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tstRay.cpp
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tstRay.cpp
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/****************************************************************************
* Copyright (c) 2017-2022 by the ArborX authors *
* All rights reserved. *
* *
* This file is part of the ArborX library. ArborX is *
* distributed under a BSD 3-clause license. For the licensing terms see *
* the LICENSE file in the top-level directory. *
* *
* SPDX-License-Identifier: BSD-3-Clause *
****************************************************************************/
#include <ArborX_Box.hpp>
#include <ArborX_HyperTriangle.hpp>
#include <ArborX_Ray.hpp>
#include <boost/test/unit_test.hpp>
BOOST_AUTO_TEST_CASE(intersects_box)
{
using ArborX::Box;
using ArborX::Point;
using ArborX::Experimental::Ray;
constexpr Box unit_box{{0, 0, 0}, {1, 1, 1}};
// origin is within the box
BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, .5}, {0, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, .5}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, .5}, {1, 1, 1}}, unit_box));
// origin is outside the box
// hit the center of the face
BOOST_TEST(intersects(Ray{{-1, .5, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, .5, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, .5, .5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{2, .5, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, .5, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, .5, .5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, 1.5, .5}, {1, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1.5, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, 1.5, 1.5}, {1, -1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1.5, 1.5}, {1, 0, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{2, -.5, .5}, {-1, 1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, -.5, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{2, -.5, 1.5}, {-1, 1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, -.5, 1.5}, {-1, 0, -1}}, unit_box));
// hit the center of an edge
BOOST_TEST(intersects(Ray{{-1, 0, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 0, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 0, .5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{2, 0, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, 0, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, 0, .5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, -1, .5}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, 1, .5}, {1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, -2, .5}, {1, 2, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{2, 2, .5}, {-1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{2, -1, .5}, {-1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{2, 1, .5}, {-1, -1, 0}}, unit_box));
// hit a corner
BOOST_TEST(intersects(Ray{{-0.5, 1.5, 1.5}, {1, -1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1, 1}, {-1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{-1, 1, 1}, {0, 1, 1}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, 1, 1}, {1, 0, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{2, 1, 1}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{-1, -1, -1}, {1, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{2, 2, 2}, {-1, -1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1, 2, 3}, {4, 5, 6}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -2, -3}}, unit_box));
// origin is on the box (no 0*inf).
BOOST_TEST(intersects(Ray{{0, 0, 0}, {1, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, -1, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {-1, -1, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, .5, .5}, {-1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, .5, .5}, {1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, 1, .5}, {0, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, 1, .5}, {0, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, 1}, {0, 0, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{.5, .5, 1}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, .5}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, .5}, {-1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, .5}, {-1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, .5}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0.5, 0}, {-1, -2, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0.5, 0, 0.5}, {2, 0, -1}}, unit_box));
// origin is on the box (with 0*inf).
BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, 1, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 0, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {-1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 0}, {0, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, -1, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {-1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 1}, {0, 0, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 1, 1}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 0, 1}, {1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1, 0}, {0, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 1}, {-1, 0, -1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 0, 1}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 0, 0}, {0, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 0, 0}, {-1, 0, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 1, 0}, {0, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 1, 0}, {0, 0, -1}}, unit_box));
