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: Kelvin Rodriguez <krodriguez@usgs.gov>
DOI-USGS · Mar 18, 2024 · c70dd7c · c70dd7c
1 parent c603772
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Showing 16 changed files with 185 additions and 78 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -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)
 

diff --git a/isis/src/base/objs/BulletShapeModel/BulletShapeModel.cpp b/isis/src/base/objs/BulletShapeModel/BulletShapeModel.cpp
@@ -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;

diff --git a/isis/src/base/objs/BulletShapeModel/unitTest.cpp b/isis/src/base/objs/BulletShapeModel/unitTest.cpp
@@ -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] << ", "

diff --git a/isis/src/base/objs/Camera/Camera.cpp b/isis/src/base/objs/Camera/Camera.cpp
@@ -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);
   }
 

diff --git a/isis/src/base/objs/DemShape/DemShape.cpp b/isis/src/base/objs/DemShape/DemShape.cpp
@@ -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);
   }
 
 

diff --git a/isis/src/base/objs/DemShape/unitTest.cpp b/isis/src/base/objs/DemShape/unitTest.cpp
@@ -137,7 +137,7 @@ int main() {
 
     shape.calculateLocalNormal(neighborPoints);
     vector<double> myNormal(3);
-    myNormal = shape.normal();
+    myNormal = shape.localNormal();
     cout << "    local normal = (" << myNormal[0] << ", " << myNormal[1] << ", " << myNormal[2] << endl;
 
     cout << endl << "  Testing class method calculateSurfaceNormal..." << endl;
@@ -212,7 +212,7 @@ int main() {
     neighborPoints[3][2]  = 1193.88;
     cout << endl << "  Testing method calculateLocalNormal with vector pointing outward" << endl;
     shape.calculateLocalNormal(neighborPoints);
-    myNormal = shape.normal();
+    myNormal = shape.localNormal();
     cout << "    local normal = (" << myNormal[0] << ", " << myNormal[1] << ", " << myNormal[2] << endl;
 
     // Test calculateLocalNormal with magnitude = 0
@@ -221,7 +221,7 @@ int main() {
     neighborPoints[3][1]  = -2380.59;
     cout << endl << "  Testing method calculateLocalNormal with magnitude = 0" << endl;
     shape.calculateLocalNormal(neighborPoints);
-    myNormal = shape.normal();
+    myNormal = shape.localNormal();
     cout << "    local normal = (" << myNormal[0] << ", " << myNormal[1] << ", " << myNormal[2] << ")" << endl;
     }
     catch(Isis::IException &e) {

diff --git a/isis/src/base/objs/EllipsoidShape/EllipsoidShape.cpp b/isis/src/base/objs/EllipsoidShape/EllipsoidShape.cpp
@@ -60,8 +60,7 @@ namespace Isis {
    *
    */
   void EllipsoidShape::calculateDefaultNormal()  {
-    QVector <double *> points;
-    calculateLocalNormal(points);
+    calculateSurfaceNormal();
   }
 
 
@@ -71,6 +70,8 @@ namespace Isis {
   void EllipsoidShape::calculateSurfaceNormal()  {
     QVector <double *> points;
     calculateLocalNormal(points);
+
+    setNormal(localNormal());
   }
 
 
@@ -129,8 +130,8 @@ namespace Isis {
     surfnm_c(a, b, c, pB, (SpiceDouble *) &normal[0]);
     NaifStatus::CheckErrors();
 
-    setNormal(normal);
-    setHasNormal(true);
+    setLocalNormal(normal);
+    setHasLocalNormal(true);
   }
 
 

diff --git a/isis/src/base/objs/EllipsoidShape/unitTest.cpp b/isis/src/base/objs/EllipsoidShape/unitTest.cpp
@@ -119,7 +119,7 @@ int main() {
 
     shape.calculateLocalNormal(notUsed);
     vector<double> myNormal(3);
-    myNormal = shape.normal();
+    myNormal = shape.localNormal();
 
     //Hand-calculated truth value:  [-0.6196003462957385, -0.7004971412244801, 0.3541174466282787]
 

diff --git a/isis/src/base/objs/EmbreeShapeModel/EmbreeShapeModel.cpp b/isis/src/base/objs/EmbreeShapeModel/EmbreeShapeModel.cpp
@@ -385,6 +385,7 @@ namespace Isis {
   void EmbreeShapeModel::clearSurfacePoint() {
     ShapeModel::clearSurfacePoint();
     setHasNormal(false);
+    setHasLocalNormal(false);
     return;
   }
 

diff --git a/isis/src/base/objs/NaifDskShape/NaifDskShape.cpp b/isis/src/base/objs/NaifDskShape/NaifDskShape.cpp
@@ -202,7 +202,7 @@ namespace Isis {
 
 
   /**
-   * @brief Set the normal vector to the intercept point normal
+   * @brief Set the local normal vector to the intercept point normal
    *
    * This method will reassign the ShapeModel normal to the current intecept point
    * shape (which is a triangular plate) normal.  If an intercept point is not
@@ -220,7 +220,7 @@ namespace Isis {
 
     // Got it, use the existing intercept point (plate) normal
     NaifVector norm(m_intercept->normal());
-    setNormal(norm[0], norm[1], norm[2]); // this also takes care of setHasNormal(true);
+    setLocalNormal(norm[0], norm[1], norm[2]); // this also takes care of setHasLocalNormal(true);
     return;
   }
 
@@ -281,7 +281,7 @@ namespace Isis {
   }
 
 
-  /** Return the surface normal of the ellipsi=oud */
+  /** Return the surface normal of the ellipsoid */
   void NaifDskShape::calculateSurfaceNormal() {
     // ShapeModel (parent class) throws error if no intersection
     setNormal(ellipsoidNormal().toStdVector());// this takes care of setHasNormal(true);

diff --git a/isis/src/base/objs/NaifDskShape/unitTest.cpp b/isis/src/base/objs/NaifDskShape/unitTest.cpp
@@ -157,9 +157,9 @@ int main(int argc, char *argv[]) {
 
     qDebug() << "Try to calculate norms using valid shape model...";
     shapeModelFromPvlElevation.setLocalNormalFromIntercept();
-    qDebug() << "Has intercept normal?                " << shapeModelFromPvlElevation.hasNormal();
+    qDebug() << "Has intercept normal?                " << shapeModelFromPvlElevation.hasLocalNormal();
     qDebug() << "Normal set from Intercept:           "
-             << QVector<double>::fromStdVector(shapeModelFromPvlElevation.normal());
+             << QVector<double>::fromStdVector(shapeModelFromPvlElevation.localNormal());
     // no need to call calculateSurfaceNormal() or ellipsoidNormal()
     // directly. these methods are called by calculateDefaultNormal()
     shapeModelFromPvlElevation.calculateDefaultNormal(); 
@@ -172,9 +172,9 @@ int main(int argc, char *argv[]) {
     point[0] = 1.0;    point[1] = 0.0;    point[2] = 0.0;
     cornerNeighborPoints.push_back(point);
     shapeModelFromPvlElevation.calculateLocalNormal(cornerNeighborPoints); 
-    qDebug() << "Has local normal?                    " << shapeModelFromPvlElevation.hasNormal();
+    qDebug() << "Has local normal?                    " << shapeModelFromPvlElevation.hasLocalNormal();
     qDebug() << "Local normal from neighbor points:   "
-             << QVector<double>::fromStdVector(shapeModelFromPvlElevation.normal());
+             << QVector<double>::fromStdVector(shapeModelFromPvlElevation.localNormal());
     qDebug() << "";
 
     qDebug() << "================================= Error Throws ==================================";