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1   /*
2    * Licensed to the Apache Software Foundation (ASF) under one or more
3    * contributor license agreements.  See the NOTICE file distributed with
4    * this work for additional information regarding copyright ownership.
5    * The ASF licenses this file to You under the Apache License, Version 2.0
6    * (the "License"); you may not use this file except in compliance with
7    * the License.  You may obtain a copy of the License at
8    *
9    *      http://www.apache.org/licenses/LICENSE-2.0
10   *
11   * Unless required by applicable law or agreed to in writing, software
12   * distributed under the License is distributed on an "AS IS" BASIS,
13   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14   * See the License for the specific language governing permissions and
15   * limitations under the License.
16   */
17  package org.apache.commons.geometry.euclidean.threed.line;
18  
19  import org.apache.commons.geometry.core.GeometryTestUtils;
20  import org.apache.commons.geometry.euclidean.EuclideanTestUtils;
21  import org.apache.commons.geometry.euclidean.oned.Interval;
22  import org.apache.commons.geometry.euclidean.threed.AffineTransformMatrix3D;
23  import org.apache.commons.geometry.euclidean.threed.Bounds3D;
24  import org.apache.commons.geometry.euclidean.threed.Vector3D;
25  import org.apache.commons.geometry.euclidean.threed.rotation.QuaternionRotation;
26  import org.apache.commons.numbers.core.Precision;
27  import org.junit.jupiter.api.Assertions;
28  import org.junit.jupiter.api.Test;
29  
30  class Segment3DTest {
31  
32      private static final double TEST_EPS = 1e-10;
33  
34      private static final Precision.DoubleEquivalence TEST_PRECISION =
35              Precision.doubleEquivalenceOfEpsilon(TEST_EPS);
36  
37      @Test
38      void testFromPoints() {
39          // arrange
40          final Vector3D p1 = Vector3D.of(1, 1, 2);
41          final Vector3D p2 = Vector3D.of(1, 3, 2);
42  
43          // act
44          final Segment3D seg = Lines3D.segmentFromPoints(p1, p2, TEST_PRECISION);
45  
46          // assert
47          Assertions.assertFalse(seg.isInfinite());
48          Assertions.assertTrue(seg.isFinite());
49  
50          EuclideanTestUtils.assertCoordinatesEqual(p1, seg.getStartPoint(), TEST_EPS);
51          EuclideanTestUtils.assertCoordinatesEqual(p2, seg.getEndPoint(), TEST_EPS);
52  
53          Assertions.assertEquals(1, seg.getSubspaceStart(), TEST_EPS);
54          Assertions.assertEquals(3, seg.getSubspaceEnd(), TEST_EPS);
55  
56          Assertions.assertEquals(2, seg.getSize(), TEST_EPS);
57  
58          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 2), seg.getCentroid(), TEST_EPS);
59          final Bounds3D bounds = seg.getBounds();
60          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 1, 2), bounds.getMin(), TEST_EPS);
61          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 3, 2), bounds.getMax(), TEST_EPS);
62      }
63  
64      @Test
65      void testFromPoints_invalidArgs() {
66          // arrange
67          final Vector3D p1 = Vector3D.of(0, 2, 4);
68          final Vector3D p2 = Vector3D.of(1e-17, 2, 4);
69  
70          // act/assert
71          GeometryTestUtils.assertThrowsWithMessage(() -> {
72              Lines3D.segmentFromPoints(p1, p1, TEST_PRECISION);
73          }, IllegalArgumentException.class, "Line direction cannot be zero");
74  
75          GeometryTestUtils.assertThrowsWithMessage(() -> {
76              Lines3D.segmentFromPoints(p1, p2, TEST_PRECISION);
77          }, IllegalArgumentException.class, "Line direction cannot be zero");
78      }
79  
80      @Test
81      void testFromPoints_givenLine() {
82          // arrange
83          final Vector3D p1 = Vector3D.of(-1, -1, 2);
84          final Vector3D p2 = Vector3D.of(3, 3, 3);
85  
86          final Line3D line = Lines3D.fromPointAndDirection(Vector3D.of(1, 0, 2), Vector3D.Unit.PLUS_Y, TEST_PRECISION);
87  
88          // act
89          final Segment3D seg = Lines3D.segmentFromPoints(line, p2, p1); // reverse location order
90  
91          // assert
92          Assertions.assertFalse(seg.isInfinite());