// more cases with 0*inf:
BOOST_TEST(intersects(Ray{{0, 1.5, 1.5}, {0, -1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{0, 1.5, 1.5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 0, 1.5}, {-1, 0, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 0, 1.5}, {1, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 1.5, 0}, {-1, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 1.5, 0}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1.5, 1.5}, {0, -1, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1, 1.5, 1.5}, {0, 1, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 1, 1.5}, {-1, 0, -1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 1, 1.5}, {1, 0, 1}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 1.5, 1}, {-1, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 1.5, 1}, {1, 1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 0, 0}, {-1, 0, 2}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 0, 0}, {-1, 2, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 0, 0}, {-1, 0, 2.1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 0, 0}, {-1, 2.1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 1, 1}, {-1, 0, -2}}, unit_box));
BOOST_TEST(intersects(Ray{{1.5, 1, 1}, {-1, -2, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 1, 1}, {-1, 0, -2.1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1.5, 1, 1}, {-1, -2.1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 1.5, 0}, {0, -1, 2}}, unit_box));
BOOST_TEST(intersects(Ray{{0, 1.5, 0}, {2, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{0, 1.5, 0}, {0, -1, 2.1}}, unit_box));
BOOST_TEST(!intersects(Ray{{0, 1.5, 0}, {2.1, -1, 0}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1.5, 1}, {0, -1, -2}}, unit_box));
BOOST_TEST(intersects(Ray{{1, 1.5, 1}, {-2, -1, 0}}, unit_box));
BOOST_TEST(!intersects(Ray{{1, 1.5, 1}, {0, -1, -2.1}}, unit_box));
BOOST_TEST(!intersects(Ray{{1, 1.5, 1}, {-2.1, -1, 0}}, unit_box));
}
#define ARBORX_TEST_RAY_BOX_INTERSECTION(ray, box, t0_ref, t1_ref) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(ArborX::Experimental::intersection(ray, box, t0, t1)); \
BOOST_TEST(t0 == t0_ref); \
BOOST_TEST(t1 == t1_ref); \
} while (false)
#define ARBORX_TEST_RAY_BOX_NO_INTERSECTION(ray, box) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(!ArborX::Experimental::intersection(ray, box, t0, t1)); \
BOOST_TEST((t0 == inf || t1 == -inf)); \
} while (false)
BOOST_AUTO_TEST_CASE(ray_box_intersection, *boost::unit_test::tolerance(1e-6f))
{
using ArborX::Box;
using ArborX::Experimental::Ray;
namespace KokkosExt = ArborX::Details::KokkosExt;
#ifdef _MSC_VER
auto const inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#else
constexpr auto inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#endif
constexpr Box unit_box{{0, 0, 0}, {1, 1, 1}};
auto const sqrtf_5 = std::sqrt(5.f);
auto const sqrtf_3 = std::sqrt(3.f);
auto const sqrtf_2 = std::sqrt(2.f);
// clang-format off
// origin is within the box
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 0, 0}}), unit_box, -.5f, .5f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {0, 1, 0}}), unit_box, -.5f, .5f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {0, 0, 1}}), unit_box, -.5f, .5f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 1, 0}}), unit_box, -.5f*sqrtf_2, .5f*sqrtf_2);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{.5, .5, .5}, {1, 1, 1}}), unit_box, -.5f*sqrtf_3, .5f*sqrtf_3);
// origin is outside the box
// hit the center of the face
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, .5, .5}, {1, 0, 0}}), unit_box, 1.f, 2.f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, .5, .5}, {-1, 0, 0}}), unit_box, -2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, .5, .5}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, .5, .5}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, .5, .5}, {-1, 0, 0}}), unit_box, 1.f, 2.f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, .5, .5}, {1, 0, 0}}), unit_box, -2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, .5, .5}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1.5, .5}, {1, -1, 0}}), unit_box, sqrtf_2, 1.5f*sqrtf_2);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, .5}, {1, 0, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, -1, -1}}), unit_box, sqrtf_3, 1.5f*sqrtf_3);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, 0, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, -1, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1.5, 1.5}, {1, 0, -1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -.5, .5}, {-1, 1, 0}}), unit_box, sqrtf_2, 1.5f*sqrtf_2);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, .5}, {-1, 0, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 1, -1}}), unit_box, sqrtf_3, 1.5f*sqrtf_3);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 0, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 1, 0}}), unit_box);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, -.5, 1.5}, {-1, 0, -1}}), unit_box);
