Working on collision detection unit tests
This commit is contained in:
Daniel Chappuis
parent
6dac7e0916
commit
1ac9bc3dba
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@ -329,7 +329,7 @@ class TestCollisionWorld : public Test {
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Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity());
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mBoxBody2 = mWorld->createCollisionBody(boxTransform2);
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mBoxShape2 = new BoxShape(Vector3(4, 2, 8));
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mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape1, Transform::identity());
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mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape2, Transform::identity());
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// ---------- Spheres ---------- //
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mSphereShape1 = new SphereShape(3.0);
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@ -482,6 +482,14 @@ class TestCollisionWorld : public Test {
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testSphereVsBoxCollision();
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testSphereVsCapsuleCollision();
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testSphereVsConvexMeshCollision();
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testSphereVsConcaveMeshCollision();
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testBoxVsBoxCollision();
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testBoxVsConvexMeshCollision();
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testBoxVsCapsuleCollision();
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testConvexMeshVsConvexMeshCollision();
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testConvexMeshVsCapsuleCollision();
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testMultipleCollisions();
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}
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@ -1616,6 +1624,856 @@ class TestCollisionWorld : public Test {
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mConvexMeshBody1->setTransform(initTransform2);
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}
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void testSphereVsConcaveMeshCollision() {
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Transform initTransform1 = mSphereBody1->getTransform();
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Transform initTransform2 = mConcaveMeshBody->getTransform();
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/********************************************************************************
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* Test Sphere vs Concave Mesh
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*********************************************************************************/
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Transform transform1(Vector3(10, 22.98f, 50), Quaternion::identity());
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Transform transform2(Vector3(10, 20, 50), Quaternion::identity());
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// Move spheres to collide with each other
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mSphereBody1->setTransform(transform1);
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mConcaveMeshBody->setTransform(transform2);
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// ----- Test AABB overlap ----- //
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test(mWorld->testAABBOverlap(mSphereBody1, mConcaveMeshBody));
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mOverlapCallback.reset();
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mWorld->testOverlap(mSphereBody1, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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// ----- Test global collision test ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(&mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape));
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// Get collision data
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const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 1);
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// True if the bodies are swapped in the collision callback response
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bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID();
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// Test contact points
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Vector3 localBody1Point(0, -3, 0);
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Vector3 localBody2Point(0, 0, 0);
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decimal penetrationDepth = 0.02f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
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swappedBodiesCollisionData ? localBody1Point : localBody2Point,
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penetrationDepth));
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// ----- Test collision against body 1 only ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mSphereBody1, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 1);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
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swappedBodiesCollisionData ? localBody1Point : localBody2Point,
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penetrationDepth));
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// ----- Test collision against body 2 only ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 1);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
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swappedBodiesCollisionData ? localBody1Point : localBody2Point,
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penetrationDepth));
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// ----- Test collision against selected body 1 and 2 ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mSphereBody1, mConcaveMeshBody, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 1);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
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swappedBodiesCollisionData ? localBody1Point : localBody2Point,
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penetrationDepth));
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// Reset the init transforms
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mSphereBody1->setTransform(initTransform1);
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mConcaveMeshBody->setTransform(initTransform2);
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}
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void testBoxVsBoxCollision() {
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Transform initTransform1 = mBoxBody1->getTransform();
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Transform initTransform2 = mBoxBody2->getTransform();
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/********************************************************************************
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* Test Box vs Box Face collision *
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*********************************************************************************/
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Transform transform1(Vector3(11, 20, 50), Quaternion::identity());
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Transform transform2(Vector3(4.5, 16, 40), Quaternion::identity());
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// Move spheres to collide with each other
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mBoxBody1->setTransform(transform1);
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mBoxBody2->setTransform(transform2);
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// ----- Test AABB overlap ----- //
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test(mWorld->testAABBOverlap(mBoxBody1, mBoxBody2));
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mOverlapCallback.reset();
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mWorld->testOverlap(mBoxBody1, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mBoxBody2, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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// ----- Test global collision test ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(&mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2));
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// Get collision data
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const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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Vector3 localBody1Point1(-3, -2, -2);
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Vector3 localBody2Point1(4, 2, 8);
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decimal penetrationDepth1 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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Vector3 localBody1Point2(-3, -2, -3);
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Vector3 localBody2Point2(4, 2, 7);
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decimal penetrationDepth2 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2,
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swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2,
