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Correct calculation in ProjectPointToPlane (backport #702) #704

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Merged
merged 1 commit into from
Oct 17, 2025
Merged

Correct calculation in ProjectPointToPlane (backport #702) #704

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3 changes: 2 additions & 1 deletion include/gz/math/detail/InterpolationPoint.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -211,8 +211,9 @@ namespace gz::math
(_points[_start_index + 1].position - _points[_start_index].position)
.Cross(
_points[_start_index + 2].position - _points[_start_index].position);
auto n_unit = n.Normalized();
return
_pos - n.Dot(_pos - _points[_start_index].position) * n.Normalized();
_pos - n_unit.Dot(_pos - _points[_start_index].position) * n_unit;
}

/// \brief Trilinear interpolation of eight points in 3D space. It assumes
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30 changes: 15 additions & 15 deletions src/InterpolationPoint_TEST.cc
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Expand Up @@ -86,26 +86,26 @@ TEST(Interpolation, TrilinearInterpolate)
{
std::vector<InterpolationPoint3D<double>> vec {
InterpolationPoint3D<double>{Vector3d{0, 0, 0}, 0},
InterpolationPoint3D<double>{Vector3d{1, 0, 0}, 1},
InterpolationPoint3D<double>{Vector3d{0, 1, 0}, 2},
InterpolationPoint3D<double>{Vector3d{1, 1, 0}, 3},
InterpolationPoint3D<double>{Vector3d{0, 0, 1}, 4},
InterpolationPoint3D<double>{Vector3d{1, 0, 1}, 5},
InterpolationPoint3D<double>{Vector3d{0, 1, 1}, 6},
InterpolationPoint3D<double>{Vector3d{1, 1, 1}, 7},
InterpolationPoint3D<double>{Vector3d{2, 0, 0}, 1},
InterpolationPoint3D<double>{Vector3d{0, 2, 0}, 2},
InterpolationPoint3D<double>{Vector3d{2, 2, 0}, 3},
InterpolationPoint3D<double>{Vector3d{0, 0, 2}, 4},
InterpolationPoint3D<double>{Vector3d{2, 0, 2}, 5},
InterpolationPoint3D<double>{Vector3d{0, 2, 2}, 6},
InterpolationPoint3D<double>{Vector3d{2, 2, 2}, 7},
};

std::vector<double> values {0, 0, 0, 0, 1, 1, 1, 1};
std::vector<double> values {0, 0, 0, 0, 1, 1, 2, 2};

auto v0 = TrilinearInterpolate(vec, values, Vector3d{0.5, 0.5, 0.5});
EXPECT_NEAR(v0, 0.5, 1e-3);
auto v0 = TrilinearInterpolate(vec, values, Vector3d{1, 1, 1});
EXPECT_NEAR(v0, 0.75, 1e-3);

auto v1 = TrilinearInterpolate(vec, values, Vector3d{0.5, 0.5, 0});
auto v1 = TrilinearInterpolate(vec, values, Vector3d{1, 1, 0});
EXPECT_NEAR(v1, 0, 1e-3);

auto v2 = TrilinearInterpolate(vec, values, Vector3d{0.5, 0.5, 1});
EXPECT_NEAR(v2, 1, 1e-3);
auto v2 = TrilinearInterpolate(vec, values, Vector3d{1, 1, 2});
EXPECT_NEAR(v2, 1.5, 1e-3);

auto v3 = TrilinearInterpolate(vec, values, Vector3d{1, 1, 1});
EXPECT_NEAR(v3, 1, 1e-3);
auto v3 = TrilinearInterpolate(vec, values, Vector3d{2, 2, 2});
EXPECT_NEAR(v3, 2, 1e-3);
}
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