SurfaceIntersectionTests.cpp

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// This file is part of the Acts project.
//
// Copyright (C) 2019 CERN for the benefit of the Acts project
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at http://mozilla.org/MPL/2.0/.

#include <boost/test/data/test_case.hpp>
#include <boost/test/tools/output_test_stream.hpp>
#include <boost/test/unit_test.hpp>

#include "Acts/Geometry/GeometryContext.hpp"
#include "Acts/Surfaces/ConeSurface.hpp"
#include "Acts/Surfaces/CylinderSurface.hpp"
#include "Acts/Surfaces/PlaneSurface.hpp"
#include "Acts/Surfaces/RectangleBounds.hpp"
#include "Acts/Surfaces/StrawSurface.hpp"
#include "Acts/Tests/CommonHelpers/FloatComparisons.hpp"
#include "Acts/Utilities/Definitions.hpp"
#include "Acts/Utilities/Units.hpp"

namespace Acts {

using namespace UnitLiterals;

// Create a test context
GeometryContext tgContext = GeometryContext();

// Some random transform
Transform3D aTransform = Transform3D::Identity() *
                         Translation3D(30_cm, 7_m, -87_mm) *
                         AngleAxis3D(0.42, Vector3D(-3., 1., 8).normalized());

namespace Test {

BOOST_AUTO_TEST_SUITE(Surfaces)



BOOST_AUTO_TEST_CASE(CylinderIntersectionTests) {
  double radius = 1_m;
  double halfZ = 10_m;

  auto testCylinderIntersection = [&](const Transform3D& transform) -> void {
    // A cylinder created alinged with a provided transform
    auto aCylinder =
        Surface::makeShared<CylinderSurface>(transform, radius, halfZ);

    // Linear transform
    auto lTransform = transform.linear();

    // An onCylinder solution
    Vector3D onCylinder = transform * Vector3D(radius, 0., 0.);
    Vector3D outCylinder = transform * Vector3D(-radius, 0.6 * radius, 90_cm);
    Vector3D atCenter = transform * Vector3D(0., 0., 0.);
    Vector3D atEdge = transform * Vector3D(0.5 * radius, 0., 0.99 * halfZ);
    // Simply along the x axis
    Vector3D alongX = lTransform * Vector3D(1., 0., 0.);
    Vector3D transXY = lTransform * Vector3D(1., 1., 0).normalized();
    Vector3D transTZ = lTransform * Vector3D(1., 0., 1.).normalized();

    // Intersect without boundary check
    auto aIntersection =
        aCylinder->intersect(tgContext, onCylinder, alongX, true);

    // Check the validity of the interseciton
    BOOST_CHECK(aIntersection);
    // The status of this one should be on surface
    BOOST_CHECK(aIntersection.intersection.status ==
                Intersection3D::Status::onSurface);
    // There MUST be a second solution
    BOOST_CHECK(aIntersection.alternative);
    // The other intersection MUST be reachable
    BOOST_CHECK(aIntersection.alternative.status ==
                Intersection3D::Status::reachable);
    // The other intersection is at 2 meter distance
    CHECK_CLOSE_ABS(aIntersection.alternative.pathLength, -2_m,
                    s_onSurfaceTolerance);

    // Intersect from the the center
    auto cIntersection =
        aCylinder->intersect(tgContext, atCenter, alongX, true);

    // Check the validity of the interseciton
    BOOST_CHECK(cIntersection);
    // The status of this one MUST be reachable
    BOOST_CHECK(cIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // There MUST be a second solution
    BOOST_CHECK(cIntersection.alternative);
    // The other intersection MUST be reachable
    BOOST_CHECK(cIntersection.alternative.status ==
                Intersection3D::Status::reachable);
    // There MUST be one forward one backwards solution
    BOOST_CHECK(cIntersection.alternative.pathLength *
                    cIntersection.intersection.pathLength <
                0);

    // Intersect from outside where both intersections are reachable
    auto oIntersection =
        aCylinder->intersect(tgContext, outCylinder, alongX, true);

    // Check the validity of the interseciton
    BOOST_CHECK(oIntersection);
    // The status of this one MUST be reachable
    BOOST_CHECK(oIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // There MUST be a second solution
    BOOST_CHECK(oIntersection.alternative);
    // The other intersection MUST be reachable
    BOOST_CHECK(oIntersection.alternative.status ==
                Intersection3D::Status::reachable);
    // There MUST be one forward one backwards solution
    BOOST_CHECK(oIntersection.alternative.pathLength *
                    oIntersection.intersection.pathLength >
                0);

    // Intersection from outside without chance of hitting the cylinder
    auto iIntersection =
        aCylinder->intersect(tgContext, outCylinder, transXY, false);

    // Check the validity of the interseciton
    BOOST_CHECK(!iIntersection);

    // From edge tests - wo boundary test
    auto eIntersection =
        aCylinder->intersect(tgContext, atEdge, transTZ, false);

