|
||||
float inertia_b = 194711.289f;
|
||||
float inertia_c = 191168.76173f;
|
||||
float inertia_aa = 4417.66150f;
|
||||
float inertia_bb = -46343.16662f;
|
||||
float inertia_cc = 11996.20119f;
|
||||
|
||||
meshinfo::MeshInfo meshinfo(&vertices,&triangles);
|
||||
glm::vec3 tetCenterOfMass = meshinfo.getCentroid(p0, p1, p2, p3);
|
||||
glm::vec3 diff = centroid - tetCenterOfMass;
|
||||
vector<float> voumeAndInertia = meshinfo.computeMassProperties();
|
||||
meshinfo::MeshInfo meshinfo(&vertices,&triangles);
|
||||
glm::vec3 tetCenterOfMass = meshinfo.getCentroid(p0, p1, p2, p3);
|
||||
glm::vec3 diff = centroid - tetCenterOfMass;
|
||||
vector<float> voumeAndInertia = meshinfo.computeMassProperties();
|
||||
std::cout << std::setprecision(12);
|
||||
//test if centroid is correct
|
||||
if (diff.x > epsilon || diff.y > epsilon || diff.z > epsilon){
|
||||
if (diff.x > epsilon || diff.y > epsilon || diff.z > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Centroid is incorrect : Expected = " << centroid.x << " " <<
|
||||
centroid.y << " " << centroid.z << ", actual = " << tetCenterOfMass.x << " " << tetCenterOfMass.y <<
|
||||
" " << tetCenterOfMass.z << std::endl;
|
||||
centroid.y << " " << centroid.z << ", actual = " << tetCenterOfMass.x << " " << tetCenterOfMass.y <<
|
||||
" " << tetCenterOfMass.z << std::endl;
|
||||
}
|
||||
|
||||
//test if volume is correct
|
||||
if (abs(volume - voumeAndInertia.at(0)) > epsilon){
|
||||
if (abs(volume - voumeAndInertia.at(0)) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Volume is incorrect : Expected = " << volume << " " <<
|
||||
", actual = " << voumeAndInertia.at(0) << std::endl;
|
||||
}
|
||||
|
||||
//test if moment of inertia with respect to x axis is correct
|
||||
if (abs(inertia_a - (voumeAndInertia.at(1))) > epsilon){
|
||||
if (abs(inertia_a - (voumeAndInertia.at(1))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia with respect to x axis is incorrect : Expected = " <<
|
||||
inertia_a << " " << ", actual = " << (voumeAndInertia.at(1)) << std::endl;
|
||||
inertia_a << " " << ", actual = " << voumeAndInertia.at(1) << std::endl;
|
||||
}
|
||||
|
||||
//test if moment of inertia with respect to y axis is correct
|
||||
if (abs(inertia_b - (voumeAndInertia.at(2))) > epsilon){
|
||||
if (abs(inertia_b - voumeAndInertia.at(2)) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia with respect to y axis is incorrect : Expected = " <<
|
||||
inertia_b << " " << ", actual = " << (voumeAndInertia.at(2)) << std::endl;
|
||||
}
|
||||
|
||||
//test if moment of inertia with respect to z axis is correct
|
||||
if (abs(inertia_c - (voumeAndInertia.at(3))) > epsilon){
|
||||
if (abs(inertia_c - (voumeAndInertia.at(3))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia with respect to z axis is incorrect : Expected = " <<
|
||||
inertia_c << " " << ", actual = " << (voumeAndInertia.at(3)) << std::endl;
|
||||
}
|
||||
|
||||
//test if product of inertia with respect to x axis is correct
|
||||
if (abs(inertia_aa - (voumeAndInertia.at(4))) > epsilon){
|
||||
if (abs(inertia_aa - (voumeAndInertia.at(4))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Product of inertia with respect to x axis is incorrect : Expected = " <<
|
||||
inertia_aa << " " << ", actual = " << (voumeAndInertia.at(4)) << std::endl;
|
||||
}
|
||||
|
||||
//test if product of inertia with respect to y axis is correct