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penetrationDepth2));
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Vector3 localBody1Point3(-3, -3, -2);
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Vector3 localBody2Point3(4, 1, 8);
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decimal penetrationDepth3 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3,
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swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3,
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penetrationDepth3));
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Vector3 localBody1Point4(-3, -3, -3);
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Vector3 localBody2Point4(4, 1, 7);
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decimal penetrationDepth4 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4,
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swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4,
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penetrationDepth4));
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// ----- Test collision against body 1 only ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2,
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swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2,
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penetrationDepth2));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3,
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swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3,
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penetrationDepth3));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4,
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swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4,
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penetrationDepth4));
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// ----- Test collision against body 2 only ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody2, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2,
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swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2,
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penetrationDepth2));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3,
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swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3,
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penetrationDepth3));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4,
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swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4,
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penetrationDepth4));
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// ----- Test collision against selected body 1 and 2 ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2,
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swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2,
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penetrationDepth2));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3,
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swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3,
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penetrationDepth3));
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4,
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swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4,
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penetrationDepth4));
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// reset the init transforms
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mBoxBody1->setTransform(initTransform1);
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mBoxBody2->setTransform(initTransform2);
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}
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void testBoxVsConvexMeshCollision() {
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Transform initTransform1 = mBoxBody1->getTransform();
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Transform initTransform2 = mConvexMeshBody2->getTransform();
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/********************************************************************************
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* Test Box vs Convex Mesh collision *
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*********************************************************************************/
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Transform transform1(Vector3(11, 20, 50), Quaternion::identity());
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Transform transform2(Vector3(4.5, 16, 40), Quaternion::identity());
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// Move spheres to collide with each other
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mBoxBody1->setTransform(transform1);
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mConvexMeshBody2->setTransform(transform2);
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// ----- Test AABB overlap ----- //
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test(mWorld->testAABBOverlap(mBoxBody1, mConvexMeshBody2));
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mOverlapCallback.reset();
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mWorld->testOverlap(mBoxBody1, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mConvexMeshBody2, &mOverlapCallback);
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test(mOverlapCallback.hasOverlap());
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// ----- Test global collision test ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(&mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2));
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// Get collision data
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const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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Vector3 localBody1Point1(-3, -2, -2);
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Vector3 localBody2Point1(4, 2, 8);
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decimal penetrationDepth1 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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Vector3 localBody1Point2(-3, -2, -3);
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Vector3 localBody2Point2(4, 2, 7);
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decimal penetrationDepth2 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point2 : localBody1Point2,
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swappedBodiesCollisionData ? localBody1Point2 : localBody2Point2,
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penetrationDepth2));
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Vector3 localBody1Point3(-3, -3, -2);
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Vector3 localBody2Point3(4, 1, 8);
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decimal penetrationDepth3 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point3 : localBody1Point3,
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swappedBodiesCollisionData ? localBody1Point3 : localBody2Point3,
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penetrationDepth3));
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Vector3 localBody1Point4(-3, -3, -3);
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Vector3 localBody2Point4(4, 1, 7);
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decimal penetrationDepth4 = 0.5f;
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point4 : localBody1Point4,
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swappedBodiesCollisionData ? localBody1Point4 : localBody2Point4,
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penetrationDepth4));
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// ----- Test collision against body 1 only ----- //
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, &mCollisionCallback);
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test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2));
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// Get collision data
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collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2);
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test(collisionData != nullptr);
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test(collisionData->getNbContactManifolds() == 1);
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test(collisionData->getTotalNbContactPoints() == 4);
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// True if the bodies are swapped in the collision callback response
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swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID();
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// Test contact points
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test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1,
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swappedBodiesCollisionData ? localBody1Point1 : localBody2Point1,
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penetrationDepth1));
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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
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user