// hit the center of an edge
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 0, .5}, {1, 0, 0}}), unit_box, 1.f, 2.f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 0, .5}, {-1, 0, 0}}), unit_box, -2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 0, .5}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 0, .5}, {-1, 0, 0}}), unit_box, 1.f, 2.f);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 0, .5}, {1, 0, 0}}), unit_box, -2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, 0, .5}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -1, .5}, {1, 1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1, .5}, {1, -1, 0}}), unit_box, sqrtf_2, sqrtf_2);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -2, .5}, {1, 2, 0}}), unit_box, sqrtf_5, 1.5f*sqrtf_5);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 2, .5}, {-1, -1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, -1, .5}, {-1, 1, 0}}), unit_box, sqrtf_2, 2*sqrtf_2);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 1, .5}, {-1, -1, 0}}), unit_box, sqrtf_2, sqrtf_2);
// hit a corner
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-0.5, 1.5, 1.5}, {1, -1, -1}}), unit_box, .5f*sqrtf_3, 1.5f*sqrtf_3);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, 1, 1}, {-1, 0, 0}}), unit_box,-2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{-1, 1, 1}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 1, 1}, {1, 0, 0}}), unit_box, -2.f, -1.f);
ARBORX_TEST_RAY_BOX_NO_INTERSECTION((Ray{{2, 1, 1}, {0, 1, 1}}), unit_box);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{-1, -1, -1}, {1, 1, 1}}), unit_box, sqrtf_3, 2*sqrtf_3);
ARBORX_TEST_RAY_BOX_INTERSECTION((Ray{{2, 2, 2}, {-1, -1, -1}}), unit_box, sqrtf_3, 2*sqrtf_3);
// clang-format on
}
#undef ARBORX_TEST_RAY_BOX_INTERSECTION
#undef ARBORX_TEST_RAY_BOX_NO_INTERSECTION
BOOST_AUTO_TEST_CASE(ray_box_distance)
{
using ArborX::Box;
using ArborX::Experimental::Ray;
// use const instead of constexpr because MSVC shows error(error:expression
// must have a constant value)
constexpr Box unit_box{{0, 0, 0}, {1, 1, 1}};
namespace KokkosExt = ArborX::Details::KokkosExt;
#ifdef _MSC_VER
auto const inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#else
constexpr auto inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#endif
// clang-format off
// origin is within the box
BOOST_TEST(ArborX::Experimental::distance(Ray{{.5, .5, .5}, {1, 0, 0}}, unit_box) == 0.f);
// origin outside box, ray hitting box
BOOST_TEST(ArborX::Experimental::distance(Ray{{.5, .5, -.5}, {0, 0, 1}}, unit_box) == .5f);
// origin outside box, ray missing box
BOOST_TEST(ArborX::Experimental::distance(Ray{{.5, .5, -.5}, {0, 0, -1}}, unit_box) == inf);
}
// NOTE until boost 1.70 need to cast both operands when comparing floating
// points
BOOST_AUTO_TEST_CASE(overlap_distance_sphere,
*boost::unit_test::tolerance(1e-6f))
{
using ArborX::Sphere;
using ArborX::Experimental::Ray;
constexpr Sphere unit_sphere{{0, 0, 0}, 1};
auto const sqrtf_3 = std::sqrt(3.f);
auto const half_sqrtf_2 = std::sqrt(2.f) / 2;
auto const half_sqrtf_3 = std::sqrt(3.f) / 2;
// hit center of the sphere
BOOST_TEST(overlapDistance(Ray{{-2, 0, 0}, {1, 0, 0}}, unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{0, 3, 0}, {0, -1, 0}}, unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{0, 0, -4}, {0, 0, 1}}, unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{-2, -2, -2}, {1, 1, 1}}, unit_sphere) == 2.f);
// miss it
BOOST_TEST(overlapDistance(Ray{{-2, -2, -2}, {1, 0, 0}}, unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{1, 2, 3}, {4, 5, 6}}, unit_sphere) == 0.f);
// half-radius
BOOST_TEST(overlapDistance(Ray{{-2, 0, 0.5}, {1, 0, 0}}, unit_sphere) ==
sqrtf_3);
BOOST_TEST(overlapDistance(Ray{{0, -0.5, 2}, {0, 0, -1}}, unit_sphere) ==
sqrtf_3);
// touch surface but no intersection
BOOST_TEST(overlapDistance(Ray{{1, -2, 0}, {0, 1, 0}}, unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{2, 2, -1}, {-1, -1, 0}}, unit_sphere) == 0.f);
// behind the origin
BOOST_TEST(overlapDistance(Ray{{-2, 0, 0}, {-1, 0, 0}}, unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{0, 2, 2}, {0, 1, 1}}, unit_sphere) == 0.f);
// origin inside
BOOST_TEST(overlapDistance(Ray{{0.5, 0, 0}, {0, 1, 1}}, unit_sphere) ==
half_sqrtf_3);
BOOST_TEST(overlapDistance(Ray{{0, -half_sqrtf_3, 0}, {0, 0, 1}},
unit_sphere) == 0.5f);
BOOST_TEST(overlapDistance(Ray{{0, 0, half_sqrtf_2}, {1, -1, 0}},
unit_sphere) == half_sqrtf_2);
BOOST_TEST(overlapDistance(Ray{{0, 0.6, 0}, {0, 1, 0}}, unit_sphere) == 0.4f);
BOOST_TEST(overlapDistance(Ray{{0, 0, 0}, {1, 2, 3}}, unit_sphere) == 1.f);
// origin on surface
// tangent
BOOST_TEST(overlapDistance(Ray{{0, 0, 1}, {1, -1, 0}}, unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{0, 1, 0}, {2, 0, 3}}, unit_sphere) == 0.f);
BOOST_TEST(
overlapDistance(Ray{{half_sqrtf_2, half_sqrtf_2, 0}, {1, -1, 0}},
unit_sphere) == 0.f,
boost::test_tools::tolerance(5e-4f)); // inside at machine precision...
