331 lines
14 KiB
C++
331 lines
14 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
* that you wrote the original software. If you use this software in a *
|
|
* product, an acknowledgment in the product documentation would be *
|
|
* appreciated but is not required. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
#ifndef TEST_COLLISION_WORLD_H
|
|
#define TEST_COLLISION_WORLD_H
|
|
|
|
// Libraries
|
|
#include "reactphysics3d.h"
|
|
#include "Test.h"
|
|
|
|
/// Reactphysics3D namespace
|
|
namespace reactphysics3d {
|
|
|
|
// Enumeration for categories
|
|
enum CollisionCategory {
|
|
CATEGORY_1 = 0x0001,
|
|
CATEGORY_2 = 0x0002,
|
|
CATEGORY_3 = 0x0004
|
|
};
|
|
|
|
// TODO : Add test for concave shape collision here
|
|
|
|
// Class
|
|
class WorldCollisionCallback : public CollisionCallback
|
|
{
|
|
public:
|
|
|
|
bool boxCollideWithSphere1;
|
|
bool boxCollideWithCylinder;
|
|
bool sphere1CollideWithCylinder;
|
|
bool sphere1CollideWithSphere2;
|
|
|
|
CollisionBody* boxBody;
|
|
CollisionBody* sphere1Body;
|
|
CollisionBody* sphere2Body;
|
|
CollisionBody* cylinderBody;
|
|
|
|
WorldCollisionCallback()
|
|
{
|
|
reset();
|
|
}
|
|
|
|
void reset()
|
|
{
|
|
boxCollideWithSphere1 = false;
|
|
boxCollideWithCylinder = false;
|
|
sphere1CollideWithCylinder = false;
|
|
sphere1CollideWithSphere2 = false;
|
|
}
|
|
|
|
// This method will be called for contact
|
|
virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override {
|
|
|
|
if (isContactBetweenBodies(boxBody, sphere1Body, collisionCallbackInfo)) {
|
|
boxCollideWithSphere1 = true;
|
|
}
|
|
else if (isContactBetweenBodies(boxBody, cylinderBody, collisionCallbackInfo)) {
|
|
boxCollideWithCylinder = true;
|
|
}
|
|
else if (isContactBetweenBodies(sphere1Body, cylinderBody, collisionCallbackInfo)) {
|
|
sphere1CollideWithCylinder = true;
|
|
}
|
|
else if (isContactBetweenBodies(sphere1Body, sphere2Body, collisionCallbackInfo)) {
|
|
sphere1CollideWithSphere2 = true;
|
|
}
|
|
}
|
|
|
|
bool isContactBetweenBodies(const CollisionBody* body1, const CollisionBody* body2,
|
|
const CollisionCallbackInfo& collisionCallbackInfo) {
|
|
return (collisionCallbackInfo.body1->getID() == body1->getID() &&
|
|
collisionCallbackInfo.body2->getID() == body2->getID()) ||
|
|
(collisionCallbackInfo.body2->getID() == body1->getID() &&
|
|
collisionCallbackInfo.body1->getID() == body2->getID());
|
|
}
|
|
};
|
|
|
|
// Class TestCollisionWorld
|
|
/**
|
|
* Unit test for the CollisionWorld class.
