535 lines
23 KiB
C++
Executable File
535 lines
23 KiB
C++
Executable File
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_DYNAMIC_AABB_TREE_H
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#define TEST_DYNAMIC_AABB_TREE_H
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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 "memory/MemoryManager.h"
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#include "engine/PhysicsCommon.h"
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#include "utils/Profiler.h"
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#include <vector>
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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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) override {
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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 DefaultTestTreeAllocator : public MemoryAllocator {
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public:
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/// Destructor
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virtual ~DefaultTestTreeAllocator() override = default;
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/// Assignment operator
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DefaultTestTreeAllocator& operator=(DefaultTestTreeAllocator& allocator) = default;
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/// Allocate memory of a given size (in bytes) and return a pointer to the
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/// allocated memory.
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virtual void* allocate(size_t size) override {
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return malloc(size);
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}
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/// Release previously allocated memory.
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virtual void release(void* pointer, size_t size) override {
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free(pointer);
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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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*/
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class TestDynamicAABBTree : public Test {
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private :
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// ---------- Atributes ---------- //
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DefaultTestTreeAllocator mAllocator;
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DynamicTreeRaycastCallback mRaycastCallback;
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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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}
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bool isOverlapping(int nodeId, const List<int>& overlappingNodes) const {
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return std::find(overlappingNodes.begin(), overlappingNodes.end(), nodeId) != overlappingNodes.end();
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}
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/// Run the tests
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void run() {
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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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// ------------ Create tree ---------- //
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// Dynamic AABB Tree
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DynamicAABBTree tree(mAllocator);
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int object1Data = 56;
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int object2Data = 23;
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int object3Data = 13;
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int object4Data = 7;
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// First object
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AABB aabb1 = AABB(Vector3(-6, 4, -3), Vector3(4, 8, 3));
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int object1Id = tree.addObject(aabb1, &object1Data);
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// Second object
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AABB aabb2 = AABB(Vector3(5, 2, -3), Vector3(10, 7, 3));
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int object2Id = tree.addObject(aabb2, &object2Data);
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// Third object
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AABB aabb3 = AABB(Vector3(-5, 1, -3), Vector3(-2, 3, 3));
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int object3Id = tree.addObject(aabb3, &object3Data);
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// Fourth object
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AABB aabb4 = AABB(Vector3(0, -4, -3), Vector3(3, -2, 3));
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int object4Id = tree.addObject(aabb4, &object4Data);
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// ----------- Tests ----------- //
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// Test root AABB
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AABB rootAABB = tree.getRootAABB();
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rp3d_test(rootAABB.getMin().x == -6);
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rp3d_test(rootAABB.getMin().y == -4);
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rp3d_test(rootAABB.getMin().z == -3);
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rp3d_test(rootAABB.getMax().x == 10);
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rp3d_test(rootAABB.getMax().y == 8);
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rp3d_test(rootAABB.getMax().z == 3);
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// Test data stored at the nodes of the tree
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rp3d_test(*(int*)(tree.getNodeDataPointer(object1Id)) == object1Data);
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rp3d_test(*(int*)(tree.getNodeDataPointer(object2Id)) == object2Data);
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rp3d_test(*(int*)(tree.getNodeDataPointer(object3Id)) == object3Data);
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rp3d_test(*(int*)(tree.getNodeDataPointer(object4Id)) == object4Data);
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}
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void testOverlapping() {
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// ------------- Create tree ----------- //
