Unverified Commit c70dd7ce authored by acpaquette's avatar acpaquette Committed by GitHub
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ShapeModel Normal State Fix (#5345) 



* Adds local normal member variable to shapemodel

* Fixes variable initialization and sets local normal properly in bullet

* Update tests and truth data

* Fixed up documentation in ShapeModel.h

* Handled cases where the hasLocalNormal flag should be set to false

* Fixed tests

* Fixed gtests

* Addressed PR feedback

* Fixed more typos

* Further adjusted truth data for test

* Added changelog

---------

Co-authored-by: default avatarKelvin Rodriguez <krodriguez@usgs.gov>
parent c6037724

CHANGELOG.md

+1 −0
Original line number Diff line number Diff line
@@ -63,6 +63,7 @@ release. 
  outputsuffix, both, or neither for naming convention purposes. [#5162](https://github.com/DOI-USGS/ISIS3/pull/5162)

- Changed the default PCK load behavior to try and load mission specific PCKs, if that fails we default to the base PCKs [#5335](https://github.com/DOI-USGS/ISIS3/pull/5335)

- Disabled option to use web=true when running spiceinit with HRSC images. [#5223](https://github.com/DOI-USGS/ISIS3/issues/5223)

- Seperated `normal` and `localNormal` in ISIS shapemodels, now the local normal is stored in its own member variable with setters and getters. [#5345](https://github.com/DOI-USGS/ISIS3/pull/5345)

- Set build option `pybindings=ON` in `build.sh` to turn on python bindings. [#5389](https://github.com/DOI-USGS/ISIS3/pull/5389)

- Updated Ale to version 0.10.0 [#5399](https://github.com/DOI-USGS/ISIS3/pull/5399)

isis/src/base/objs/BulletShapeModel/BulletShapeModel.cpp

+3 −3
Original line number Diff line number Diff line
@@ -442,7 +442,7 @@ namespace Isis { 
    }



    btVector3 normal = m_intercept.normal();

    setNormal(normal[0], normal[1], normal[2]);

    setLocalNormal(normal[0], normal[1], normal[2]);

  }
@@ -719,11 +719,11 @@ namespace Isis { 
      ShapeModel::setSurfacePoint( makeSurfacePoint(m_intercept.point()) ); // sets ShapeModel::m_hasIntersection=t, ShapeModel::m_hasNormal=f



      btVector3 normal = m_intercept.normal();

      setNormal(normal[0], normal[1], normal[2]);

      setLocalNormal(normal[0], normal[1], normal[2]);

    }

    else {

      ShapeModel::clearSurfacePoint();

      setHasNormal(false);

      setHasLocalNormal(false);

    }



    return;

isis/src/base/objs/BulletShapeModel/unitTest.cpp

+4 −4
Original line number Diff line number Diff line
@@ -222,10 +222,10 @@ void outputModelStatus(BulletShapeModel &bulletModel) { 
             << intersection->GetY().kilometers() << ", "

             << intersection->GetZ().kilometers() << ")";

  }

  qDebug() << "Model has normal? " << bulletModel.hasNormal();

  qDebug() << "Model has normal? " << bulletModel.hasLocalNormal();

  std::vector<double> normal;

  if ( bulletModel.hasNormal() ) {

    normal = bulletModel.normal();

  if ( bulletModel.hasLocalNormal() ) {

    normal = bulletModel.localNormal();

    qDebug() << "  Local Normal: ("

             << normal[0] << ", "

             << normal[1] << ", "
@@ -238,7 +238,7 @@ void outputModelStatus(BulletShapeModel &bulletModel) { 
               << normal[1] << ", "

               << normal[2] << ")";

      bulletModel.setLocalNormalFromIntercept();

      normal = bulletModel.normal();

      normal = bulletModel.localNormal();

      qDebug() << "  Recalculated Local Normal: ("

               << normal[0] << ", "

               << normal[1] << ", "

isis/src/base/objs/Camera/Camera.cpp

+2 −2
Original line number Diff line number Diff line
@@ -1622,7 +1622,7 @@ namespace Isis { 
    }



    // restore input state if calculation failed and clean up.

    if (!shapeModel->hasNormal()) {

    if (!shapeModel->hasLocalNormal()) {

      p_pointComputed = false;

      return;

    }
@@ -1634,7 +1634,7 @@ namespace Isis { 


    // Set the method normal values

    std::vector<double> localNormal(3);

    localNormal = shapeModel->normal();

    localNormal = shapeModel->localNormal();

    memcpy(normal, (double *) &localNormal[0], sizeof(double) * 3);

  }

isis/src/base/objs/DemShape/DemShape.cpp

+6 −6
Original line number Diff line number Diff line
@@ -369,8 +369,8 @@ namespace Isis { 
    std::vector<SpiceDouble> normal(3);

    if (neighborPoints.isEmpty()) {

      normal[0] = normal[1] = normal[2] = 0.0;

      setNormal(normal);

      setHasNormal(false);

      setLocalNormal(normal);

      setHasLocalNormal(false);

      return;

    }
@@ -389,12 +389,12 @@ namespace Isis { 


    if (mag == 0.0) {

      normal[0] = normal[1] = normal[2] = 0.0;

      setNormal(normal);

      setHasNormal(false);

      setLocalNormal(normal);

      setHasLocalNormal(false);

      return;

   }

    else {

      setHasNormal(true);

      setHasLocalNormal(true);

    }



    // Check to make sure that the normal is pointing outward from the planet
@@ -410,7 +410,7 @@ namespace Isis { 
      vminus_c((SpiceDouble *) &normal[0], (SpiceDouble *) &normal[0]);

    }



    setNormal(normal);

    setLocalNormal(normal);

  }