mirror of
https://github.com/overte-org/overte.git
synced 2025-08-08 02:57:10 +02:00
237 lines
10 KiB
C++
237 lines
10 KiB
C++
//
|
|
// MeshInfoTests.cpp
|
|
// tests/physics/src
|
|
//
|
|
// Created by Virendra Singh on 2015.03.02
|
|
// Copyright 2014 High Fidelity, Inc.
|
|
//
|
|
// Distributed under the Apache License, Version 2.0.
|
|
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
|
//
|
|
|
|
#include <iostream>
|
|
#include <iomanip>
|
|
#include <MeshInfo.h>
|
|
|
|
#include "MeshInfoTests.h"
|
|
const float epsilon = 0.015f;
|
|
void MeshInfoTests::testWithTetrahedron(){
|
|
glm::vec3 p0(8.33220, -11.86875, 0.93355);
|
|
glm::vec3 p1(0.75523, 5.00000, 16.37072);
|
|
glm::vec3 p2(52.61236, 5.00000, -5.38580);
|
|
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 };
|
|
|
|
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);
|
|
vector<float> voumeAndInertia = meshinfo.computeMassProperties();
|
|
glm::vec3 tetCenterOfMass = meshinfo.getMeshCentroid();
|
|
|
|
//get original center of mass
|
|
tetCenterOfMass = tetCenterOfMass + p0;
|
|
glm::vec3 diff = centroid - tetCenterOfMass;
|
|
std::cout << std::setprecision(12);
|
|
//test if centroid is correct
|
|
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;
|
|
}
|
|
|
|
//test if volume is correct
|
|
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){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia with respect to x axis is incorrect : Expected = " <<
|
|
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){
|
|
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){
|
|
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){
|
|
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){
|
|
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){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Product of inertia with respect to z axis is incorrect : Expected = " <<
|
|
inertia_cc << " " << ", actual = " << (voumeAndInertia.at(6)) << std::endl;
|
|
}
|
|
|
|
}
|
|
|
|
void MeshInfoTests::testWithTetrahedronAsMesh(){
|
|
glm::vec3 p0(8.33220, -11.86875, 0.93355);
|
|
glm::vec3 p1(0.75523, 5.00000, 16.37072);
|
|
glm::vec3 p2(52.61236, 5.00000, -5.38580);
|
|
glm::vec3 p3(2.00000, 5.00000, 3.00000);
|
|
glm::vec3 centroid(15.92492, 0.782813, 3.72962);
|
|
/* TODO: actually test inertia/volume calculations here
|
|
//float volume = 1873.233236f;
|
|
//runtime due to how floating points are stored.
|
|
float inertia_a = 43520.33257f;
|
|
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;
|
|
*/
|
|
std::cout << std::setprecision(12);
|
|
vector<glm::vec3> vertices = { p0, p1, p2, p3 };
|
|
vector<int> triangles = { 0, 2, 1, 0, 3, 2, 0, 1, 3, 1, 2, 3 };
|
|
meshinfo::MeshInfo massProp(&vertices, &triangles);
|
|
vector<float> volumeAndInertia = massProp.computeMassProperties();
|
|
std::cout << volumeAndInertia[0] << " " << volumeAndInertia[1] << " " << volumeAndInertia[2]
|
|
<< " " << volumeAndInertia[3]
|
|
<< " " << volumeAndInertia[4]
|
|
<< " " << volumeAndInertia[5] << " " << volumeAndInertia[6] << std::endl;
|
|
|
|
//translate the tetrahedron so that the model is placed at origin i.e. com is at origin
|
|
p0 -= centroid;
|
|
p1 -= centroid;
|
|
p2 -= centroid;
|
|
p3 -= centroid;
|
|
}
|
|
|
|
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;
|
|
vertices.push_back(p0);
|
|
vertices.push_back(p1);
|
|
vertices.push_back(p2);
|
|
vertices.push_back(p3);
|
|
vertices.push_back(p4);
|
|
vertices.push_back(p5);
|
|
vertices.push_back(p6);
|
|
vertices.push_back(p7);
|
|
std::cout << std::setprecision(10);
|
|
vector<int> triangles = { 0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2, 2, 6,