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// Dynamic AABB Tree
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DynamicAABBTree tree(mAllocator);
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int object1Data = 56;
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int object2Data = 23;
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int object3Data = 13;
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int object4Data = 7;
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// First object
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AABB aabb1 = AABB(Vector3(-6, 4, -3), Vector3(4, 8, 3));
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int object1Id = tree.addObject(aabb1, &object1Data);
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// Second object
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AABB aabb2 = AABB(Vector3(5, 2, -3), Vector3(10, 7, 3));
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int object2Id = tree.addObject(aabb2, &object2Data);
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// Third object
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AABB aabb3 = AABB(Vector3(-5, 1, -3), Vector3(-2, 3, 3));
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int object3Id = tree.addObject(aabb3, &object3Data);
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// Fourth object
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AABB aabb4 = AABB(Vector3(0, -4, -3), Vector3(3, -2, 3));
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int object4Id = tree.addObject(aabb4, &object4Data);
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// ---------- Tests ---------- //
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List<int> overlappingNodes(mAllocator);
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// AABB overlapping nothing
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping everything
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 1 and 3
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 3 and 4
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 2
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- //
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tree.updateObject(object1Id, aabb1);
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tree.updateObject(object2Id, aabb2);
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tree.updateObject(object3Id, aabb3);
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tree.updateObject(object4Id, aabb4);
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// AABB overlapping nothing
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping everything
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 1 and 3
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 3 and 4
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 2
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- //
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tree.updateObject(object1Id, aabb1);
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tree.updateObject(object2Id, aabb2);
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tree.updateObject(object3Id, aabb3);
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tree.updateObject(object4Id, aabb4);
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// AABB overlapping nothing
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping everything
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 1 and 3
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 3 and 4
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping object 2
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// ---- Move objects 2 and 3 ----- //
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AABB newAABB2(Vector3(-7, 10, -3), Vector3(1, 13, 3));
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tree.updateObject(object2Id, newAABB2);
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AABB newAABB3(Vector3(7, -6, -3), Vector3(9, 1, 3));
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tree.updateObject(object3Id, newAABB3);
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// AABB overlapping object 3
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(6, -10, -2), Vector3(8, 5, 3)), overlappingNodes);
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rp3d_test(!isOverlapping(object1Id, overlappingNodes));
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rp3d_test(!isOverlapping(object2Id, overlappingNodes));
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rp3d_test(isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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// AABB overlapping objects 1, 2
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overlappingNodes.clear();
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tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-8, 5, -3), Vector3(-2, 11, 3)), overlappingNodes);
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rp3d_test(isOverlapping(object1Id, overlappingNodes));
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rp3d_test(isOverlapping(object2Id, overlappingNodes));
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rp3d_test(!isOverlapping(object3Id, overlappingNodes));
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rp3d_test(!isOverlapping(object4Id, overlappingNodes));
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}
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void testRaycast() {
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// ------------- Create tree ----------- //
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// Dynamic AABB Tree
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DynamicAABBTree tree(mAllocator);
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int object1Data = 56;
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int object2Data = 23;
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int object3Data = 13;
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int object4Data = 7;
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// First object
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AABB aabb1 = AABB(Vector3(-6, 4, -3), Vector3(4, 8, 3));
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int object1Id = tree.addObject(aabb1, &object1Data);
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// Second object
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AABB aabb2 = AABB(Vector3(5, 2, -3), Vector3(10, 7, 3));
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int object2Id = tree.addObject(aabb2, &object2Data);
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// Third object
