Working on collision detection unit tests
This commit is contained in:
Daniel Chappuis
parent
1ac9bc3dba
commit
f73e54bb6d
|
|
@ -487,11 +487,14 @@ class TestCollisionWorld : public Test {
|
|||
testBoxVsBoxCollision();
|
||||
testBoxVsConvexMeshCollision();
|
||||
testBoxVsCapsuleCollision();
|
||||
testBoxVsConcaveMeshCollision();
|
||||
|
||||
testCapsuleVsCapsuleCollision();
|
||||
testCapsuleVsConcaveMeshCollision();
|
||||
|
||||
testConvexMeshVsConvexMeshCollision();
|
||||
testConvexMeshVsCapsuleCollision();
|
||||
|
||||
testMultipleCollisions();
|
||||
testConvexMeshVsConcaveMeshCollision();
|
||||
}
|
||||
|
||||
void testNoCollisions() {
|
||||
|
|
@ -2361,7 +2364,7 @@ class TestCollisionWorld : public Test {
|
|||
Transform initTransform2 = mCapsuleBody1->getTransform();
|
||||
|
||||
/********************************************************************************
|
||||
* Test Box vs Capsule collision *
|
||||
* Test Convex Mesh vs Capsule collision *
|
||||
*********************************************************************************/
|
||||
|
||||
Transform transform1(Vector3(10, 20, 50), Quaternion::identity());
|
||||
|
|
@ -2474,17 +2477,583 @@ class TestCollisionWorld : public Test {
|
|||
mCapsuleBody1->setTransform(initTransform2);
|
||||
}
|
||||
|
||||
void testMultipleCollisions() {
|
||||
void testBoxVsConcaveMeshCollision() {
|
||||
|
||||
// TODO : Test collisions without categories set
|
||||
Transform initTransform1 = mBoxBody1->getTransform();
|
||||
Transform initTransform2 = mConcaveMeshBody->getTransform();
|
||||
|
||||
// TODO : Test colliisons with categories set
|
||||
/********************************************************************************
|
||||
* Test Box vs Concave Mesh
|
||||
*********************************************************************************/
|
||||
|
||||
// Assign collision categories to proxy shapes
|
||||
//mBoxProxyShape->setCollisionCategoryBits(CATEGORY_1);
|
||||
//mSphere1ProxyShape->setCollisionCategoryBits(CATEGORY_1);
|
||||
//mSphere2ProxyShape->setCollisionCategoryBits(CATEGORY_2);
|
||||
}
|
||||
Transform transform1(Vector3(10, 22, 50), Quaternion::identity());
|
||||
Transform transform2(Vector3(10, 20, 50), Quaternion::identity());
|
||||
|
||||
// Move spheres to collide with each other
|
||||
mBoxBody1->setTransform(transform1);
|
||||
mConcaveMeshBody->setTransform(transform2);
|
||||
|
||||
// ----- Test AABB overlap ----- //
|
||||
|
||||
test(mWorld->testAABBOverlap(mBoxBody1, mConcaveMeshBody));
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mBoxBody1, &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(mBoxProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against body 1 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mBoxBody1, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against body 2 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against selected body 1 and 2 ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mBoxBody1, mConcaveMeshBody, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape);
|
||||
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
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// Reset the init transforms
|
||||
mBoxBody1->setTransform(initTransform1);
|
||||
mConcaveMeshBody->setTransform(initTransform2);
|
||||
}
|
||||
|
||||
void testConvexMeshVsConcaveMeshCollision() {
|
||||
|
||||
Transform initTransform1 = mConvexMeshBody1->getTransform();
|
||||
Transform initTransform2 = mConcaveMeshBody->getTransform();
|
||||
|
||||
/********************************************************************************
|
||||
* Test Box vs Concave Mesh
|
||||
*********************************************************************************/
|
||||
|
||||
Transform transform1(Vector3(10, 22, 50), Quaternion::identity());
|
||||
Transform transform2(Vector3(10, 20, 50), Quaternion::identity());
|
||||
|
||||
// Move spheres to collide with each other
|
||||
mConvexMeshBody1->setTransform(transform1);
|
||||
mConcaveMeshBody->setTransform(transform2);
|
||||
|
||||
// ----- Test AABB overlap ----- //
|
||||
|
||||
test(mWorld->testAABBOverlap(mConvexMeshBody1, mConcaveMeshBody));
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mConvexMeshBody1, &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(mConvexMeshProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against body 1 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against body 2 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape);
|
||||
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();
|
||||
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// ----- Test collision against selected body 1 and 2 ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mConvexMeshBody1, mConcaveMeshBody, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape);
|
||||
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
|
||||
for (int i=0; i<collisionData->contactManifolds[0].contactPoints.size(); i++) {
|
||||
test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f));
|
||||
}
|
||||
|
||||
// Reset the init transforms
|
||||
mConvexMeshBody1->setTransform(initTransform1);
|
||||
mConcaveMeshBody->setTransform(initTransform2);
|
||||
}
|
||||
|
||||
void testCapsuleVsCapsuleCollision() {
|
||||
|
||||
Transform initTransform1 = mCapsuleBody1->getTransform();
|
||||
Transform initTransform2 = mCapsuleBody2->getTransform();
|
||||
|
||||
/********************************************************************************
|
||||
* Test Capsule (sphere cap) vs Capsule (sphere cap) collision *
|
||||
*********************************************************************************/
|
||||
|
||||
Transform transform1(Vector3(10, 20, 50), Quaternion::identity());
|
||||
