1#![warn(missing_docs)]
10
11mod error;
12pub use error::*;
13
14pub mod shape;
15pub use shape::{RayHit, Shape};
16
17pub mod sphere;
18pub use sphere::Sphere;
19
20pub mod box_shape;
21pub use box_shape::BoxShape;
22
23pub mod capsule;
24pub use capsule::Capsule;
25
26pub mod cylinder;
27pub use cylinder::Cylinder;
28
29pub mod cone;
30pub use cone::Cone;
31
32pub mod convex_hull;
33pub use convex_hull::functions::{
34 approximate_convex_decomposition, box_support, capsule_support, chamfer_build, chamfer_hull,
35 cylinder_support, deduplicate_points, ellipsoid_support, gjk_intersect, hull_aspect_ratio,
36 hull_face_normals, hull_face_offsets, hull_sphericity, icosahedron_vertices, lower_hull_2d,
37 minkowski_difference_hull, minkowski_difference_hulls, minkowski_sum_hull, minkowski_sum_hulls,
38 monotone_chain_hull_2d, octahedron_vertices, point_cloud_aabb, point_cloud_centroid,
39 point_cloud_covariance, simplify_hull_points, sphere_support, tetrahedron_vertices,
40 upper_hull_2d, vertex_decimation,
41};
42pub use convex_hull::types::{
43 ConvexHull, ConvexHull3D, ConvexHullAabb, HullWithQuality, IncrementalConvexHull,
44};
45
46pub mod triangle_mesh;
47pub use triangle_mesh::TriangleMesh;
48
49pub mod heightfield;
50pub use heightfield::HeightField;
51
52pub mod compound;
53pub use compound::Compound;
54
55pub mod torus;
56pub use torus::Torus;
57
58pub mod mesh_ops;
59pub use mesh_ops::TriMesh;
60
61pub mod quickhull;
62pub use quickhull::ConvexHull3DVec;
63
64pub mod swept;
65
66pub mod csg;
67
68pub mod parametric;
69
70pub mod mesh_repair;
71
72pub mod spatial_hash;
73
74pub mod voronoi;
75
76pub mod decimation;
77
78pub mod offset_surface;
79pub use offset_surface::{
80 OffsetMesh, Sdf, SdfBox, SdfCapsule, SdfCone, SdfCylinder, SdfDifference, SdfIntersection,
81 SdfOffset, SdfPlane, SdfScaled, SdfSmoothIntersection, SdfSmoothUnion, SdfSphere, SdfTorus,
82 SdfTranslated, SdfUnion, VoxelSdf, approximate_medial_axis, detect_edge_features,
83 extract_zero_crossings_slice, generate_shell, inward_offset, offset_curve_3d,
84 offset_polyhedron, outward_offset, variable_offset,
85};
86
87pub mod point_cloud;
88pub use point_cloud::functions::{
89 aabb_extent, compute_bounding_box, compute_point_cloud_normals, estimate_normals,
90 farthest_point_sampling, fpfh_feature, icp_align, icp_point_to_point, pca_obb,
91 ransac_fit_plane, statistical_outlier_removal, voxel_downsample,
92};
93pub use point_cloud::types::{
94 IcpRegistration, IcpResult, KdNode3D, KdTree3D, NormalEstimation, PointCloud, PointCloudFilter,
95 RansacPlaneResult,
96};
97
98pub mod mesh_quality;
99
100pub mod remesh;
101
102pub mod boolean_ops;
103
104pub mod geodesic;
105
106pub mod subdivision;
107
108pub mod mesh_param;
109pub use mesh_param::{
110 LscmParameterization, ParamTriMesh, TutteParameterization, boundary_vertices, build_halfedge,
111 fill_holes, is_boundary_vertex, loop_subdivision, midpoint_subdivision,
112 remove_duplicate_vertices, texture_distortion, uv_overlap_check, uv_stretch, vertex_neighbors,
113};
114
115pub use voronoi::{
116 DelaunayTriangle, DelaunayTriangulation, LegacyVoronoiCell, Point2D, VoronoiCell,
117 VoronoiDiagram, VoronoiSite, bowyer_watson, circumcircle, delaunay_to_voronoi, in_circumcircle,
118 is_delaunay, lloyd_relaxation, nearest_site, power_diagram, voronoi_area,
119};
120
121#[cfg(test)]
122mod prop_tests {
123 use super::*;
124 use oxiphysics_core::math::Vec3;
125 use proptest::prelude::*;
126
127 fn positive_f64() -> impl Strategy<Value = f64> {
128 0.01_f64..50.0_f64
129 }
130