BOOST_TEST(overlapDistance(Ray{{-half_sqrtf_3, 0.5, 0}, {1, 2, 0}},
unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{0.5, half_sqrtf_3, 0}, {2, -1, 0}},
unit_sphere) == 0.f);
// directed at sphere
BOOST_TEST(overlapDistance(Ray{{1, 0, 0}, {-2, 0, 0}}, unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{1, 0, 0}, {-2, 0, 0}}, unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{0, -half_sqrtf_2, half_sqrtf_2}, {0, 1, -1}},
unit_sphere) == 2.f);
BOOST_TEST(overlapDistance(Ray{{half_sqrtf_3, 0.5, 0}, {-1, 0, 0}},
unit_sphere) == sqrtf_3);
// directed away
BOOST_TEST(overlapDistance(Ray{{0, 0, 1}, {1, 1, 1}}, unit_sphere) == 0.f);
BOOST_TEST(overlapDistance(Ray{{half_sqrtf_3, 0.5, 0}, {1, 0, 0}},
unit_sphere) == 0.f);
}
#define ARBORX_TEST_RAY_SPHERE_INTERSECTION(ray, sphere, t0_ref, t1_ref) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(ArborX::Experimental::intersection(ray, sphere, t0, t1)); \
BOOST_TEST(t0 == t0_ref); \
BOOST_TEST(t1 == t1_ref); \
} while (false)
#define ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION(ray, sphere) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(!ArborX::Experimental::intersection(ray, sphere, t0, t1)); \
BOOST_TEST((t0 == inf && t1 == -inf)); \
} while (false)
BOOST_AUTO_TEST_CASE(ray_sphere_intersection,
*boost::unit_test::tolerance(1e-6f))
{
using ArborX::Sphere;
using ArborX::Experimental::Ray;
constexpr Sphere unit_sphere{{0, 0, 0}, 1};
auto const sqrtf_3 = std::sqrt(3.f);
auto const sqrtf_2 = std::sqrt(2.f);
namespace KokkosExt = ArborX::Details::KokkosExt;
#ifdef _MSC_VER
auto const inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#else
constexpr auto inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#endif
// clang-format off
// hit center of the sphere
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0}, {1, 0, 0}}), unit_sphere, 1.f, 3.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 3, 0}, {0, -1, 0}}), unit_sphere, 2.f, 4.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 0, -4}, {0, 0, 1}}), unit_sphere, 3.f, 5.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, -2, -2}, {1, 1, 1}}), unit_sphere, 2*sqrtf_3-1, 2*sqrtf_3+1);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{1, 0, 0}, {1, 0, 0}}), unit_sphere, -2.f, 0.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 3, 0}, {0, 1, 0}}), unit_sphere, -4.f, -2.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 0, -4}, {0, 0, -1}}), unit_sphere, -5.f, -3.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{2, 2, 2}, {1, 1, 1}}), unit_sphere, -2*sqrtf_3-1, -2*sqrtf_3+1);
ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION((Ray{{-2, -2, -2}, {1, 0, 0}}), unit_sphere);
// half-radius
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0.5}, {1, 0, 0}}), unit_sphere, 2-sqrtf_3/2, 2+sqrtf_3/2);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, -0.5, 2}, {0, 0, -1}}), unit_sphere, 2-sqrtf_3/2, 2+sqrtf_3/2);
// touch surface
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{1, -2, 0}, {0, 1, 0}}), unit_sphere, 2.f, 2.f);
// ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{2, 2, -1}, {-1, -1, 0}}), unit_sphere, 2*sqrtf_2, 2*sqrtf_2); // machine precision
// behind the origin
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{-2, 0, 0}, {-1, 0, 0}}), unit_sphere, -3.f, -1.f);
ARBORX_TEST_RAY_SPHERE_INTERSECTION((Ray{{0, 2, 2}, {0, 1, 1}}), unit_sphere, -2*sqrtf_2-1, -2*sqrtf_2+1);
// clang-format on
}
#undef ARBORX_TEST_RAY_SPHERE_INTERSECTION
#undef ARBORX_TEST_RAY_SPHERE_NO_INTERSECTION
BOOST_AUTO_TEST_CASE(intersects_triangle)
{
using ArborX::Experimental::Ray;
using ArborX::ExperimentalHyperGeometry::Point;
