From 1ac9bc3dba796aa626807d2669a3831760ec2265 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 13 Feb 2018 07:20:00 +0100 Subject: [PATCH] Working on collision detection unit tests --- test/tests/collision/TestCollisionWorld.h | 862 +++++++++++++++++++++- 1 file changed, 860 insertions(+), 2 deletions(-) diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 9161fce7..c7e8084a 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -329,7 +329,7 @@ class TestCollisionWorld : public Test { Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity()); mBoxBody2 = mWorld->createCollisionBody(boxTransform2); mBoxShape2 = new BoxShape(Vector3(4, 2, 8)); - mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape1, Transform::identity()); + mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape2, Transform::identity()); // ---------- Spheres ---------- // mSphereShape1 = new SphereShape(3.0); @@ -482,6 +482,14 @@ class TestCollisionWorld : public Test { testSphereVsBoxCollision(); testSphereVsCapsuleCollision(); testSphereVsConvexMeshCollision(); + testSphereVsConcaveMeshCollision(); + + testBoxVsBoxCollision(); + testBoxVsConvexMeshCollision(); + testBoxVsCapsuleCollision(); + + testConvexMeshVsConvexMeshCollision(); + testConvexMeshVsCapsuleCollision(); testMultipleCollisions(); } @@ -1616,7 +1624,857 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(initTransform2); } - void testMultipleCollisions() { + void testSphereVsConcaveMeshCollision() { + + Transform initTransform1 = mSphereBody1->getTransform(); + Transform initTransform2 = mConcaveMeshBody->getTransform(); + + /******************************************************************************** + * Test Sphere vs Concave Mesh + *********************************************************************************/ + + Transform transform1(Vector3(10, 22.98f, 50), Quaternion::identity()); + Transform transform2(Vector3(10, 20, 50), Quaternion::identity()); + + // Move spheres to collide with each other + mSphereBody1->setTransform(transform1); + mConcaveMeshBody->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mSphereBody1, mConcaveMeshBody)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mSphereBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + + // Test contact points + Vector3 localBody1Point(0, -3, 0); + Vector3 localBody2Point(0, 0, 0); + decimal penetrationDepth = 0.02f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, + swappedBodiesCollisionData ? localBody1Point : localBody2Point, + penetrationDepth)); + + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mSphereBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, + swappedBodiesCollisionData ? localBody1Point : localBody2Point, + penetrationDepth)); + + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, + swappedBodiesCollisionData ? localBody1Point : localBody2Point, + penetrationDepth)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mSphereBody1, mConcaveMeshBody, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, + swappedBodiesCollisionData ? localBody1Point : localBody2Point, + penetrationDepth)); + + // Reset the init transforms + mSphereBody1->setTransform(initTransform1); + mConcaveMeshBody->setTransform(initTransform2); + } + + void testBoxVsBoxCollision() { + + Transform initTransform1 = mBoxBody1->getTransform(); + Transform initTransform2 = mBoxBody2->getTransform(); + + /******************************************************************************** + * Test Box vs Box Face collision * + *********************************************************************************/ + + Transform transform1(Vector3(11, 20, 50), Quaternion::identity()); + Transform transform2(Vector3(4.5, 16, 40), Quaternion::identity()); + + // Move spheres to collide with each other + mBoxBody1->setTransform(transform1); + mBoxBody2->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mBoxBody1, mBoxBody2)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mBoxBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mBoxBody2, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + Vector3 localBody1Point1(-3, -2, -2); + Vector3 localBody2Point1(4, 2, 8); + decimal penetrationDepth1 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + Vector3 localBody1Point2(-3, -2, -3); + Vector3 localBody2Point2(4, 2, 7); + decimal penetrationDepth2 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + Vector3 localBody1Point3(-3, -3, -2); + Vector3 localBody2Point3(4, 1, 8); + decimal penetrationDepth3 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + Vector3 localBody1Point4(-3, -3, -3); + Vector3 localBody2Point4(4, 1, 7); + decimal penetrationDepth4 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // reset the init transforms + mBoxBody1->setTransform(initTransform1); + mBoxBody2->setTransform(initTransform2); + } + + void testBoxVsConvexMeshCollision() { + + Transform initTransform1 = mBoxBody1->getTransform(); + Transform initTransform2 = mConvexMeshBody2->getTransform(); + + /******************************************************************************** + * Test Box vs Convex Mesh collision * + *********************************************************************************/ + + Transform transform1(Vector3(11, 20, 50), Quaternion::identity()); + Transform transform2(Vector3(4.5, 16, 40), Quaternion::identity()); + + // Move spheres to collide with each other + mBoxBody1->setTransform(transform1); + mConvexMeshBody2->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mBoxBody1, mConvexMeshBody2)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mBoxBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mConvexMeshBody2, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + Vector3 localBody1Point1(-3, -2, -2); + Vector3 localBody2Point1(4, 2, 8); + decimal penetrationDepth1 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + Vector3 localBody1Point2(-3, -2, -3); + Vector3 localBody2Point2(4, 2, 7); + decimal penetrationDepth2 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + Vector3 localBody1Point3(-3, -3, -2); + Vector3 localBody2Point3(4, 1, 8); + decimal