|
|
7, 2, 7, 3, 4, 0, 3, 4, 3, 7 };
|
|
glm::vec3 centerOfMass(0.0, 0.0, 0.0);
|
|
double volume = 8.0;
|
|
double side = 2.0;
|
|
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 massProp(&vertices, &triangles);
|
|
vector<float> volumeAndInertia = massProp.computeMassProperties();
|
|
if (abs(centerOfMass.x - massProp.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp.getMeshCentroid().y) > epsilon ||
|
|
abs(centerOfMass.z - massProp.getMeshCentroid().z) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Center of mass is incorrect : Expected = " << centerOfMass.x << " " <<
|
|
centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp.getMeshCentroid().x << " " <<
|
|
massProp.getMeshCentroid().y << " " << massProp.getMeshCentroid().z << std::endl;
|
|
}
|
|
|
|
if (abs(volume - volumeAndInertia.at(0)) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Volume is incorrect : Expected = " << volume <<
|
|
", actual = " << volumeAndInertia.at(0) << std::endl;
|
|
}
|
|
|
|
if (abs(inertia - (volumeAndInertia.at(1))) > epsilon || abs(inertia - (volumeAndInertia.at(2))) > epsilon ||
|
|
abs(inertia - (volumeAndInertia.at(3))) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia is incorrect : Expected = " << inertia << " " <<
|
|
inertia << " " << inertia << ", actual = " << (volumeAndInertia.at(1)) << " " << (volumeAndInertia.at(2)) <<
|
|
" " << (volumeAndInertia.at(3)) << std::endl;
|
|
}
|
|
}
|
|
|
|
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;
|
|
vertices.push_back(p0);
|
|
vertices.push_back(p1);
|
|
vertices.push_back(p2);
|
|
vertices.push_back(p3);
|
|
vertices.push_back(p4);
|
|
vertices.push_back(p5);
|
|
vertices.push_back(p6);
|
|
vertices.push_back(p7);
|
|
vector<int> triangles = { 0, 1, 2, 1, 3, 2, 2, 3, 7, 2, 7, 6, 1, 7, 3, 1, 5, 7, 6, 7, 4, 7, 5, 4, 0, 4, 1,
|
|
1, 4, 5, 2, 6, 4, 0, 2, 4 };
|
|
glm::vec3 centerOfMass(0.5, 0.5, 0.5);
|
|
double volume = 1.0;
|
|
double side = 1.0;
|
|
double inertia = (volume * side * side) / 6.0; //inertia of a unit cube is (mass * side * side) /6
|
|
std::cout << std::setprecision(10);
|
|
|
|
//test with origin as reference point
|
|
meshinfo::MeshInfo massProp(&vertices, &triangles);
|
|
vector<float> volumeAndInertia = massProp.computeMassProperties();
|
|
if (abs(centerOfMass.x - massProp.getMeshCentroid().x) > epsilon || abs(centerOfMass.y - massProp.getMeshCentroid().y) >
|
|
epsilon || abs(centerOfMass.z - massProp.getMeshCentroid().z) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Center of mass is incorrect : Expected = " << centerOfMass.x <<
|
|
" " << centerOfMass.y << " " << centerOfMass.z << ", actual = " << massProp.getMeshCentroid().x << " " <<
|
|
massProp.getMeshCentroid().y << " " << massProp.getMeshCentroid().z << std::endl;
|
|
}
|
|
|
|
if (abs(volume - volumeAndInertia.at(0)) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Volume is incorrect : Expected = " << volume <<
|
|
", actual = " << volumeAndInertia.at(0) << std::endl;
|
|
}
|
|
|
|
if (abs(inertia - (volumeAndInertia.at(1))) > epsilon || abs(inertia - (volumeAndInertia.at(2))) > epsilon ||
|
|
abs(inertia - (volumeAndInertia.at(3))) > epsilon){
|
|
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : Moment of inertia is incorrect : Expected = " << inertia << " " <<
|
|
inertia << " " << inertia << ", actual = " << (volumeAndInertia.at(1)) << " " << (volumeAndInertia.at(2)) <<
|
|
" " << (volumeAndInertia.at(3)) << std::endl;
|
|
}
|
|
}
|
|
void MeshInfoTests::runAllTests(){
|
|
testWithTetrahedron();
|
|
testWithTetrahedronAsMesh();
|
|
testWithUnitCube();
|
|
testWithCube();
|
|
}
|