Transform transform2(Vector3(16, 23, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f));
|
||||
|
||||
// Move spheres to collide with each other
|
||||
mCapsuleBody1->setTransform(transform1);
|
||||
mCapsuleBody2->setTransform(transform2);
|
||||
|
||||
// ----- Test AABB overlap ----- //
|
||||
|
||||
test(mWorld->testAABBOverlap(mCapsuleBody1, mCapsuleBody2));
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback);
|
||||
test(mOverlapCallback.hasOverlap());
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mCapsuleBody2, &mOverlapCallback);
|
||||
test(mOverlapCallback.hasOverlap());
|
||||
|
||||
// ----- Test global collision test ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(&mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
Vector3 localBody1Point(2, 3, 0);
|
||||
Vector3 localBody2Point(0, 5, 0);
|
||||
decimal penetrationDepth = 1.0f;
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// ----- Test collision against body 1 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mCapsuleBody1, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// ----- Test collision against body 2 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mCapsuleBody2, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->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(mCapsuleBody1, mCapsuleBody2, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
/********************************************************************************
|
||||
* Test Capsule (sphere cap) vs Capsule (cylinder side) collision *
|
||||
*********************************************************************************/
|
||||
|
||||
transform1 = Transform(Vector3(10, 20, 50), Quaternion::identity());
|
||||
transform2 = Transform(Vector3(10, 27, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f));
|
||||
|
||||
// Move spheres to collide with each other
|
||||
mCapsuleBody1->setTransform(transform1);
|
||||
mCapsuleBody2->setTransform(transform2);
|
||||
|
||||
// ----- Test AABB overlap ----- //
|
||||
|
||||
test(mWorld->testAABBOverlap(mCapsuleBody1, mCapsuleBody2));
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback);
|
||||
test(mOverlapCallback.hasOverlap());
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mCapsuleBody2, &mOverlapCallback);
|
||||
test(mOverlapCallback.hasOverlap());
|
||||
|
||||
// ----- Test global collision test ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(&mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
localBody1Point = Vector3(0, 5, 0);
|
||||
localBody2Point = Vector3(-3, 0, 0);
|
||||
penetrationDepth = decimal(1.0);
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// ----- Test collision against body 1 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mCapsuleBody1, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// ----- Test collision against body 2 only ----- //
|
||||
|
||||
mCollisionCallback.reset();
|
||||
mWorld->testCollision(mCapsuleBody2, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->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(mCapsuleBody1, mCapsuleBody2, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2);
|
||||
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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// Reset the init transforms
|
||||
mCapsuleBody1->setTransform(initTransform1);
|
||||
mCapsuleBody2->setTransform(initTransform2);
|
||||
}
|
||||
|
||||
void testCapsuleVsConcaveMeshCollision() {
|
||||
|
||||
Transform initTransform1 = mCapsuleBody1->getTransform();
|
||||
Transform initTransform2 = mConcaveMeshBody->getTransform();
|
||||
|
||||
/********************************************************************************
|
||||
* Test Capsule vs Concave Mesh
|
||||
*********************************************************************************/
|
||||
|
||||
Transform transform1(Vector3(10, 24.98f, 50), Quaternion::identity());
|
||||
Transform transform2(Vector3(10, 20, 50), Quaternion::identity());
|
||||
|
||||
// Move spheres to collide with each other
|
||||
mCapsuleBody1->setTransform(transform1);
|
||||
mConcaveMeshBody->setTransform(transform2);
|
||||
|
||||
// ----- Test AABB overlap ----- //
|
||||
|
||||
test(mWorld->testAABBOverlap(mCapsuleBody1, mConcaveMeshBody));
|
||||
|
||||
mOverlapCallback.reset();
|
||||
mWorld->testOverlap(mCapsuleBody1, &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(mCapsuleProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, 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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
Vector3 localBody1Point(0, -5, 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(mCapsuleBody1, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, 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() != mCapsuleBody1->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(mCapsuleProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, 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() != mCapsuleBody1->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(mCapsuleBody1, mConcaveMeshBody, &mCollisionCallback);
|
||||
|
||||
test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape));
|
||||
|
||||
// Get collision data
|
||||
collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, 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() != mCapsuleBody1->getID();
|
||||
|
||||
// Test contact points
|
||||
test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point,
|
||||
swappedBodiesCollisionData ? localBody1Point : localBody2Point,
|
||||
penetrationDepth));
|
||||
|
||||
// Reset the init transforms
|
||||
mCapsuleBody1->setTransform(initTransform1);
|
||||
mConcaveMeshBody->setTransform(initTransform2);
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user