def test_halfspace_halfspace_same(self):
hs_1 = HalfSpace(Vector3D(0, 0, 0), Vector3D(0, 1, 0))
hs_2 = HalfSpace(Vector3D(0, 0, 0), Vector3D(0, 1, 0))
it = intersect(hs_1, hs_2)
self.assertTrue(isinstance(it, ConvexPolyhedron))
self.assertTrue(contains_point(hs_1, Vector3D(*it.hsi.interior_point)))
self.assertTrue(contains_point(hs_2, Vector3D(*it.hsi.interior_point)))
def hs_from_pos(s: Object, pos: Vector3D, offset_normal: Vector3D,
axis_index: int, min_amount: float,
max_amount: float) -> PointInRegionDistribution:
dist: float = max_amount - min_amount
origin: Vector3D = pos + (0.5 * s.dimensions[axis_index] +
min_amount) * offset_normal
return PointInRegionDistribution(HalfSpace(origin, offset_normal, dist))
def test_halfspace_convpolyh_noIntersection(self):
hs = HalfSpace(Vector3D(0, 4, 0), Vector3D(0, 1, 0))
cp = ConvexPolyhedron(
to_hsi(Cuboid(Vector3D(0.0, 0.0, 0.0), Vector3D(0, 0, 0), 1, 1,
1)))
it = intersect(hs, cp)
self.assertTrue(isinstance(it, Empty))
def test_halfspace_convpolyh_intersection(self):
hs = HalfSpace(Vector3D(0, 1, 0), Vector3D(0, 1, 0))
cp = ConvexPolyhedron(
to_hsi(Cuboid(Vector3D(0.0, 0.0, 0.0), Vector3D(0, 0, 0), 5, 5,
5)))
it = intersect(hs, cp)
self.assertTrue(isinstance(it, ConvexPolyhedron))
self.assertTrue(contains_point(hs, Vector3D(*it.hsi.interior_point)))
self.assertTrue(contains_point(cp, Vector3D(*it.hsi.interior_point)))
def test_halfspace_convpg_noIntersection(self):
hs = HalfSpace(Vector3D(0, 4, 0), Vector3D(0, 1, 0))
hsi = HalfspaceIntersection(
np.array([[1, 0, -3], [0, 1, -3], [-1, 0, 0], [0, -1, 0]]),
np.array([1.0, 1.0]))
cp = ConvexPolygon3D(hsi=hsi,
origin=Vector3D(0, 0, 0),
rot=Vector3D(0, 0, 0))
it = intersect(hs, cp)
self.assertTrue(isinstance(it, Empty))
def hs_from_obj(s: Object, ref_obj: Object, offset_normal: Vector3D,
axis_index: int, min_amount: float,
max_amount: float) -> PointInRegionDistribution:
dist: float = max_amount - min_amount
unrotated_offset: Vector3D = (0.5 * s.dimensions[axis_index] +
min_amount) * offset_normal
origin: Vector3D = ref_obj.position + rotate_euler_v3d(
unrotated_offset, ref_obj.orientation)
normal = rotate_euler_v3d(offset_normal, ref_obj.orientation)
return PointInRegionDistribution(
HalfSpace(origin, normal, max_amount - min_amount))
def test_halfspace_convpg_intersection(self):
hs = HalfSpace(Vector3D(0, 2, 0), Vector3D(0, 1, 0))
hsi = HalfspaceIntersection(
np.array([[1, 0, -3], [0, 1, -3], [-1, 0, 0], [0, -1, 0]]),
np.array([1.0, 1.0]))
cp = ConvexPolygon3D(hsi=hsi,
origin=Vector3D(0, 0, 0),
rot=Vector3D(0, 0, 0))
it = intersect(hs, cp)
int_point_3d: Vector3D = rotate_euler_v3d(
Vector3D(*it.hsi.interior_point, 0.0), it.rot) + it.origin
self.assertTrue(isinstance(it, ConvexPolygon3D))
self.assertTrue(contains_point(hs, int_point_3d))
self.assertTrue(contains_point(cp, int_point_3d))
def test_halfspace_halfspace_noIntersectionByDistance(self):
hs_1 = HalfSpace(Vector3D(0, 1, 0), Vector3D(0, 1, 0))
hs_2 = HalfSpace(Vector3D(0, 10000, 0), Vector3D(0, 1, 0))
it = intersect(hs_1, hs_2)
self.assertTrue(isinstance(it, Empty))