penetrationDepth3 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + Vector3 localBody1Point4(-3, -3, -3); + Vector3 localBody2Point4(4, 1, 7); + decimal penetrationDepth4 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, mConvexMeshBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // reset the init transforms + mBoxBody1->setTransform(initTransform1); + mConvexMeshBody2->setTransform(initTransform2); + } + + void testConvexMeshVsConvexMeshCollision() { + + Transform initTransform1 = mConvexMeshBody1->getTransform(); + Transform initTransform2 = mConvexMeshBody2->getTransform(); + + /******************************************************************************** + * Test Convex Mesh vs Convex Mesh collision * + *********************************************************************************/ + + Transform transform1(Vector3(11, 20, 50), Quaternion::identity()); + Transform transform2(Vector3(4.5, 16, 40), Quaternion::identity()); + + // Move spheres to collide with each other + mConvexMeshBody1->setTransform(transform1); + mConvexMeshBody2->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mConvexMeshBody1, mConvexMeshBody2)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mConvexMeshBody2, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + Vector3 localBody1Point1(-3, -2, -2); + Vector3 localBody2Point1(4, 2, 8); + decimal penetrationDepth1 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + Vector3 localBody1Point2(-3, -2, -3); + Vector3 localBody2Point2(4, 2, 7); + decimal penetrationDepth2 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + Vector3 localBody1Point3(-3, -3, -2); + Vector3 localBody2Point3(4, 1, 8); + decimal penetrationDepth3 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + Vector3 localBody1Point4(-3, -3, -3); + Vector3 localBody2Point4(4, 1, 7); + decimal penetrationDepth4 = 0.5f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody1, mConvexMeshBody2, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 4); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2, + swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2, + penetrationDepth2)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3, + swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3, + penetrationDepth3)); + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4, + swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4, + penetrationDepth4)); + + // reset the init transforms + mConvexMeshBody1->setTransform(initTransform1); + mConvexMeshBody2->setTransform(initTransform2); + } + + void testBoxVsCapsuleCollision() { + + Transform initTransform1 = mBoxBody1->getTransform(); + Transform initTransform2 = mCapsuleBody1->getTransform(); + + /******************************************************************************** + * Test Box vs Capsule collision * + *********************************************************************************/ + + Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); + Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + + // Move spheres to collide with each other + mBoxBody1->setTransform(transform1); + mCapsuleBody1->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mBoxBody1, mCapsuleBody1)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mBoxBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + Vector3 localBody1Point1(3, 1, 0); + Vector3 localBody2Point1(0, 5, 0); + decimal penetrationDepth1 = 1.0f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mBoxBody1, mCapsuleBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // reset the init transforms + mBoxBody1->setTransform(initTransform1); + mCapsuleBody1->setTransform(initTransform2); + } + + void testConvexMeshVsCapsuleCollision() { + + Transform initTransform1 = mConvexMeshBody1->getTransform(); + Transform initTransform2 = mCapsuleBody1->getTransform(); + + /******************************************************************************** + * Test Box vs Capsule collision * + *********************************************************************************/ + + Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); + Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + + // Move spheres to collide with each other + mConvexMeshBody1->setTransform(transform1); + mCapsuleBody1->setTransform(transform2); + + // ----- Test AABB overlap ----- // + + test(mWorld->testAABBOverlap(mConvexMeshBody1, mCapsuleBody1)); + + mOverlapCallback.reset(); + mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + mOverlapCallback.reset(); + mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); + test(mOverlapCallback.hasOverlap()); + + // ----- Test global collision test ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(&mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + Vector3 localBody1Point1(3, 1, 0); + Vector3 localBody2Point1(0, 5, 0); + decimal penetrationDepth1 = 1.0f; + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + // ----- Test collision against body 1 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // ----- Test collision against body 2 only ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // ----- Test collision against selected body 1 and 2 ----- // + + mCollisionCallback.reset(); + mWorld->testCollision(mConvexMeshBody1, mCapsuleBody1, &mCollisionCallback); + + test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + + // Get collision data + collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + test(collisionData != nullptr); + test(collisionData->getNbContactManifolds() == 1); + test(collisionData->getTotalNbContactPoints() == 1); + + // True if the bodies are swapped in the collision callback response + swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + + // Test contact points + test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, + swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1, + penetrationDepth1)); + + // reset the init transforms + mConvexMeshBody1->setTransform(initTransform1); + mCapsuleBody1->setTransform(initTransform2); + } + + void testMultipleCollisions() { // TODO : Test collisions without categories set