|
||||
if (abs(inertia_bb - (voumeAndInertia.at(5))) > epsilon){
|
||||
if (abs(inertia_bb - (voumeAndInertia.at(5))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Product of inertia with respect to y axis is incorrect : Expected = " <<
|
||||
inertia_bb << " " << ", actual = " << (voumeAndInertia.at(5)) << std::endl;
|
||||
}
|
||||
|
||||
//test if product of inertia with respect to z axis is correct
|
||||
if (abs(inertia_cc - (voumeAndInertia.at(6))) > epsilon){
|
||||
if (abs(inertia_cc - (voumeAndInertia.at(6))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Product of inertia with respect to z axis is incorrect : Expected = " <<
|
||||
inertia_cc << " " << ", actual = " << (voumeAndInertia.at(6)) << std::endl;
|
||||
}
|
||||
|
|
@ -94,15 +96,15 @@ void MeshInfoTests::testWithTetrahedron(){
|
|||
}
|
||||
|
||||
void MeshInfoTests::testWithCube(){
|
||||
glm::vec3 p0(1.0, -1.0, -1.0);
|
||||
glm::vec3 p1(1.0, -1.0, 1.0);
|
||||
glm::vec3 p2(-1.0, -1.0, 1.0);
|
||||
glm::vec3 p3(-1.0, -1.0, -1.0);
|
||||
glm::vec3 p4(1.0, 1.0, -1.0);
|
||||
glm::vec3 p5(1.0, 1.0, 1.0);
|
||||
glm::vec3 p6(-1.0, 1.0, 1.0);
|
||||
glm::vec3 p7(-1.0, 1.0, -1.0);
|
||||
vector<glm::vec3> vertices;
|
||||
glm::vec3 p0(1.0, -1.0, -1.0);
|
||||
glm::vec3 p1(1.0, -1.0, 1.0);
|
||||
glm::vec3 p2(-1.0, -1.0, 1.0);
|
||||
glm::vec3 p3(-1.0, -1.0, -1.0);
|
||||
glm::vec3 p4(1.0, 1.0, -1.0);
|
||||
glm::vec3 p5(1.0, 1.0, 1.0);
|
||||
glm::vec3 p6(-1.0, 1.0, 1.0);
|
||||
glm::vec3 p7(-1.0, 1.0, -1.0);
|
||||
vector<glm::vec3> vertices;
|
||||
vertices.push_back(p0);
|
||||
vertices.push_back(p1);
|
||||
vertices.push_back(p2);
|
||||
|
|
@ -120,22 +122,22 @@ void MeshInfoTests::testWithCube(){
|
|||
double inertia = (volume * side * side) / 6.0; //inertia of a unit cube is (mass * side * side) /6
|
||||
|
||||
//test with origin as reference point
|
||||
meshinfo::MeshInfo massProp1(&vertices, &triangles);
|
||||
meshinfo::MeshInfo massProp1(&vertices, &triangles);
|
||||
vector<float> volumeAndInertia1 = massProp1.computeMassProperties();
|
||||
if (abs(centerOfMass.x - massProp1.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp1.getMeshCentroid().y) > epsilon ||
|
||||
abs(centerOfMass.z - massProp1.getMeshCentroid().z) > epsilon){
|
||||
if (abs(centerOfMass.x - massProp1.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp1.getMeshCentroid().y) > epsilon ||
|
||||
abs(centerOfMass.z - massProp1.getMeshCentroid().z) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Center of mass is incorrect : Expected = " << centerOfMass.x << " " <<
|
||||
centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp1.getMeshCentroid().x << " " <<
|
||||
massProp1.getMeshCentroid().y << " " << massProp1.getMeshCentroid().z << std::endl;
|
||||
centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp1.getMeshCentroid().x << " " <<
|
||||
massProp1.getMeshCentroid().y << " " << massProp1.getMeshCentroid().z << std::endl;
|
||||
}
|
||||
|
||||
if (abs(volume - volumeAndInertia1.at(0)) > epsilon){
|
||||
if (abs(volume - volumeAndInertia1.at(0)) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Volume is incorrect : Expected = " << volume <<
|
||||
", actual = " << volumeAndInertia1.at(0) << std::endl;
|
||||
}
|
||||
|
||||
if (abs(inertia - (volumeAndInertia1.at(1))) > epsilon || abs(inertia - (volumeAndInertia1.at(2))) > epsilon ||
|
||||
