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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 | # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import unittest
import numpy as np
import warp as wp
from warp.tests.unittest_utils import *
wp.init()
epsilon = 0.00001
@wp.kernel
def closest_point_edge_edge_kernel(
p1: wp.array(dtype=wp.vec3),
q1: wp.array(dtype=wp.vec3),
p2: wp.array(dtype=wp.vec3),
q2: wp.array(dtype=wp.vec3),
epsilon: float,
st0: wp.array(dtype=wp.vec3),
c1: wp.array(dtype=wp.vec3),
c2: wp.array(dtype=wp.vec3),
):
tid = wp.tid()
st = wp.closest_point_edge_edge(p1[tid], q1[tid], p2[tid], q2[tid], epsilon)
s = st[0]
t = st[1]
st0[tid] = st
c1[tid] = p1[tid] + (q1[tid] - p1[tid]) * s
c2[tid] = p2[tid] + (q2[tid] - p2[tid]) * t
def closest_point_edge_edge_launch(p1, q1, p2, q2, epsilon, st0, c1, c2, device):
n = len(p1)
wp.launch(
kernel=closest_point_edge_edge_kernel,
dim=n,
inputs=[p1, q1, p2, q2, epsilon],
outputs=[st0, c1, c2],
device=device,
)
def run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device):
p1 = wp.array(p1_h, dtype=wp.vec3, device=device)
q1 = wp.array(q1_h, dtype=wp.vec3, device=device)
p2 = wp.array(p2_h, dtype=wp.vec3, device=device)
q2 = wp.array(q2_h, dtype=wp.vec3, device=device)
st0 = wp.empty_like(p1)
c1 = wp.empty_like(p1)
c2 = wp.empty_like(p1)
closest_point_edge_edge_launch(p1, q1, p2, q2, epsilon, st0, c1, c2, device)
wp.synchronize()
view = st0.numpy()
return view
def test_edge_edge_middle_crossing(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 1, 0]])
p2_h = np.array([[0, 1, 0]])
q2_h = np.array([[1, 0, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.5) # s value
test.assertAlmostEqual(st0[1], 0.5) # t value
def test_edge_edge_parallel_s1_t0(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 1, 0]])
p2_h = np.array([[2, 2, 0]])
q2_h = np.array([[3, 3, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 1.0) # s value
test.assertAlmostEqual(st0[1], 0.0) # t value
def test_edge_edge_parallel_s0_t1(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 1, 0]])
p2_h = np.array([[-2, -2, 0]])
q2_h = np.array([[-1, -1, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.0) # s value
test.assertAlmostEqual(st0[1], 1.0) # t value
def test_edge_edge_both_degenerate_case(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[0, 0, 0]])
p2_h = np.array([[1, 1, 1]])
q2_h = np.array([[1, 1, 1]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.0) # s value
test.assertAlmostEqual(st0[1], 0.0) # t value
def test_edge_edge_degenerate_first_edge(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[0, 0, 0]])
p2_h = np.array([[0, 1, 0]])
q2_h = np.array([[1, 0, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.0) # s value
test.assertAlmostEqual(st0[1], 0.5) # t value
def test_edge_edge_degenerate_second_edge(test, device):
p1_h = np.array([[1, 0, 0]])
q1_h = np.array([[0, 1, 0]])
p2_h = np.array([[1, 1, 0]])
q2_h = np.array([[1, 1, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.5) # s value
test.assertAlmostEqual(st0[1], 0.0) # t value
def test_edge_edge_parallel(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 0, 0]])
p2_h = np.array([[-0.5, 1, 0]])
q2_h = np.array([[0.5, 1, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.0) # s value
test.assertAlmostEqual(st0[1], 0.5) # t value
def test_edge_edge_perpendicular_s1_t0(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 1, 0]])
p2_h = np.array([[10, 1, 0]])
q2_h = np.array([[11, 0, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 1.0) # s value
test.assertAlmostEqual(st0[1], 0.0) # t value
def test_edge_edge_perpendicular_s0_t1(test, device):
p1_h = np.array([[0, 0, 0]])
q1_h = np.array([[1, 1, 0]])
p2_h = np.array([[-11, -1, 0]])
q2_h = np.array([[-5, 0, 0]])
res = run_closest_point_edge_edge(p1_h, q1_h, p2_h, q2_h, device)
st0 = res[0]
test.assertAlmostEqual(st0[0], 0.0) # s value
test.assertAlmostEqual(st0[1], 1.0) # t value
devices = get_test_devices()
class TestClosestPointEdgeEdgeMethods(unittest.TestCase):
pass
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_middle_crossing",
test_edge_edge_middle_crossing,
devices=devices,
)
add_function_test(
TestClosestPointEdgeEdgeMethods, "test_edge_edge_parallel_s1_t0", test_edge_edge_parallel_s1_t0, devices=devices
)
add_function_test(
TestClosestPointEdgeEdgeMethods, "test_edge_edge_parallel_s0_t1", test_edge_edge_parallel_s0_t1, devices=devices
)
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_both_degenerate_case",
test_edge_edge_both_degenerate_case,
devices=devices,
)
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_degenerate_first_edge",
test_edge_edge_degenerate_first_edge,
devices=devices,
)
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_degenerate_second_edge",
test_edge_edge_degenerate_second_edge,
devices=devices,
)
add_function_test(TestClosestPointEdgeEdgeMethods, "test_edge_edge_parallel", test_edge_edge_parallel, devices=devices)
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_perpendicular_s1_t0",
test_edge_edge_perpendicular_s1_t0,
devices=devices,
)
add_function_test(
TestClosestPointEdgeEdgeMethods,
"test_edge_edge_perpendicular_s0_t1",
test_edge_edge_perpendicular_s0_t1,
devices=devices,
)
if __name__ == "__main__":
wp.build.clear_kernel_cache()
unittest.main(verbosity=2)
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