warp-lang 1.3.3__py3-none-macosx_10_13_universal2.whl → 1.4.0__py3-none-macosx_10_13_universal2.whl

warp/tests/test_point_triangle_closest_point.py

@@ -1,143 +0,0 @@
-# Copyright (c) 2024 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
-
-from warp.sim.collide import triangle_closest_point_barycentric
-from warp.tests.unittest_utils import *
-
-
-# a-b is the edge where the closest point is located at
-@wp.func
-def check_edge_feasible_region(p: wp.vec3, a: wp.vec3, b: wp.vec3, c: wp.vec3, eps: float):
-    ap = p - a
-    bp = p - b
-    ab = b - a
-
-    if wp.dot(ap, ab) < -eps:
-        return False
-
-    if wp.dot(bp, ab) > eps:
-        return False
-
-    ab_sqr_norm = wp.dot(ab, ab)
-    if ab_sqr_norm < eps:
-        return False
-
-    t = wp.dot(ab, c - a) / ab_sqr_norm
-
-    perpendicular_foot = a + t * ab
-
-    if wp.dot(c - perpendicular_foot, p - perpendicular_foot) > eps:
-        return False
-
-    return True
-
-
-# closest point is a
-@wp.func
-def check_vertex_feasible_region(p: wp.vec3, a: wp.vec3, b: wp.vec3, c: wp.vec3, eps: float):
-    ap = p - a
-    ba = a - b
-    ca = a - c
-
-    if wp.dot(ap, ba) < -eps:
-        return False
-
-    if wp.dot(p, ca) < -eps:
-        return False
-
-    return True
-
-
-@wp.func
-def return_true():
-    return True
-
-
-def test_point_triangle_closest_point(test, device):
-    passed = wp.array([True], dtype=wp.bool, device=device)
-
-    @wp.kernel
-    def test_point_triangle_closest_point_kernel(tri: wp.array(dtype=wp.vec3), passed: wp.array(dtype=wp.bool)):
-        state = wp.uint32(wp.rand_init(wp.int32(123), wp.int32(0)))
-        eps = 1e-5
-
-        for _i in range(1000):
-            l = wp.float32(0.0)
-            while l < eps:
-                p = wp.vec3(wp.randn(state), wp.randn(state), wp.randn(state))
-                l = wp.length(p)
-
-            # project to a sphere with r=2
-            p = 2.0 * p / l
-
-            bary = triangle_closest_point_barycentric(tri[0], tri[1], tri[2], p)
-
-            for dim in range(3):
-                v1_index = (dim + 1) % 3
-                v2_index = (dim + 2) % 3
-                v1 = tri[v1_index]
-                v2 = tri[v2_index]
-                v3 = tri[dim]
-
-                # on edge
-                if bary[dim] == 0.0 and bary[v1_index] != 0.0 and bary[v2_index] != 0.0:
-                    if not check_edge_feasible_region(p, v1, v2, v3, eps):
-                        passed[0] = False
-                        return
-
-                    # p-closest_p must be perpendicular to v1-v2
-                    closest_p = a * bary[0] + b * bary[1] + c * bary[2]
-                    e = v1 - v2
-                    err = wp.dot(e, closest_p - p)
-                    if wp.abs(err) > eps:
-                        passed[0] = False
-                        return
-
-                if bary[v1_index] == 0.0 and bary[v2_index] == 0.0:
-                    if not check_vertex_feasible_region(p, v3, v1, v2, eps):
-                        passed[0] = False
-                        return
-
-                if bary[dim] != 0.0 and bary[v1_index] != 0.0 and bary[v2_index] != 0.0:
-                    closest_p = a * bary[0] + b * bary[1] + c * bary[2]
-                    e1 = v1 - v2
-                    e2 = v1 - v3
-                    if wp.abs(wp.dot(e1, closest_p - p)) > eps or wp.abs(wp.dot(e2, closest_p - p)) > eps:
-                        passed[0] = False
-                        return
-
-    a = wp.vec3(1.0, 0.0, 0.0)
-    b = wp.vec3(0.0, 0.0, 0.0)
-    c = wp.vec3(0.0, 1.0, 0.0)
-
-    tri = wp.array([a, b, c], dtype=wp.vec3, device=device)
-    wp.launch(test_point_triangle_closest_point_kernel, dim=1, inputs=[tri, passed], device=device)
-    passed = passed.numpy()
-
-    test.assertTrue(passed.all())
-
-
-devices = get_test_devices()
-
-
-class TestTriangleClosestPoint(unittest.TestCase):
-    pass
-
-
-add_function_test(
-    TestTriangleClosestPoint,
-    "test_point_triangle_closest_point",
-    test_point_triangle_closest_point,
-    devices=devices,
-    check_output=True,
-)
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2)