93          Assertions.assertTrue(seg.isFinite());
94  
95          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, -1, 2), seg.getStartPoint(), TEST_EPS);
96          EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 3, 2), seg.getEndPoint(), TEST_EPS);
97  
98          Assertions.assertEquals(-1, seg.getSubspaceStart(), TEST_EPS);
99          Assertions.assertEquals(3, seg.getSubspaceEnd(), TEST_EPS);
100 
101         Assertions.assertEquals(4, seg.getSize(), TEST_EPS);
102 
103         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 1, 2), seg.getCentroid(), TEST_EPS);
104         final Bounds3D bounds = seg.getBounds();
105         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, -1, 2), bounds.getMin(), TEST_EPS);
106         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 3, 2), bounds.getMax(), TEST_EPS);
107     }
108 
109     @Test
110     void testFromPoints_givenLine_singlePoint() {
111         // arrange
112         final Vector3D p1 = Vector3D.of(-1, 2, 0);
113 
114         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.of(1, 0, 0), Vector3D.Unit.PLUS_Y, TEST_PRECISION);
115 
116         // act
117         final Segment3D seg = Lines3D.segmentFromPoints(line, p1, p1);
118 
119         // assert
120         Assertions.assertFalse(seg.isInfinite());
121         Assertions.assertTrue(seg.isFinite());
122 
123         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 0), seg.getStartPoint(), TEST_EPS);
124         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 0), seg.getEndPoint(), TEST_EPS);
125 
126         Assertions.assertEquals(2, seg.getSubspaceStart(), TEST_EPS);
127         Assertions.assertEquals(2, seg.getSubspaceEnd(), TEST_EPS);
128 
129         Assertions.assertEquals(0, seg.getSize(), TEST_EPS);
130 
131         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 0), seg.getCentroid(), TEST_EPS);
132         final Bounds3D bounds = seg.getBounds();
133         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 0), bounds.getMin(), TEST_EPS);
134         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(1, 2, 0), bounds.getMax(), TEST_EPS);
135     }
136 
137     @Test
138     void testFromPoints_givenLine_invalidArgs() {
139         // arrange
140         final Vector3D p0 = Vector3D.of(1, 0, 0);
141         final Vector3D p1 = Vector3D.of(2, 0, 0);
142 
143         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.ZERO, Vector3D.Unit.PLUS_X, TEST_PRECISION);
144 
145         // act/assert
146         GeometryTestUtils.assertThrowsWithMessage(() -> {
147             Lines3D.segmentFromPoints(line, Vector3D.NaN, p1);
148         }, IllegalArgumentException.class, "Invalid line segment locations: NaN, 2.0");
149 
150         GeometryTestUtils.assertThrowsWithMessage(() -> {
151             Lines3D.segmentFromPoints(line, p0, Vector3D.NaN);
152         }, IllegalArgumentException.class, "Invalid line segment locations: 1.0, NaN");
153 
154         GeometryTestUtils.assertThrowsWithMessage(() -> {
155             Lines3D.segmentFromPoints(line, Vector3D.NEGATIVE_INFINITY, p1);
156         }, IllegalArgumentException.class, "Invalid line segment locations: NaN, 2.0");
157 
158         GeometryTestUtils.assertThrowsWithMessage(() -> {
159             Lines3D.segmentFromPoints(line, p0, Vector3D.POSITIVE_INFINITY);
160         }, IllegalArgumentException.class, "Invalid line segment locations: 1.0, NaN");
161     }
162 
163     @Test
164     void testFromLocations() {
165         // arrange
166         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.of(-1, 0, 0), Vector3D.Unit.PLUS_Z, TEST_PRECISION);
167 
168         // act
169         final Segment3D seg = Lines3D.segmentFromLocations(line, -1, 2);
170 
171         // assert
172         Assertions.assertFalse(seg.isInfinite());
173         Assertions.assertTrue(seg.isFinite());
174 
175         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, -1), seg.getStartPoint(), TEST_EPS);
176         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 2), seg.getEndPoint(), TEST_EPS);
177 
178         Assertions.assertEquals(-1, seg.getSubspaceStart(), TEST_EPS);