|
|
*/
|
|
class TestCollisionWorld : public Test {
|
|
|
|
private :
|
|
|
|
// ---------- Atributes ---------- //
|
|
|
|
// Physics world
|
|
CollisionWorld* mWorld;
|
|
|
|
// Bodies
|
|
CollisionBody* mBoxBody;
|
|
CollisionBody* mSphere1Body;
|
|
CollisionBody* mSphere2Body;
|
|
CollisionBody* mCylinderBody;
|
|
|
|
// Collision shapes
|
|
BoxShape* mBoxShape;
|
|
SphereShape* mSphereShape;
|
|
CylinderShape* mCylinderShape;
|
|
|
|
// Proxy shapes
|
|
ProxyShape* mBoxProxyShape;
|
|
ProxyShape* mSphere1ProxyShape;
|
|
ProxyShape* mSphere2ProxyShape;
|
|
ProxyShape* mCylinderProxyShape;
|
|
|
|
// Collision callback class
|
|
WorldCollisionCallback mCollisionCallback;
|
|
|
|
public :
|
|
|
|
// ---------- Methods ---------- //
|
|
|
|
/// Constructor
|
|
TestCollisionWorld(const std::string& name) : Test(name) {
|
|
|
|
// Create the world
|
|
mWorld = new CollisionWorld();
|
|
|
|
// Create the bodies
|
|
Transform boxTransform(Vector3(10, 0, 0), Quaternion::identity());
|
|
mBoxBody = mWorld->createCollisionBody(boxTransform);
|
|
mBoxShape = new BoxShape(Vector3(3, 3, 3));
|
|
mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, Transform::identity());
|
|
|
|
mSphereShape = new SphereShape(3.0);
|
|
Transform sphere1Transform(Vector3(10,5, 0), Quaternion::identity());
|
|
mSphere1Body = mWorld->createCollisionBody(sphere1Transform);
|
|
mSphere1ProxyShape = mSphere1Body->addCollisionShape(mSphereShape, Transform::identity());
|
|
|
|
Transform sphere2Transform(Vector3(30, 10, 10), Quaternion::identity());
|
|
mSphere2Body = mWorld->createCollisionBody(sphere2Transform);
|
|
mSphere2ProxyShape = mSphere2Body->addCollisionShape(mSphereShape, Transform::identity());
|
|
|
|
Transform cylinderTransform(Vector3(10, -5, 0), Quaternion::identity());
|
|
mCylinderBody = mWorld->createCollisionBody(cylinderTransform);
|
|
mCylinderShape = new CylinderShape(2, 5);
|
|
mCylinderProxyShape = mCylinderBody->addCollisionShape(mCylinderShape, Transform::identity());
|
|
|
|
// Assign collision categories to proxy shapes
|
|
mBoxProxyShape->setCollisionCategoryBits(CATEGORY_1);
|
|
mSphere1ProxyShape->setCollisionCategoryBits(CATEGORY_1);
|
|
mSphere2ProxyShape->setCollisionCategoryBits(CATEGORY_2);
|
|
mCylinderProxyShape->setCollisionCategoryBits(CATEGORY_3);
|
|
|
|
mCollisionCallback.boxBody = mBoxBody;
|
|
mCollisionCallback.sphere1Body = mSphere1Body;
|
|
mCollisionCallback.sphere2Body = mSphere2Body;
|
|
mCollisionCallback.cylinderBody = mCylinderBody;
|
|
}
|
|
|
|
/// Destructor
|
|
~TestCollisionWorld() {
|
|
delete mBoxShape;
|
|
delete mSphereShape;
|
|
delete mCylinderShape;
|
|
}
|
|
|
|
/// Run the tests
|
|
void run() {
|
|
|
|
testCollisions();
|
|
}
|
|
|
|
void testCollisions() {
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
test(mWorld->testAABBOverlap(mBoxBody, mSphere1Body));
|
|
test(mWorld->testAABBOverlap(mBoxBody, mCylinderBody));
|
|
test(!mWorld->testAABBOverlap(mSphere1Body, mCylinderBody));
|
|
test(!mWorld->testAABBOverlap(mSphere1Body, mSphere2Body));
|
|
|
|
test(mBoxProxyShape->testAABBOverlap(mSphere1ProxyShape->getWorldAABB()));
|
|
test(mBoxProxyShape->testAABBOverlap(mCylinderProxyShape->getWorldAABB()));
|
|
test(!mSphere1ProxyShape->testAABBOverlap(mCylinderProxyShape->getWorldAABB()));
|
|
test(!mSphere1ProxyShape->testAABBOverlap(mSphere2ProxyShape->getWorldAABB()));
