Add unit tests for Dynamic AABB tree
This commit is contained in:
Daniel Chappuis
parent
315c701f34
commit
59b237e992
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@ -29,10 +29,53 @@
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// Libraries
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#include "Test.h"
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#include "collision/broadphase/DynamicAABBTree.h"
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#include <vector>
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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class OverlapCallback : public DynamicAABBTreeOverlapCallback {
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public :
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std::vector<int> mOverlapNodes;
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// Called when a overlapping node has been found during the call to
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// DynamicAABBTree:reportAllShapesOverlappingWithAABB()
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virtual void notifyOverlappingNode(int nodeId) {
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mOverlapNodes.push_back(nodeId);
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}
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void reset() {
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mOverlapNodes.clear();
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}
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bool isOverlapping(int nodeId) const {
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return std::find(mOverlapNodes.begin(), mOverlapNodes.end(), nodeId) != mOverlapNodes.end();
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}
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};
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class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback {
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public:
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std::vector<int> mHitNodes;
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// Called when the AABB of a leaf node is hit by a ray
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virtual decimal raycastBroadPhaseShape(int32 nodeId, const Ray& ray) {
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mHitNodes.push_back(nodeId);
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return 1.0;
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}
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void reset() {
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mHitNodes.clear();
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}
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bool isHit(int nodeId) const {
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return std::find(mHitNodes.begin(), mHitNodes.end(), nodeId) != mHitNodes.end();
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}
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};
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// Class TestDynamicAABBTree
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/**
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* Unit test for the dynamic AABB tree
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@ -46,19 +89,241 @@ class TestDynamicAABBTree : public Test {
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// Dynamic AABB Tree
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DynamicAABBTree mTree;
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AABB mAABB1;
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AABB mAABB2;
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AABB mAABB3;
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AABB mAABB4;
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OverlapCallback mOverlapCallback;
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DynamicTreeRaycastCallback mRaycastCallback;
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int mObject1Id;
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int mObject2Id;
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int mObject3Id;
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int mObject4Id;
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int mObject1Data = 56;
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int mObject2Data = 23;
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int mObject3Data = 13;
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int mObject4Data = 7;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestDynamicAABBTree(const std::string& name): Test(name) {}
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TestDynamicAABBTree(const std::string& name): Test(name) {
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// First object
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mAABB1 = AABB(Vector3(-6, 4, -3), Vector3(4, 8, 3));
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mObject1Id = mTree.addObject(mAABB1, &mObject1Data);
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// Second object
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mAABB2 = AABB(Vector3(5, 2, -3), Vector3(10, 7, 3));
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mObject2Id = mTree.addObject(mAABB2, &mObject2Data);
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// Third object
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mAABB3 = AABB(Vector3(-5, 1, -3), Vector3(-2, 3, 3));
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mObject3Id = mTree.addObject(mAABB3, &mObject3Data);
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// Fourth object
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mAABB4 = AABB(Vector3(0, -4, -3), Vector3(3, -2, 3));
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mObject4Id = mTree.addObject(mAABB4, &mObject4Data);
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}
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/// Run the tests
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void run() {
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// TODO : Implement tests here
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testBasicsMethods();
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testOverlapping();
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testRaycast();
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}
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void testBasicsMethods() {
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// Test data stored at the nodes of the tree
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test(*(int*)(mTree.getNodeDataPointer(mObject1Id)) == mObject1Data);
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test(*(int*)(mTree.getNodeDataPointer(mObject2Id)) == mObject2Data);
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test(*(int*)(mTree.getNodeDataPointer(mObject3Id)) == mObject3Data);
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test(*(int*)(mTree.getNodeDataPointer(mObject4Id)) == mObject4Data);
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}
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void testOverlapping() {
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// AABB overlapping nothing
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping everything
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 1 and 3
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 3 and 4
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 2
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- //
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mTree.updateObject(mObject1Id, mAABB1, Vector3::zero(), false);
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mTree.updateObject(mObject2Id, mAABB2, Vector3::zero(), false);
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mTree.updateObject(mObject3Id, mAABB3, Vector3::zero(), false);
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mTree.updateObject(mObject4Id, mAABB4, Vector3::zero(), false);
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// AABB overlapping nothing
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping everything
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 1 and 3
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 3 and 4
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 2
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- //
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mTree.updateObject(mObject1Id, mAABB1, Vector3::zero(), true);
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mTree.updateObject(mObject2Id, mAABB2, Vector3::zero(), true);
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mTree.updateObject(mObject3Id, mAABB3, Vector3::zero(), true);
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mTree.updateObject(mObject4Id, mAABB4, Vector3::zero(), true);
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// AABB overlapping nothing
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping everything
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 1 and 3
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback);
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test(mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 3 and 4
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(!mOverlapCallback.isOverlapping(mObject2Id));
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test(mOverlapCallback.isOverlapping(mObject3Id));
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test(mOverlapCallback.isOverlapping(mObject4Id));
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// AABB overlapping object 2
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mOverlapCallback.reset();
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mTree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback);
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test(!mOverlapCallback.isOverlapping(mObject1Id));
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test(mOverlapCallback.isOverlapping(mObject2Id));
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test(!mOverlapCallback.isOverlapping(mObject3Id));
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test(!mOverlapCallback.isOverlapping(mObject4Id));
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}
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void testRaycast() {
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// Ray with no hits
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mRaycastCallback.reset();
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Ray ray1(Vector3(4.5, -10, -5), Vector3(4.5, 10, -5));
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mTree.raycast(ray1, mRaycastCallback);
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test(!mRaycastCallback.isHit(mObject1Id));
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test(!mRaycastCallback.isHit(mObject2Id));
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test(!mRaycastCallback.isHit(mObject3Id));
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test(!mRaycastCallback.isHit(mObject4Id));
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// Ray that hits object 1
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mRaycastCallback.reset();
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Ray ray2(Vector3(-1, -20, -2), Vector3(-1, 20, -2));
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mTree.raycast(ray2, mRaycastCallback);
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test(mRaycastCallback.isHit(mObject1Id));
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test(!mRaycastCallback.isHit(mObject2Id));
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test(!mRaycastCallback.isHit(mObject3Id));
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test(!mRaycastCallback.isHit(mObject4Id));
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// Ray that hits object 1 and 2
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mRaycastCallback.reset();
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Ray ray3(Vector3(-7, 6, -2), Vector3(8, 6, -2));
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mTree.raycast(ray3, mRaycastCallback);
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test(mRaycastCallback.isHit(mObject1Id));
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test(mRaycastCallback.isHit(mObject2Id));
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test(!mRaycastCallback.isHit(mObject3Id));
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test(!mRaycastCallback.isHit(mObject4Id));
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// Ray that hits object 3
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mRaycastCallback.reset();
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Ray ray4(Vector3(-7, 2, 0), Vector3(-1, 2, 0));
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mTree.raycast(ray4, mRaycastCallback);
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test(!mRaycastCallback.isHit(mObject1Id));
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test(!mRaycastCallback.isHit(mObject2Id));
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test(mRaycastCallback.isHit(mObject3Id));
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test(!mRaycastCallback.isHit(mObject4Id));
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}
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};
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}
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