179         Assertions.assertEquals(2, seg.getSubspaceEnd(), TEST_EPS);
180 
181         Assertions.assertEquals(3, seg.getSize(), TEST_EPS);
182 
183         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 0.5), seg.getCentroid(), TEST_EPS);
184         final Bounds3D bounds = seg.getBounds();
185         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, -1), bounds.getMin(), TEST_EPS);
186         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 2), bounds.getMax(), TEST_EPS);
187     }
188 
189     @Test
190     void testFromLocations_reversedLocationOrder() {
191         // arrange
192         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.of(-1, 0, 1), Vector3D.Unit.PLUS_Z, TEST_PRECISION);
193 
194         // act
195         final Segment3D seg = Lines3D.segmentFromLocations(line, 2, -1);
196 
197         // assert
198         Assertions.assertFalse(seg.isInfinite());
199         Assertions.assertTrue(seg.isFinite());
200 
201         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, -1), seg.getStartPoint(), TEST_EPS);
202         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 2), seg.getEndPoint(), TEST_EPS);
203 
204         Assertions.assertEquals(-1, seg.getSubspaceStart(), TEST_EPS);
205         Assertions.assertEquals(2, seg.getSubspaceEnd(), TEST_EPS);
206 
207         Assertions.assertEquals(3, seg.getSize(), TEST_EPS);
208 
209         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 0.5), seg.getCentroid(), TEST_EPS);
210         final Bounds3D bounds = seg.getBounds();
211         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, -1), bounds.getMin(), TEST_EPS);
212         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 2), bounds.getMax(), TEST_EPS);
213     }
214 
215     @Test
216     void testFromLocations_singlePoint() {
217         // arrange
218         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.of(-1, 0, 0), Vector3D.Unit.PLUS_Z, TEST_PRECISION);
219 
220         // act
221         final Segment3D seg = Lines3D.segmentFromLocations(line, 1, 1);
222 
223         // assert
224         Assertions.assertFalse(seg.isInfinite());
225         Assertions.assertTrue(seg.isFinite());
226 
227         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 1), seg.getStartPoint(), TEST_EPS);
228         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 1), seg.getEndPoint(), TEST_EPS);
229 
230         Assertions.assertEquals(1, seg.getSubspaceStart(), TEST_EPS);
231         Assertions.assertEquals(1, seg.getSubspaceEnd(), TEST_EPS);
232 
233         Assertions.assertEquals(0, seg.getSize(), TEST_EPS);
234 
235         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 1), seg.getCentroid(), TEST_EPS);
236         final Bounds3D bounds = seg.getBounds();
237         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 1), bounds.getMin(), TEST_EPS);
238         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(-1, 0, 1), bounds.getMax(), TEST_EPS);
239     }
240 
241     @Test
242     void testFromLocations_invalidArgs() {
243         // arrange
244         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.ZERO, Vector3D.Unit.MINUS_Z, TEST_PRECISION);
245 
246         // act/assert
247         GeometryTestUtils.assertThrowsWithMessage(() -> {
248             Lines3D.segmentFromLocations(line, Double.NaN, 2);
249         }, IllegalArgumentException.class, "Invalid line segment locations: NaN, 2.0");
250 
251         GeometryTestUtils.assertThrowsWithMessage(() -> {
252             Lines3D.segmentFromLocations(line, 1, Double.NaN);
253         }, IllegalArgumentException.class, "Invalid line segment locations: 1.0, NaN");
254 
255         GeometryTestUtils.assertThrowsWithMessage(() -> {
256             Lines3D.segmentFromLocations(line, Double.NEGATIVE_INFINITY, 2);
257         }, IllegalArgumentException.class, "Invalid line segment locations: -Infinity, 2.0");
258 
259         GeometryTestUtils.assertThrowsWithMessage(() -> {
260             Lines3D.segmentFromLocations(line, 1, Double.POSITIVE_INFINITY);
261         }, IllegalArgumentException.class, "Invalid line segment locations: 1.0, Infinity");
262     }
263 
264     @Test