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AABB aabb3 = AABB(Vector3(-5, 1, -3), Vector3(-2, 3, 3));
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int object3Id = tree.addObject(aabb3, &object3Data);
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// Fourth object
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AABB aabb4 = AABB(Vector3(0, -4, -3), Vector3(3, -2, 3));
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int object4Id = tree.addObject(aabb4, &object4Data);
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// ---------- Tests ---------- //
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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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tree.raycast(ray1, mRaycastCallback);
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rp3d_test(!mRaycastCallback.isHit(object1Id));
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rp3d_test(!mRaycastCallback.isHit(object2Id));
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rp3d_test(!mRaycastCallback.isHit(object3Id));
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rp3d_test(!mRaycastCallback.isHit(object4Id));
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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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tree.raycast(ray2, mRaycastCallback);
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rp3d_test(mRaycastCallback.isHit(object1Id));
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rp3d_test(!mRaycastCallback.isHit(object2Id));
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rp3d_test(!mRaycastCallback.isHit(object3Id));
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rp3d_test(!mRaycastCallback.isHit(object4Id));
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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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tree.raycast(ray3, mRaycastCallback);
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rp3d_test(mRaycastCallback.isHit(object1Id));
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rp3d_test(mRaycastCallback.isHit(object2Id));
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rp3d_test(!mRaycastCallback.isHit(object3Id));
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rp3d_test(!mRaycastCallback.isHit(object4Id));
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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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tree.raycast(ray4, mRaycastCallback);
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rp3d_test(!mRaycastCallback.isHit(object1Id));
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rp3d_test(!mRaycastCallback.isHit(object2Id));
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rp3d_test(mRaycastCallback.isHit(object3Id));
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rp3d_test(!mRaycastCallback.isHit(object4Id));
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// ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- //
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tree.updateObject(object1Id, aabb1);
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tree.updateObject(object2Id, aabb2);
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tree.updateObject(object3Id, aabb3);
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tree.updateObject(object4Id, aabb4);
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// Ray with no hits
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mRaycastCallback.reset();
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tree.raycast(ray1, mRaycastCallback);
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rp3d_test(!mRaycastCallback.isHit(object1Id));
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rp3d_test(!mRaycastCallback.isHit(object2Id));
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rp3d_test(!mRaycastCallback.isHit(object3Id));
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rp3d_test(!mRaycastCallback.isHit(object4Id));
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// Ray that hits object 1
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|
mRaycastCallback.reset();
|
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tree.raycast(ray2, mRaycastCallback);
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rp3d_test(mRaycastCallback.isHit(object1Id));
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rp3d_test(!mRaycastCallback.isHit(object2Id));
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rp3d_test(!mRaycastCallback.isHit(object3Id));
|
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rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 1 and 2
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray3, mRaycastCallback);
|
|
rp3d_test(mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 3
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray4, mRaycastCallback);
|
|
rp3d_test(!mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- //
|
|
|
|
tree.updateObject(object1Id, aabb1);
|
|
tree.updateObject(object2Id, aabb2);
|
|
tree.updateObject(object3Id, aabb3);
|
|
tree.updateObject(object4Id, aabb4);
|
|
|
|
// Ray with no hits
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray1, mRaycastCallback);
|
|
rp3d_test(!mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 1
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray2, mRaycastCallback);
|
|
rp3d_test(mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 1 and 2
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray3, mRaycastCallback);
|
|
rp3d_test(mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 3
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray4, mRaycastCallback);
|
|
rp3d_test(!mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// ---- Move objects 2 and 3 ----- //
|
|
|
|
AABB newAABB2(Vector3(-7, 10, -3), Vector3(1, 13, 3));
|
|
tree.updateObject(object2Id, newAABB2);
|
|
|
|
AABB newAABB3(Vector3(7, -6, -3), Vector3(9, 1, 3));
|
|
tree.updateObject(object3Id, newAABB3);
|
|
|
|
// Ray that hits object 1, 2
|
|
Ray ray5(Vector3(-4, -5, 0), Vector3(-4, 12, 0));
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray5, mRaycastCallback);
|
|
rp3d_test(mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object4Id));
|
|
|
|
// Ray that hits object 3 and 4
|
|
Ray ray6(Vector3(11, -3, 1), Vector3(-2, -3, 1));
|
|
mRaycastCallback.reset();
|
|
tree.raycast(ray6, mRaycastCallback);
|
|
rp3d_test(!mRaycastCallback.isHit(object1Id));
|
|
rp3d_test(!mRaycastCallback.isHit(object2Id));
|
|
rp3d_test(mRaycastCallback.isHit(object3Id));
|
|
rp3d_test(mRaycastCallback.isHit(object4Id));
|
|
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|