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volume_mesh_refiner_test.cc
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volume_mesh_refiner_test.cc
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#include "drake/geometry/proximity/volume_mesh_refiner.h"
#include <gtest/gtest.h>
#include "drake/geometry/proximity/detect_zero_simplex.h"
namespace drake {
namespace geometry {
namespace internal {
namespace {
using Eigen::Vector3d;
// TODO(DamrongGuoy) Consider testing RefineTetrahedron(), RefineTriangle(),
// and RefineEdge() directly instead of testing them through Refine().
// Test RefineTetrahedron() with a tetrahedral mesh consisting of only one
// tetrahedron. It should become four tetrahedra that share a new vertex.
GTEST_TEST(VolumeMeshRefinerTest, TestRefineTetrahedron) {
// +Z
// |
// v3
// |
// |
// v0+------v2---+Y
// /
// /
// v1
// /
// +X
//
const VolumeMesh<double> test_mesh(
std::vector<VolumeElement>{{0, 1, 2, 3}},
std::vector<Vector3d>{Vector3d::Zero(), Vector3d::UnitX(),
Vector3d::UnitY(), Vector3d::UnitZ()});
ASSERT_EQ(DetectTetrahedronWithAllBoundaryVertices(test_mesh).size(), 1);
ASSERT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(test_mesh.num_vertices(), 4);
ASSERT_EQ(test_mesh.num_elements(), 1);
VolumeMeshRefiner refiner(test_mesh);
VolumeMesh<double> refined_mesh = refiner.Refine();
EXPECT_EQ(DetectTetrahedronWithAllBoundaryVertices(refined_mesh).size(), 0);
EXPECT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(refined_mesh).size(),
0);
EXPECT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(refined_mesh).size(), 0);
// Expected properties of the result mesh
constexpr int kExpectedNumVerts = 5;
constexpr int kExpectedNumTets = 4;
constexpr int kNewVertexIndex = kExpectedNumVerts - 1;
EXPECT_EQ(refined_mesh.num_vertices(), kExpectedNumVerts);
EXPECT_EQ(refined_mesh.num_elements(), kExpectedNumTets);
EXPECT_EQ(refined_mesh.vertex(kNewVertexIndex), Vector3d(0.25, 0.25, 0.25));
for (const VolumeElement& tetrahedron : refined_mesh.tetrahedra()) {
ASSERT_TRUE(tetrahedron.vertex(0) == kNewVertexIndex ||
tetrahedron.vertex(1) == kNewVertexIndex ||
tetrahedron.vertex(2) == kNewVertexIndex ||
tetrahedron.vertex(3) == kNewVertexIndex);
}
}
// Test RefineTriangle() with a tetrahedral mesh consisting of two tetrahedra
// sharing a triangle. They should become six tetrahedra sharing a new vertex.
GTEST_TEST(VolumeMeshRefinerTest, TestRefineTriangle) {
// The interior triangle v0v1v2 is shared by two tetrahedra comprising the
// mesh.
//
// +Z
// |
// v3
// |
// |
// v0+------v2---+Y
// /|
// / |
// v1 v4
// / |
// +X |
// -Z
//
const VolumeMesh<double> test_mesh(
// Two tetrahedra sharing the triangle with vertex indices 0,1,2.
std::vector<VolumeElement>{{0, 1, 2, 3}, {2, 1, 0, 4}},
std::vector<Vector3d>{Vector3d::Zero(), Vector3d::UnitX(),
Vector3d::UnitY(), Vector3d::UnitZ(),
-Vector3d::UnitZ()});
ASSERT_EQ(DetectTetrahedronWithAllBoundaryVertices(test_mesh).size(), 2);
ASSERT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(test_mesh).size(), 1);
ASSERT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(test_mesh.num_vertices(), 5);
ASSERT_EQ(test_mesh.num_elements(), 2);
VolumeMeshRefiner refiner(test_mesh);
VolumeMesh<double> refined_mesh = refiner.Refine();
EXPECT_EQ(DetectTetrahedronWithAllBoundaryVertices(refined_mesh).size(), 0);
EXPECT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(refined_mesh).size(),
0);
EXPECT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(refined_mesh).size(), 0);
// Expected properties of the result mesh
constexpr int kExpectedNumVerts = 6;
constexpr int kExpectedNumTets = 6;
constexpr int kNewVertexIndex = kExpectedNumVerts - 1;
EXPECT_EQ(refined_mesh.num_vertices(), kExpectedNumVerts);
EXPECT_EQ(refined_mesh.num_elements(), kExpectedNumTets);
EXPECT_EQ(refined_mesh.vertex(kNewVertexIndex),
Vector3d(1.0 / 3, 1.0 / 3, 0));
for (const VolumeElement& tetrahedron : refined_mesh.tetrahedra()) {
ASSERT_TRUE(tetrahedron.vertex(0) == kNewVertexIndex ||
tetrahedron.vertex(1) == kNewVertexIndex ||
tetrahedron.vertex(2) == kNewVertexIndex ||
tetrahedron.vertex(3) == kNewVertexIndex);
}
}
// Test RefineEdge() with a tetrahedral mesh consisting of four tetrahedra
// sharing an edge. They should become eight tetrahedra sharing a new vertex.