    // Check the validity of the interseciton
    BOOST_CHECK(eIntersection);
    // This should be the positive one
    BOOST_CHECK(eIntersection.intersection.pathLength > 0.);
    // The status of this one should be reachable
    BOOST_CHECK(eIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // There MUST be a second solution
    BOOST_CHECK(eIntersection.alternative);
    // The other intersection MUST be reachable
    BOOST_CHECK(eIntersection.alternative.status ==
                Intersection3D::Status::reachable);
    // And be the negative one
    BOOST_CHECK(eIntersection.alternative.pathLength < 0.);

    // Now re-do with boundary check
    eIntersection = aCylinder->intersect(tgContext, atEdge, transTZ, true);
    // This should be the negative one
    BOOST_CHECK(eIntersection.intersection.pathLength < 0.);
    // The status of this one should be reachable
    BOOST_CHECK(eIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // There MUST be a second solution
    BOOST_CHECK(!eIntersection.alternative);
    // The other intersection MUST NOT be reachable
    BOOST_CHECK(eIntersection.alternative.status ==
                Intersection3D::Status::missed);
    // And be the positive one
    BOOST_CHECK(eIntersection.alternative.pathLength > 0.);
  };

  // In a nominal world
  testCylinderIntersection(Transform3D::Identity());

  // In a system somewhere away
  testCylinderIntersection(aTransform);
}

BOOST_AUTO_TEST_CASE(ConeIntersectionTest) {
  double alpha = 0.25 * M_PI;

  auto testConeIntersection = [&](const Transform3D& transform) -> void {
    // A cone suface ready to use
    auto aCone = Surface::makeShared<ConeSurface>(transform, alpha, true);

    // Linear transform
    auto lTransform = transform.linear();

    // An onCylinder solution
    Vector3D onCone = transform * Vector3D(std::sqrt(2.), std::sqrt(2.), 2.);
    Vector3D outCone = transform * Vector3D(std::sqrt(4.), std::sqrt(4.), 2.);
    // Simply along the x axis
    Vector3D perpXY = lTransform * Vector3D(1., -1., 0.).normalized();
    Vector3D transXY = lTransform * Vector3D(1., 1., 0).normalized();

    // Intersect without boundary check with an on solution
    BOOST_CHECK(aCone->isOnSurface(tgContext, onCone, transXY, false));
    auto aIntersection = aCone->intersect(tgContext, onCone, transXY, true);

    // Check the validity of the interseciton
    BOOST_CHECK(aIntersection);
    // The status of this one should be on surface
    BOOST_CHECK(aIntersection.intersection.status ==
                Intersection3D::Status::onSurface);

    // There MUST be a second solution
    BOOST_CHECK(aIntersection.alternative);
    // The other intersection MUST be reachable
    BOOST_CHECK(aIntersection.alternative.status ==
                Intersection3D::Status::reachable);
    // The other intersection is at 2 meter distance
    CHECK_CLOSE_ABS(aIntersection.alternative.pathLength, -4.,
                    s_onSurfaceTolerance);

    // Intersection from outside without chance of hitting the cylinder
    auto iIntersection = aCone->intersect(tgContext, outCone, perpXY, false);

    // Check the validity of the interseciton
    BOOST_CHECK(!iIntersection);
  };

  // In a nominal world
  testConeIntersection(Transform3D::Identity());

  // In a system somewhere away
  testConeIntersection(aTransform);
}

BOOST_AUTO_TEST_CASE(PlanarIntersectionTest) {
  double halfX = 1_m;
  double halfY = 10_m;

  auto testPlanarIntersection = [&](const Transform3D& transform) -> void {
    // A Plane created with a specific transform
    auto aPlane = Surface::makeShared<PlaneSurface>(
        transform, std::make_shared<RectangleBounds>(halfX, halfY));

    Vector3D before = transform * Vector3D(-50_cm, -1_m, -1_m);
    Vector3D onit = transform * Vector3D(11_cm, -22_cm, 0_m);
    Vector3D after = transform * Vector3D(33_cm, 12_mm, 1_m);
    Vector3D outside = transform * Vector3D(2. * halfX, 2 * halfY, -1_mm);

    // Linear transform
    auto lTransform = transform.linear();

    // A direction that is non trivial
    Vector3D direction = lTransform * Vector3D(4_mm, 8_mm, 50_cm).normalized();
    Vector3D parallel = lTransform * Vector3D(1., 1., 0.).normalized();

    // Intersect forward
    auto fIntersection = aPlane->intersect(tgContext, before, direction, true);

    // The intersection MUST be valid
    BOOST_CHECK(fIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(fIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // The path length MUST be positive
    BOOST_CHECK(fIntersection.intersection.pathLength > 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!fIntersection.alternative);

    // On surface intersection
    auto oIntersection = aPlane->intersect(tgContext, onit, direction, true);
    // The intersection MUST be valid
    BOOST_CHECK(oIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(oIntersection.intersection.status ==
                Intersection3D::Status::onSurface);
    // The path length MUST be positive
    BOOST_CHECK(std::abs(oIntersection.intersection.pathLength) <
                s_onSurfaceTolerance);
    // The intersection MUST be unique
    BOOST_CHECK(!oIntersection.alternative);