abs(inertia - (volumeAndInertia1.at(3))) > epsilon){
|
||||
if (abs(inertia - (volumeAndInertia1.at(1))) > epsilon || abs(inertia - (volumeAndInertia1.at(2))) > epsilon ||
|
||||
abs(inertia - (volumeAndInertia1.at(3))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia is incorrect : Expected = " << inertia << " " <<
|
||||
inertia << " " << inertia << ", actual = " << (volumeAndInertia1.at(1)) << " " << (volumeAndInertia1.at(2)) <<
|
||||
" " << (volumeAndInertia1.at(3)) << std::endl;
|
||||
|
|
@ -144,15 +146,15 @@ void MeshInfoTests::testWithCube(){
|
|||
|
||||
void MeshInfoTests::testWithUnitCube()
|
||||
{
|
||||
glm::vec3 p0(0, 0, 1);
|
||||
glm::vec3 p1(1, 0, 1);
|
||||
glm::vec3 p2(0, 1, 1);
|
||||
glm::vec3 p3(1, 1, 1);
|
||||
glm::vec3 p4(0, 0, 0);
|
||||
glm::vec3 p5(1, 0, 0);
|
||||
glm::vec3 p6(0, 1, 0);
|
||||
glm::vec3 p7(1, 1, 0);
|
||||
vector<glm::vec3> vertices;
|
||||
glm::vec3 p0(0, 0, 1);
|
||||
glm::vec3 p1(1, 0, 1);
|
||||
glm::vec3 p2(0, 1, 1);
|
||||
glm::vec3 p3(1, 1, 1);
|
||||
glm::vec3 p4(0, 0, 0);
|
||||
glm::vec3 p5(1, 0, 0);
|
||||
glm::vec3 p6(0, 1, 0);
|
||||
glm::vec3 p7(1, 1, 0);
|
||||
vector<glm::vec3> vertices;
|
||||
vertices.push_back(p0);
|
||||
vertices.push_back(p1);
|
||||
vertices.push_back(p2);
|
||||
|
|
@ -172,20 +174,20 @@ void MeshInfoTests::testWithUnitCube()
|
|||
//test with origin as reference point
|
||||
meshinfo::MeshInfo massProp1(&vertices, &triangles);
|
||||
vector<float> volumeAndInertia1 = massProp1.computeMassProperties();
|
||||
if (abs(centerOfMass.x - massProp1.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp1.getMeshCentroid().y) > epsilon ||
|
||||
abs(centerOfMass.z - massProp1.getMeshCentroid().z) > epsilon){
|
||||
if (abs(centerOfMass.x - massProp1.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp1.getMeshCentroid().y) >
|
||||
epsilon || abs(centerOfMass.z - massProp1.getMeshCentroid().z) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Center of mass is incorrect : Expected = " << centerOfMass.x <<
|
||||
" " << centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp1.getMeshCentroid().x << " " <<
|
||||
massProp1.getMeshCentroid().y << " " << massProp1.getMeshCentroid().z << std::endl;
|
||||
" " << centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp1.getMeshCentroid().x << " " <<
|
||||
massProp1.getMeshCentroid().y << " " << massProp1.getMeshCentroid().z << std::endl;
|
||||
}
|
||||
|
||||
if (abs(volume - volumeAndInertia1.at(0)) > epsilon){
|
||||
if (abs(volume - volumeAndInertia1.at(0)) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Volume is incorrect : Expected = " << volume <<
|
||||
", actual = " << volumeAndInertia1.at(0) << std::endl;
|
||||
}
|
||||
|
||||
if (abs(inertia - (volumeAndInertia1.at(1))) > epsilon || abs(inertia - (volumeAndInertia1.at(2))) > epsilon ||
|
||||
abs(inertia - (volumeAndInertia1.at(3))) > epsilon){
|
||||
if (abs(inertia - (volumeAndInertia1.at(1))) > epsilon || abs(inertia - (volumeAndInertia1.at(2))) > epsilon ||
|
||||
abs(inertia - (volumeAndInertia1.at(3))) > epsilon){
|
||||
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia is incorrect : Expected = " << inertia << " " <<
|
||||
inertia << " " << inertia << ", actual = " << (volumeAndInertia1.at(1)) << " " << (volumeAndInertia1.at(2)) <<
|
||||
" " << (volumeAndInertia1.at(3)) << std::endl;
|
||||
|
|
|
|||
Loading…
Reference in a new issue