131 fn coord_f64() -> impl Strategy<Value = f64> {
132 -50.0_f64..50.0_f64
133 }
134
135 proptest! {
136 #[test]
137 fn prop_sphere_bbox_contains_center(radius in positive_f64()) {
138 let sphere = Sphere::new(radius);
139 let bb = sphere.bounding_box();
140 prop_assert!(
141 bb.contains_point(&Vec3::zeros()),
142 "sphere bbox does not contain center for radius={}", radius
143 );
144 }
145
146 #[test]
147 fn prop_box_support_within_extents(
148 hx in positive_f64(),
149 hy in positive_f64(),
150 hz in positive_f64(),
151 dx in coord_f64(),
152 dy in coord_f64(),
153 dz in coord_f64(),
154 ) {
155 let half_extents = Vec3::new(hx, hy, hz);
156 let b = BoxShape::new(half_extents);
157 let dir = Vec3::new(dx, dy, dz);
158 let sp = b.support_point(&dir);
159 let eps = 1e-9;
160 prop_assert!(sp.x.abs() <= hx + eps, "|sp.x|={} > hx={}", sp.x.abs(), hx);
161 prop_assert!(sp.y.abs() <= hy + eps, "|sp.y|={} > hy={}", sp.y.abs(), hy);
162 prop_assert!(sp.z.abs() <= hz + eps, "|sp.z|={} > hz={}", sp.z.abs(), hz);
163 }
164
165 #[test]
166 fn prop_sphere_volume_positive(radius in positive_f64()) {
167 let sphere = Sphere::new(radius);
168 prop_assert!(sphere.volume() > 0.0, "sphere volume not positive for radius={}", radius);
169 }
170
171 #[test]
172 fn prop_sphere_inertia_symmetric(
173 radius in positive_f64(),
174 mass in positive_f64(),
175 ) {
176 let sphere = Sphere::new(radius);
177 let it = sphere.inertia_tensor(mass);
178 for i in 0..3 {
179 for j in 0..3 {
180 let diff = (it[(i, j)] - it[(j, i)]).abs();
181 prop_assert!(diff < 1e-9, "inertia not symmetric at ({},{})={} vs ({},{})={}", i, j, it[(i,j)], j, i, it[(j,i)]);
182 }
183 }
184 }
185
186 #[test]
187 fn prop_sphere_raycast_hit_on_surface(
188 radius in positive_f64(),
189 offset in 1.01_f64..50.0_f64,
191 ) {
192 let sphere = Sphere::new(radius);
193 let origin = Vec3::new(-(offset + radius + 1.0), 0.0, 0.0);
194 let dir = Vec3::new(1.0, 0.0, 0.0);
195 if let Some(hit) = sphere.ray_cast(&origin, &dir, 1000.0) {
196 let dist_from_center = hit.point.norm();
197 prop_assert!(
198 (dist_from_center - radius).abs() < 1e-6,
199 "hit point not on sphere surface: dist={}, radius={}", dist_from_center, radius
200 );
201 }
202 }
203
204 #[test]
205 fn prop_capsule_volume_ge_sphere(
206 radius in positive_f64(),
207 half_height in positive_f64(),
208 ) {
209 let capsule = Capsule::new(radius, half_height);
210 let sphere = Sphere::new(radius);
211 prop_assert!(
212 capsule.volume() >= sphere.volume() - 1e-9,
213 "capsule volume {} < sphere volume {}", capsule.volume(), sphere.volume()
214 );
215 }
216 }
217}
218pub mod bspline;
219pub mod implicit;
220pub mod implicit_surfaces;
221pub mod level_set;
222pub mod mesh_processing;
223pub mod origami;
224pub mod sphere_packing;
225pub mod topology;
226
227pub mod architectural_geometry;
228
229pub mod fractal_geometry;
230
231pub mod computational_geometry;
232
233pub mod implicit_geometry;
234
235pub mod robot_geometry;
236
237pub mod medical_geometry;
238
239pub mod procedural_geometry;
240
241pub mod spline_geometry;
242
243pub mod discrete_geometry;
244
245pub mod terrain_processing;
246
247pub mod cell_complex;
248pub mod convex_decomposition;
249pub mod voxel_grid;
250pub use voxel_grid::VoxelGrid;
251pub mod vhacd;
252pub use vhacd::{VHacdConfig, VHacdError, VHacdVoxel};
253pub mod geodesic_geometry;
254pub mod medial_axis;
255pub mod mesh_boolean;
256pub mod mesh_repair_ext;
257pub mod mesh_simplification;
258pub mod nurbs_geometry;
259pub mod offset_geometry;
260pub mod signed_distance_field;
261pub mod topology_geometry;