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fix(geom3d): accept array-like volume bounds #274

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fix(geom3d): accept array-like volume bounds #274

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5 changes: 3 additions & 2 deletions spatialmath/geom3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1139,7 +1139,7 @@ def intersect_volume(self, bounds: ArrayLike6) -> Tuple[Points3, Rn]:
Line intersection with a volume

:param bounds: Bounds of an axis-aligned rectangular cuboid
:type plane: array_like(6)
:type bounds: array_like(6)
:return: Intersection point, λ value
:rtype: ndarray(3,N), ndarray(N)

Expand All @@ -1159,9 +1159,10 @@ def intersect_volume(self, bounds: ArrayLike6) -> Tuple[Points3, Rn]:
See also :meth:`plot` :meth:`point`
"""

bounds = base.getvector(bounds, 6)
intersections = []

# reshape, top row is minimum, bottom row is maximum
# reshape, each row contains one axis's minimum and maximum
bounds23 = bounds.reshape((3, 2))

for face in range(0, 6):
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39 changes: 39 additions & 0 deletions tests/test_geom3d.py
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Expand Up @@ -47,6 +47,45 @@ def test_line_distance_parallel_tolerance():
assert line1.distance(line2, tol=1e8) == pytest.approx(np.sqrt(5))


@pytest.mark.parametrize(
"make_bounds",
[list, tuple, np.array, lambda b: np.array([b]), lambda b: np.array(b)[:, None]],
ids=["list", "tuple", "array", "row", "column"],
)
@pytest.mark.parametrize(
"point, direction, expected_points, expected_lam",
[
([0, 1, 2], [1, 0, 0], [[-2, 1, 2], [3, 1, 2]], [-2, 3]),
(
[1, 1, 1],
[1, 2, 0],
[[0, -1, 1], [2.5, 4, 1]],
[-0.4 * np.sqrt(5), 2.1 * np.sqrt(5)],
),
([0, 6, 2], [1, 0, 0], [], []),
],
ids=["axis-aligned", "oblique", "outside"],
)
def test_line_intersect_volume_bounds(
make_bounds, point, direction, expected_points, expected_lam
):
line = Line3.PointDir(point, direction)
result = line.intersect_volume(make_bounds([-2, 3, -1, 4, 0, 5]))
expected = np.array(expected_points).reshape(-1, 3).T
assert result.p.shape == expected.shape
nt.assert_allclose(result.p, expected, atol=1e-12)
assert len(result.lam) == len(expected_lam)
nt.assert_allclose(np.asarray(result.lam).ravel(), expected_lam, atol=1e-12)


@pytest.mark.parametrize("make_bounds", [list, tuple, np.array])
@pytest.mark.parametrize("size", [5, 7])
def test_line_intersect_volume_bounds_length(make_bounds, size):
line = Line3.PointDir([0, 0, 0], [1, 0, 0])
with pytest.raises(ValueError):
line.intersect_volume(make_bounds(range(size)))


class Line3Test(unittest.TestCase):
# Primitives
def test_constructor1(self):
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