265     void testTransform() {
266         // arrange
267         final AffineTransformMatrix3D t = QuaternionRotation.fromAxisAngle(Vector3D.Unit.PLUS_Y, 0.5 * Math.PI)
268                 .toMatrix()
269                 .translate(Vector3D.Unit.PLUS_Y);
270 
271         final Segment3D seg = Lines3D.segmentFromPoints(Vector3D.of(1, 0, 0), Vector3D.of(2, 0, 0), TEST_PRECISION);
272 
273         // act
274         final Segment3D result = seg.transform(t);
275 
276         // assert
277         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 1, -1), result.getStartPoint(), TEST_EPS);
278         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 1, -2), result.getEndPoint(), TEST_EPS);
279     }
280 
281     @Test
282     void testTransform_reflection() {
283         // arrange
284         final AffineTransformMatrix3D t = QuaternionRotation.fromAxisAngle(Vector3D.Unit.PLUS_Y, 0.5 * Math.PI)
285                 .toMatrix()
286                 .translate(Vector3D.Unit.PLUS_Y)
287                 .scale(1, 1, -2);
288 
289         final Segment3D seg = Lines3D.segmentFromPoints(Vector3D.of(1, 0, 0), Vector3D.of(2, 0, 0), TEST_PRECISION);
290 
291         // act
292         final Segment3D result = seg.transform(t);
293 
294         // assert
295         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 1, 2), result.getStartPoint(), TEST_EPS);
296         EuclideanTestUtils.assertCoordinatesEqual(Vector3D.of(0, 1, 4), result.getEndPoint(), TEST_EPS);
297     }
298 
299     @Test
300     void testContains() {
301         // arrange
302         final Vector3D p0 = Vector3D.of(1, 1, 1);
303         final Vector3D p1 = Vector3D.of(3, 1, 1);
304 
305         final Vector3D delta = Vector3D.of(1e-12, 1e-12, 1e-12);
306 
307         final Segment3D seg = Lines3D.segmentFromPoints(Vector3D.of(1, 1, 1), Vector3D.of(3, 1, 1), TEST_PRECISION);
308 
309         // act/assert
310         Assertions.assertFalse(seg.contains(Vector3D.of(2, 2, 2)));
311         Assertions.assertFalse(seg.contains(Vector3D.of(0.9, 1, 1)));
312         Assertions.assertFalse(seg.contains(Vector3D.of(3.1, 1, 1)));
313 
314         Assertions.assertTrue(seg.contains(p0));
315         Assertions.assertTrue(seg.contains(p1));
316 
317         Assertions.assertTrue(seg.contains(p0.subtract(delta)));
318         Assertions.assertTrue(seg.contains(p1.add(delta)));
319 
320         Assertions.assertTrue(seg.contains(p0.lerp(p1, 0.5)));
321     }
322 
323     @Test
324     void testGetInterval() {
325         // arrange
326         final Segment3D seg = Lines3D.segmentFromPoints(Vector3D.of(2, -1, 3), Vector3D.of(2, 2, 3), TEST_PRECISION);
327 
328         // act
329         final Interval interval = seg.getInterval();
330 
331         // assert
332         Assertions.assertEquals(-1, interval.getMin(), TEST_EPS);
333         Assertions.assertEquals(2, interval.getMax(), TEST_EPS);
334 
335         Assertions.assertSame(seg.getLine().getPrecision(), interval.getMinBoundary().getPrecision());
336     }
337 
338     @Test
339     void testGetInterval_singlePoint() {
340         // arrange
341         final Line3D line = Lines3D.fromPointAndDirection(Vector3D.ZERO, Vector3D.Unit.PLUS_X, TEST_PRECISION);
342         final Segment3D seg = Lines3D.segmentFromLocations(line, 1, 1);
343 
344         // act
345         final Interval interval = seg.getInterval();
346 
347         // assert
348         Assertions.assertEquals(1, interval.getMin(), TEST_EPS);
349         Assertions.assertEquals(1, interval.getMax(), TEST_EPS);
350         Assertions.assertEquals(0, interval.getSize(), TEST_EPS);
351 
352         Assertions.assertSame(seg.getLine().getPrecision(), interval.getMinBoundary().getPrecision());
353     }
354 
355     @Test
356     void testToString() {
357         // arrange
358         final Segment3D seg = Lines3D.segmentFromPoints(Vector3D.ZERO, Vector3D.of(1, 0, 0), TEST_PRECISION);
359 
360         // act
361         final String str = seg.toString();
362 
363         // assert
364         GeometryTestUtils.assertContains("Segment3D[startPoint= (0", str);
365         GeometryTestUtils.assertContains(", endPoint= (1", str);
366     }
367 }