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(mCylinderBody, &mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(mBoxBody, mSphere1Body, &mCollisionCallback);
|
|
test(mCollisionCallback.boxCollideWithSphere1);
|
|
test(!mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(mBoxBody, mCylinderBody, &mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
// Move sphere 1 to collide with sphere 2
|
|
mSphere1Body->setTransform(Transform(Vector3(30, 15, 10), Quaternion::identity()));
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(mBoxBody, mSphere1Body, &mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(!mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(mBoxBody, mCylinderBody, &mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
// Move sphere 1 to collide with box
|
|
mSphere1Body->setTransform(Transform(Vector3(10, 5, 0), Quaternion::identity()));
|
|
|
|
// --------- Test collision with inactive bodies --------- //
|
|
|
|
mCollisionCallback.reset();
|
|
mBoxBody->setIsActive(false);
|
|
mCylinderBody->setIsActive(false);
|
|
mSphere1Body->setIsActive(false);
|
|
mSphere2Body->setIsActive(false);
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(!mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
test(!mWorld->testAABBOverlap(mBoxBody, mSphere1Body));
|
|
test(!mWorld->testAABBOverlap(mBoxBody, mCylinderBody));
|
|
test(!mWorld->testAABBOverlap(mSphere1Body, mCylinderBody));
|
|
test(!mWorld->testAABBOverlap(mSphere1Body, mSphere2Body));
|
|
|
|
test(!mBoxProxyShape->testAABBOverlap(mSphere1ProxyShape->getWorldAABB()));
|
|
test(!mBoxProxyShape->testAABBOverlap(mCylinderProxyShape->getWorldAABB()));
|
|
test(!mSphere1ProxyShape->testAABBOverlap(mCylinderProxyShape->getWorldAABB()));
|
|
test(!mSphere1ProxyShape->testAABBOverlap(mSphere2ProxyShape->getWorldAABB()));
|
|
|
|
mBoxBody->setIsActive(true);
|
|
mCylinderBody->setIsActive(true);
|
|
mSphere1Body->setIsActive(true);
|
|
mSphere2Body->setIsActive(true);
|
|
|
|
// --------- Test collision with collision filtering -------- //
|
|
|
|
mBoxProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_3);
|
|
mSphere1ProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_2);
|
|
mSphere2ProxyShape->setCollideWithMaskBits(CATEGORY_1);
|
|
mCylinderProxyShape->setCollideWithMaskBits(CATEGORY_1);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
// Move sphere 1 to collide with sphere 2
|
|
mSphere1Body->setTransform(Transform(Vector3(30, 15, 10), Quaternion::identity()));
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
mBoxProxyShape->setCollideWithMaskBits(CATEGORY_2);
|
|
mSphere1ProxyShape->setCollideWithMaskBits(CATEGORY_2);
|
|
mSphere2ProxyShape->setCollideWithMaskBits(CATEGORY_3);
|
|
mCylinderProxyShape->setCollideWithMaskBits(CATEGORY_1);
|
|
|
|
mCollisionCallback.reset();
|
|
mWorld->testCollision(&mCollisionCallback);
|
|
test(!mCollisionCallback.boxCollideWithSphere1);
|
|
test(!mCollisionCallback.boxCollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithCylinder);
|
|
test(!mCollisionCallback.sphere1CollideWithSphere2);
|
|
|
|
// Move sphere 1 to collide with box
|
|
mSphere1Body->setTransform(Transform(Vector3(10, 5, 0), Quaternion::identity()));
|
|
|
|
mBoxProxyShape->setCollideWithMaskBits(0xFFFF);
|
|
mSphere1ProxyShape->setCollideWithMaskBits(0xFFFF);
|
|
mSphere2ProxyShape->setCollideWithMaskBits(0xFFFF);
|
|
mCylinderProxyShape->setCollideWithMaskBits(0xFFFF);
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|