test_geometry.cpp File Reference

#include <gtest/gtest.h>
#include <Eigen/Core>
#include "navmap_core/Geometry.hpp"

Include dependency graph for test_geometry.cpp:

Classes
struct	AABB
	Axis-aligned bounding box. More...

Typedefs
using	Vec3
	3D vector alias used across NavMap geometry.

Functions
bool	ray_triangle_intersect (const Vec3 &orig, const Vec3 &dir, const Vec3 &v0, const Vec3 &v1, const Vec3 &v2, float &t, float &u, float &v)
	Möller–Trumbore ray–triangle intersection.
	TEST (Geometry_AABB, ContainsXYWithZEps)
	TEST (Geometry_AABB, ExpandPointBoxAxis)
	TEST (Geometry_AABB, IntersectsRayVariants)
	TEST (Geometry_RayTriangle, HitMissEdgeBackfaceParallel)
	TEST (Geometry_RayTriangle, RaysThroughASharedEdgeAlwaysHit)
	TEST (Geometry_TriangleArea, BasicScaledDegenerate)
	TEST (Geometry_TriangleNormal, OrientationAndDegenerate)
float	triangle_area (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute the area of a triangle ABC.
Vec3	triangle_normal (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute a unit normal of triangle ABC.

Typedef Documentation

Vec3

using Vec3

3D vector alias used across NavMap geometry.

Function Documentation

ray_triangle_intersect()

bool ray_triangle_intersect	(	const Vec3 &	orig,
		const Vec3 &	dir,
		const Vec3 &	v0,
		const Vec3 &	v1,
		const Vec3 &	v2,
		float &	t,
		float &	u,
		float &	v )

Möller–Trumbore ray–triangle intersection.

Solves intersection between a ray (orig + t * dir, t > 0) and triangle (v0, v1, v2). Returns true on hit and outputs:

• t: parametric distance along the ray (t > 0).
• u, v: barycentric coordinates (with w = 1 - u - v).

Parameters

orig	Ray origin.
dir	Ray direction (not necessarily unit length).
v0	First triangle vertex.
v1	Second triangle vertex.
v2	Third triangle vertex.
t	Output ray parameter on hit (> 0).
u	Output barycentric u on hit.
v	Output barycentric v on hit.

Returns

True if the ray intersects the triangle with t > 0.

Warning

Numerical robustness depends on the geometry scale; kEps is set conservatively for typical mapping units (meters).

TEST() [1/7]

TEST	(	Geometry_AABB	,
		ContainsXYWithZEps	)

TEST() [2/7]

TEST	(	Geometry_AABB	,
		ExpandPointBoxAxis	)

TEST() [3/7]

TEST	(	Geometry_AABB	,
		IntersectsRayVariants	)

TEST() [4/7]

TEST	(	Geometry_RayTriangle	,
		HitMissEdgeBackfaceParallel	)

TEST() [5/7]

TEST	(	Geometry_RayTriangle	,
		RaysThroughASharedEdgeAlwaysHit	)

TEST() [6/7]

TEST	(	Geometry_TriangleArea	,
		BasicScaledDegenerate	)

TEST() [7/7]

TEST	(	Geometry_TriangleNormal	,
		OrientationAndDegenerate	)

triangle_area()

float triangle_area	(	const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c )

Compute the area of a triangle ABC.

Parameters

a	First vertex (world coordinates).
b	Second vertex (world coordinates).
c	Third vertex (world coordinates).

Returns

Triangle area (non-negative).

Note

Uses 0.5 * |(b - a) x (c - a)|.

triangle_normal()

Vec3 triangle_normal	(	const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c )

Compute a unit normal of triangle ABC.

The normal is computed as normalized cross product (b - a) x (c - a). If the triangle is degenerate (near-zero area), returns +Z (0, 0, 1).

Parameters

a	First vertex (world coordinates).
b	Second vertex (world coordinates).
c	Third vertex (world coordinates).

Returns

Unit-length normal or +Z fallback for degenerate triangles.