using ArborX::ExperimentalHyperGeometry::Triangle;
constexpr Triangle unit_triangle{Point{0, 0, 0}, Point{1, 0, 0},
Point{0, 1, 0}};
BOOST_TEST(intersects(Ray{{.1, .2, .3}, {0, 0, -1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1.1, 1.2, 1}, {-1, -1, -1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{-1.9, 3.2, -1}, {2, -3, 1}}, unit_triangle));
BOOST_TEST(!intersects(Ray{{1, 2, 3}, {1, 1, 0}}, unit_triangle));
BOOST_TEST(!intersects(Ray{{1, 2, 3}, {1, 0, 0}}, unit_triangle));
BOOST_TEST(!intersects(Ray{{1, 2, 3}, {0, 1, 0}}, unit_triangle));
// ray origin on the triangle
BOOST_TEST(intersects(Ray{{.1, .2, 0}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{.1, .2, 0}, {0, 0, -1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{.1, .2, 0}, {1, 2, 3}}, unit_triangle));
// ray directed away from the triangle
BOOST_TEST(!intersects(Ray{{.1, .2, .3}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(!intersects(Ray{{1.0, 1.0, 0.0}, {0, 1, 0}}, unit_triangle));
// ray in the same plane as the triangle
BOOST_TEST(intersects(Ray{{.3, .3, 0}, {1, 1, 0}}, unit_triangle));
BOOST_TEST(intersects(Ray{{-0.1, 0, 0}, {1, 0, 0}}, unit_triangle));
BOOST_TEST(intersects(Ray{{0.1, -0.2, 0}, {0, 1, 0}}, unit_triangle));
BOOST_TEST(!intersects(Ray{{-1, -1, 0}, {0, 1, 0}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1.0, 0.0, 0.0}, {-1, 1, 0}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1.0, 0.0, 0.0}, {1, 2, 3}}, unit_triangle));
// ray misses the triangle
BOOST_TEST(!intersects(Ray{{-1, 2, -3}, {0, 0, 1}}, unit_triangle));
// ray hits vertices
BOOST_TEST(intersects(Ray{{0, 0, -1}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1, 0, -2}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{0, 1, -3}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -2, -3}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1, 2, 3}, {0, -2, -3}}, unit_triangle));
BOOST_TEST(intersects(Ray{{1, 2, 3}, {-1, -1, -3}}, unit_triangle));
// ray hits edges
BOOST_TEST(intersects(Ray{{.1, 0, -1}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{0, .2, -2}, {0, 0, 1}}, unit_triangle));
BOOST_TEST(intersects(Ray{{.5, .5, -3}, {0, 0, 1}}, unit_triangle));
// ray in a plane parallel to the triangle
BOOST_TEST(!intersects(Ray{{-0.1, 0, 1}, {1, 0, 0}}, unit_triangle));
constexpr Triangle tilted_triangle{Point{0, 0, 0}, Point{2, 0, 1},
Point{0, 2, 1}};
// ray in the same plane as the triangle
BOOST_TEST(!intersects(Ray{{10, 0, 0}, {1, 1, 1}}, tilted_triangle));
BOOST_TEST(intersects(Ray{{3, 3, 3}, {-1, -1, -1}}, tilted_triangle));
// ray in a plane parallel to the triangle
BOOST_TEST(!intersects(Ray{{0., 0., 0.1}, {1, 1, 1}}, tilted_triangle));
}
#define ARBORX_TEST_RAY_TRIANGLE_INTERSECTION(ray, triangle, t0_ref, t1_ref) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(ArborX::Experimental::intersection(ray, triangle, t0, t1)); \
BOOST_TEST(t0 == t0_ref); \
BOOST_TEST(t1 == t1_ref); \
} while (false)
#define ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION(ray, triangle) \
do \
{ \
float t0; \
float t1; \
BOOST_TEST(!ArborX::Experimental::intersection(ray, triangle, t0, t1)); \
BOOST_TEST((t0 == inf && t1 == -inf)); \
} while (false)
BOOST_AUTO_TEST_CASE(ray_triangle_intersection,
*boost::unit_test::tolerance(2e-6f))
{
using ArborX::Experimental::Ray;
using ArborX::ExperimentalHyperGeometry::Point;
using ArborX::ExperimentalHyperGeometry::Triangle;
namespace KokkosExt = ArborX::Details::KokkosExt;
#ifdef _MSC_VER
auto const inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#else
constexpr auto inf = KokkosExt::ArithmeticTraits::infinity<float>::value;