    // Intersect backwards
    auto bIntersection = aPlane->intersect(tgContext, after, direction, true);
    // The intersection MUST be valid
    BOOST_CHECK(bIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(bIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // The path length MUST be negative
    BOOST_CHECK(bIntersection.intersection.pathLength < 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!bIntersection.alternative);

    // An out of bounds attempt: missed
    auto mIntersection = aPlane->intersect(tgContext, outside, direction, true);
    // The intersection MUST NOT be valid
    BOOST_CHECK(!mIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(mIntersection.intersection.status ==
                Intersection3D::Status::missed);
    // The path length MUST be negative
    BOOST_CHECK(mIntersection.intersection.pathLength > 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!mIntersection.alternative);

    // An invalid attempt
    auto iIntersection = aPlane->intersect(tgContext, before, parallel, true);
    // The intersection MUST NOT be valid
    BOOST_CHECK(!iIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(iIntersection.intersection.status ==
                Intersection3D::Status::unreachable);
    // The intersection MUST be unique
    BOOST_CHECK(!iIntersection.alternative);
  };

  // In a nominal world
  testPlanarIntersection(Transform3D::Identity());

  // In a system somewhere away
  testPlanarIntersection(aTransform);
}

BOOST_AUTO_TEST_CASE(LineIntersectionTest) {
  double radius = 1_m;
  double halfZ = 10_m;

  auto testLineAppraoch = [&](const Transform3D& transform) -> void {
    // A Plane created with a specific transform
    auto aLine = Surface::makeShared<StrawSurface>(transform, radius, halfZ);

    Vector3D before = transform * Vector3D(-50_cm, -1_m, -1_m);
    Vector3D onit1 = transform * Vector3D(0_m, 0_m, 0_m);
    Vector3D onitP = transform * Vector3D(1_cm, 0_m, 23_um);
    Vector3D after = transform * Vector3D(33_cm, 12_mm, 1_m);
    Vector3D outside = transform * Vector3D(2., 0., 100_m);

    // Linear transform
    auto lTransform = transform.linear();
    Vector3D direction = lTransform * Vector3D(2_cm, 3_cm, 5_cm).normalized();
    Vector3D normalP = lTransform * Vector3D(0, 1., 0.).normalized();
    Vector3D parallel = lTransform * Vector3D(0, 0., 1.).normalized();

    // A random intersection form backward
    // Intersect forward
    auto fIntersection = aLine->intersect(tgContext, before, direction, true);
    // The intersection MUST be valid
    BOOST_CHECK(fIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(fIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // The path length MUST be positive
    BOOST_CHECK(fIntersection.intersection.pathLength > 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!fIntersection.alternative);

    // On surface intersection - on the straw with random direction
    auto oIntersection = aLine->intersect(tgContext, onit1, direction, true);
    // The intersection MUST be valid
    BOOST_CHECK(oIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(oIntersection.intersection.status ==
                Intersection3D::Status::onSurface);
    // The path length MUST be positive
    BOOST_CHECK(std::abs(oIntersection.intersection.pathLength) <
                s_onSurfaceTolerance);
    // The intersection MUST be unique
    BOOST_CHECK(!oIntersection.alternative);

    // On surface intersecion - on the surface with normal vector
    oIntersection = aLine->intersect(tgContext, onitP, normalP, true);
    // The intersection MUST be valid
    BOOST_CHECK(oIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(oIntersection.intersection.status ==
                Intersection3D::Status::onSurface);
    // The path length MUST be positive
    BOOST_CHECK(std::abs(oIntersection.intersection.pathLength) <
                s_onSurfaceTolerance);
    // The intersection MUST be unique
    BOOST_CHECK(!oIntersection.alternative);

    // Intersect backwards
    auto bIntersection = aLine->intersect(tgContext, after, direction, true);
    // The intersection MUST be valid
    BOOST_CHECK(bIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(bIntersection.intersection.status ==
                Intersection3D::Status::reachable);
    // The path length MUST be negative
    BOOST_CHECK(bIntersection.intersection.pathLength < 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!bIntersection.alternative);

    // An out of bounds attempt: missed
    auto mIntersection = aLine->intersect(tgContext, outside, direction, true);
    // The intersection MUST NOT be valid
    BOOST_CHECK(!mIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(mIntersection.intersection.status ==
                Intersection3D::Status::missed);
    // The path length MUST be negative
    BOOST_CHECK(mIntersection.intersection.pathLength < 0.);
    // The intersection MUST be unique
    BOOST_CHECK(!mIntersection.alternative);

    // An invalid attempt
    auto iIntersection = aLine->intersect(tgContext, before, parallel, true);
    // The intersection MUST NOT be valid
    BOOST_CHECK(!iIntersection);
    // The intersection MUST be reachable
    BOOST_CHECK(iIntersection.intersection.status ==
                Intersection3D::Status::unreachable);
    // The intersection MUST be unique
    BOOST_CHECK(!iIntersection.alternative);
  };

  // In a nominal world
  testLineAppraoch(Transform3D::Identity());

  // In a system somewhere away
  testLineAppraoch(aTransform);
}

BOOST_AUTO_TEST_SUITE_END()

}  // namespace Test

}  // namespace Acts