GTEST_TEST(VolumeMeshRefinerTest, TestRefineEdge) {
// The interior edge v0v2 is shared by four tetrahedra comprising the mesh.
//
// +Z
// | -X
// | /
// v3 v5
// | /
// |/
// v0+-----v2---+Y
// /|
// / |
// v1 v4
// / |
// +X |
// -Z
//
const VolumeMesh<double> test_mesh(
// The four tetrahedra share the edge with vertex indices 0,2.
std::vector<VolumeElement>{
{0, 1, 2, 3}, {1, 0, 2, 4}, {0, 2, 5, 3}, {2, 0, 5, 4}},
std::vector<Vector3d>{Vector3d::Zero(), Vector3d::UnitX(),
Vector3d::UnitY(), Vector3d::UnitZ(),
-Vector3d::UnitZ(), -Vector3d::UnitX()});
ASSERT_EQ(DetectTetrahedronWithAllBoundaryVertices(test_mesh).size(), 4);
ASSERT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(test_mesh).size(), 4);
ASSERT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(test_mesh).size(), 1);
ASSERT_EQ(test_mesh.num_vertices(), 6);
ASSERT_EQ(test_mesh.num_elements(), 4);
VolumeMeshRefiner refiner(test_mesh);
VolumeMesh<double> refined_mesh = refiner.Refine();
EXPECT_EQ(DetectTetrahedronWithAllBoundaryVertices(refined_mesh).size(), 0);
EXPECT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(refined_mesh).size(),
0);
EXPECT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(refined_mesh).size(), 0);
// Expected properties of the result mesh
constexpr int kExpectedNumVerts = 7;
constexpr int kExpectedNumTets = 8;
constexpr int kNewVertexIndex = kExpectedNumVerts - 1;
EXPECT_EQ(refined_mesh.num_vertices(), kExpectedNumVerts);
EXPECT_EQ(refined_mesh.num_elements(), kExpectedNumTets);
EXPECT_EQ(refined_mesh.vertex(kNewVertexIndex), Vector3d(0, 0.5, 0));
for (const VolumeElement& tetrahedron : refined_mesh.tetrahedra()) {
ASSERT_TRUE(tetrahedron.vertex(0) == kNewVertexIndex ||
tetrahedron.vertex(1) == kNewVertexIndex ||
tetrahedron.vertex(2) == kNewVertexIndex ||
tetrahedron.vertex(3) == kNewVertexIndex);
}
}
// Test a special case that the input mesh is good already. It should return
// an equivalent mesh.
GTEST_TEST(VolumeMeshRefinerTest, InputGoodAlready) {
// +Z
// |
// v3
// |
// | v4 = (v0 + v1 + v2 + v3) / 4
// v0+------v2---+Y
// /
// /
// v1
// /
// +X
//
const VolumeMesh<double> test_mesh(
std::vector<VolumeElement>{
{0, 1, 2, 4}, {0, 3, 1, 4}, {3, 2, 1, 4}, {3, 0, 2, 4}},
std::vector<Vector3d>{Vector3d::Zero(), Vector3d::UnitX(),
Vector3d::UnitY(), Vector3d::UnitZ(),
Vector3d{0.25, 0.25, 0.25}});
ASSERT_EQ(DetectTetrahedronWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(DetectInteriorTriangleWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(DetectInteriorEdgeWithAllBoundaryVertices(test_mesh).size(), 0);
ASSERT_EQ(test_mesh.num_vertices(), 5);
ASSERT_EQ(test_mesh.num_elements(), 4);
VolumeMeshRefiner refiner(test_mesh);
VolumeMesh<double> refined_mesh = refiner.Refine();
EXPECT_TRUE(refined_mesh.Equal(test_mesh));
}
} // namespace
} // namespace internal
} // namespace geometry
} // namespace drake