#endif
constexpr Triangle unit_triangle{Point{0, 0, 0}, Point{1, 0, 0},
Point{0, 1, 0}};
constexpr Triangle narrow_triangle{Point{0.5f, 0.5f, 0},
Point{0.24f, 0.74f, 0}, Point{0, 1.f, 0}};
auto const sqrtf_3 = std::sqrt(3.f);
auto const sqrtf_2 = std::sqrt(2.f);
// clang-format off
// intersection forward, ray is perpendicular to the triangle
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {0, 0, 1}}), unit_triangle, 1.f, 1.f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, 1.0}, {0, 0, -1}}), unit_triangle, 1.f, 1.f);
// intersection backward, ray is perpendicular to the triangle
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {0, 0, -1}}), unit_triangle, -1.f, -1.f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.01, 0.2, 1.0}, {0, 0, 1}}), unit_triangle, -1.f, -1.f);
// ray in a plane parallel to the triangle
ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{0.01, 0.2, -1.0}, {1, 0, 0}}), unit_triangle);
// intersection forward
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, -0.3}, {1, 1, 1}}), unit_triangle, 0.3f*sqrtf_3, 0.3f*sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.3, -0.3}, {1, 0, 1}}), unit_triangle, 0.3f*sqrtf_2, 0.3f*sqrtf_2);
// intersection backward
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, -0.3}, {-1, -1, -1}}), unit_triangle, -0.3f*sqrtf_3, -0.3f*sqrtf_3);
// ray intersection forward with edges
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 0.0, 0.0}, {1, 0, 0}}), unit_triangle, 1.f, 2.f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1, 0}}), unit_triangle, sqrtf_2, 2.0f*sqrtf_2);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, -1.0, 0.0}, {-1, 1, 0}}), unit_triangle, sqrtf_2, 2.0f*sqrtf_2);
// ray intersection backward with edges
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {-1, 1, 0}}), unit_triangle, -sqrtf_2, -2.0f*sqrtf_2);
// ray origin on the edge
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.5, 0.5, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 0.0, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f);
// ray origin on the vertice
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 1.0, 0.0}, {-1, 1, 0}}), unit_triangle, 0.f, 0.f);
// ray intersection backward with the vertice
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {0, 1, 0}}), unit_triangle, -1.f, -1.f);
// ray coplanar to the triangle misses
ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {-1, 1, 0}}), unit_triangle);
// ray coplanar to the triangle
auto const sqrtf_1p01=std::sqrt(1.01f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-4.0, 0.5, 0.0}, {5.0, -0.5, 0.0}}), unit_triangle, 4.f*sqrtf_1p01, 5.f*sqrtf_1p01);
//narrow_triangle
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1, 0}}), narrow_triangle, sqrtf_2, 1.5f*sqrtf_2);
ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION((Ray{{-1.0, 2.0, 0.0}, {1, -1.02, 0}}), narrow_triangle);
// a pyramid-shape test
// These tests are inspired by the Fig. 1 in the paper [1] Woop, S, et al. (2013),
// the left subfigure shows the crack in the middle where the edges meet, and the right
// subfigure shows that the proposed algorithm fixed the issue. In their own word,
// "Plucker coordinates guarantee watertightness along the edges, but edges do not meet
// exactly at the vertices. The algorithm described in this paper fixed this issue, and
// guarantees watertightness along the edges and at the vertices". I assume the below
// test would fail the "Plucker coordinates"-based algorithm, thus it is necessary to
// keep them here to show the watertightness of the current algorithm implemented.
constexpr Point O{1.f, 1.f, 1.f};
constexpr Point A{2.f, 2.f, 0};
constexpr Point B{2.f, -1.f, 0};
constexpr Point C{-1.f, -1.f, 0};
constexpr Point D{-1.f, 2.f, 0};
constexpr Triangle triangle_up{D, A, O};
constexpr Triangle triangle_right{O, A, B};
constexpr Triangle triangle_down{B, O, C};
constexpr Triangle triangle_left{C, D, O};
// ray hits the vertice shared by four triangles
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_up, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_right, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_down, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {1, 1, 1}}), triangle_left, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-1, -1, -1}}), triangle_up, -sqrtf_3, -sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_up, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_right, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_down, sqrtf_3, sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{2.0, 2.0, 2.0}, {-1, -1, -1}}), triangle_left, sqrtf_3, sqrtf_3);
// ray hits one edge
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {0, 0, 1}}), triangle_down, 0.5f, 0.5f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, -1.0, 0.5}, {0, 1, 0}}), triangle_down, 1.0f, 1.0f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {0, 0, 1}}), triangle_left, 0.5f, 0.5f);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {1, 1, 1}}), triangle_up, 0.5f*sqrtf_3, 0.5f*sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{1.0, 1.0, 0.0}, {1, 1, 1}}), triangle_right, 0.5f*sqrtf_3, 0.5f*sqrtf_3);
// Problem with extreme sizes (compared to the above tests):
// In the original algorithm, the u, v, w scale with the size of the problem, which
// leads to precision problems. The problem is fixed by normalizing the distances
// between the origin of the ray and the vertices.
// These tests will fail if there is no normalization.
float const size_s = 0.0001;
Triangle small_triangle{Point{-size_s, 0, 0}, Point{0, size_s, 0}, Point{0, 0, size_s}};
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-size_s, size_s, size_s}}), small_triangle, size_s/sqrtf_3, size_s/sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-2.f*size_s, -size_s, 0.0}, {size_s, size_s, 0}}), small_triangle, sqrtf_2*size_s, 2.f*sqrtf_2*size_s);
float const size_l = 10000;
Triangle large_triangle{Point{-size_l, 0, 0}, Point{0, 10000, 0}, Point{0, 0, 10000}};
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{0.0, 0.0, 0.0}, {-size_l, size_l, size_l}}), large_triangle, size_l/sqrtf_3, size_l/sqrtf_3);
ARBORX_TEST_RAY_TRIANGLE_INTERSECTION((Ray{{-2.f*size_l, -size_l, 0.0}, {size_l, size_l, 0}}), large_triangle, sqrtf_2*size_l, 2.f*sqrtf_2*size_l);
// clang-format on
}
#undef ARBORX_TEST_RAY_TRIANGLE_INTERSECTION
#undef ARBORX_TEST_RAY_TRIANGLE_NO_INTERSECTION
BOOST_AUTO_TEST_CASE(make_euclidean_vector)
{
using Vector = ArborX::Details::Vector<3>;
using ArborX::ExperimentalHyperGeometry::Point;
static_assert(Point{1, 2, 3} - Point{0, 0, 0} == Vector{1, 2, 3});
static_assert(Point{4, 5, 6} - Point{1, 2, 3} == Vector{3, 3, 3});
}
BOOST_AUTO_TEST_CASE(dot_product)
{
using ArborX::Details::Vector;
static_assert(Vector{1, 0, 0}.dot(Vector{1, 0, 0}) == 1);
static_assert(Vector{1, 0, 0}.dot(Vector{0, 1, 0}) == 0);
static_assert(Vector{1, 0, 0}.dot(Vector{0, 0, 1}) == 0);
static_assert(Vector{1, 1, 1}.dot(Vector{1, 1, 1}) == 3);
}
BOOST_AUTO_TEST_CASE(cross_product)
{
using ArborX::Details::Vector;
// clang-format off
static_assert(Vector{1, 0, 0}.cross(Vector{1, 0, 0}) == Vector{0, 0, 0});
static_assert(Vector{1, 0, 0}.cross(Vector{0, 1, 0}) == Vector{0, 0, 1});
static_assert(Vector{1, 0, 0}.cross(Vector{0, 0, 1}) == Vector{0, -1, 0});
static_assert(Vector{0, 1, 0}.cross(Vector{1, 0, 0}) == Vector{0, 0, -1});
static_assert(Vector{0, 1, 0}.cross(Vector{0, 1, 0}) == Vector{0, 0, 0});
static_assert(Vector{0, 1, 0}.cross(Vector{0, 0, 1}) == Vector{1, 0, 0});
static_assert(Vector{1, 1, 1}.cross(Vector{1, 1, 1}) == Vector{0, 0, 0});
// clang-format on
}
#undef static_assert