Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-27 00:15:32 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

added validation of RayIntersectionInfo::_hitShape

Browse source
This commit is contained in:
Andrew Meadows 2014-09-11 09:44:41 -07:00
parent 0494ffcf38
commit 08e5dbadfd
1 changed files with 89 additions and 65 deletions

154
tests/physics/src/ShapeColliderTests.cpp
View file

@ -1811,8 +1811,8 @@ void ShapeColliderTests::rayHitsSphere() {
// very simple ray along xAxis
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, 0.0f, 0.0f);
intersection._rayDirection = glm::vec3(1.0f, 0.0f, 0.0f);
intersection._rayStart = -startDistance * xAxis;
intersection._rayDirection = xAxis;
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should intersect sphere" << std::endl;
@ -1851,8 +1851,8 @@ void ShapeColliderTests::rayHitsSphere() {
glm::quat rotation = glm::angleAxis(0.987654321f, axis);
glm::vec3 translation(35.7f, 2.46f, -1.97f);
glm::vec3 unrotatedRayDirection(-1.0f, 0.0f, 0.0f);
glm::vec3 untransformedRayStart(startDistance, 0.0f, 0.0f);
glm::vec3 unrotatedRayDirection = -xAxis;
glm::vec3 untransformedRayStart = startDistance * xAxis;
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (untransformedRayStart + translation);
@ -1885,7 +1885,7 @@ void ShapeColliderTests::rayBarelyHitsSphere() {
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, radius - delta, 0.0f);
intersection._rayDirection = glm::vec3(1.0f, 0.0f, 0.0f);
intersection._rayDirection = xAxis;
// very simple ray along xAxis
if (!sphere.findRayIntersection(intersection)) {
@ -1897,7 +1897,7 @@ void ShapeColliderTests::rayBarelyHitsSphere() {
// translate and rotate the whole system...
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(0.987654321f, axis);
glm::vec3 translation(1.7f, 0.46f, -1.97f);
glm::vec3 translation(35.7f, 0.46f, -1.97f);
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (intersection._rayStart + translation);
@ -1919,39 +1919,47 @@ void ShapeColliderTests::rayBarelyMissesSphere() {
glm::vec3 center(0.0f);
float delta = 2.0f * EPSILON;
float startDistance = 3.0f;
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, radius + delta, 0.0f);
intersection._rayDirection = glm::vec3(1.0f, 0.0f, 0.0f);
SphereShape sphere(radius, center);
float startDistance = 3.0f;
// very simple ray along xAxis
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, radius + delta, 0.0f);
intersection._rayDirection = xAxis;
// very simple ray along xAxis
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
}
// translate and rotate the whole system...
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(0.987654321f, axis);
glm::vec3 translation(35.7f, 2.46f, -1.97f);
{
// translate and rotate the whole system...
float angle = 0.987654321f;
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(angle, axis);
glm::vec3 translation(35.7f, 2.46f, -1.97f);
intersection._hitDistance = FLT_MAX;
intersection._rayStart = rotation * (intersection._rayStart + translation);
intersection._rayDirection = rotation * intersection._rayDirection;
sphere.setTranslation(rotation * translation);
// ...and test again
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (glm::vec3(-startDistance, radius + delta, 0.0f) + translation);
intersection._rayDirection = rotation * xAxis;
sphere.setTranslation(rotation * translation);
// ...and test again
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
}
@ -1962,11 +1970,11 @@ void ShapeColliderTests::rayHitsCapsule() {
glm::vec3 center(0.0f);
CapsuleShape capsule(radius, halfHeight);
{ // simple test along xAxis
// toward capsule center
// simple tests along xAxis
{ // toward capsule center
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, 0.0f);
intersection._rayDirection = glm::vec3(-1.0f, 0.0f, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
@ -1976,71 +1984,81 @@ void ShapeColliderTests::rayHitsCapsule() {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
// toward top of cylindrical wall
intersection._rayStart.y = halfHeight;
intersection._hitDistance = FLT_MAX;
{ // toward top of cylindrical wall
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
// toward top cap
float delta = 2.0f * EPSILON;
intersection._rayStart.y = halfHeight + delta;
intersection._hitDistance = FLT_MAX;
float delta = 2.0f * EPSILON;
{ // toward top cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight + delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
const float EDGE_CASE_SLOP_FACTOR = 20.0f;
// toward tip of top cap
intersection._rayStart.y = halfHeight + radius - delta;
intersection._hitDistance = FLT_MAX;
const float EDGE_CASE_SLOP_FACTOR = 20.0f;
{ // toward tip of top cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight + radius - delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
// toward tip of bottom cap
intersection._rayStart.y = - halfHeight - radius + delta;
intersection._hitDistance = FLT_MAX;
{ // toward tip of bottom cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, - halfHeight - radius + delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
// toward edge of capsule cylindrical face
intersection._rayStart.y = 0.0f;
intersection._rayStart.z = radius - delta;
intersection._hitDistance = FLT_MAX;
{ // toward edge of capsule cylindrical face
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, radius - delta);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
@ -2062,7 +2080,7 @@ void ShapeColliderTests::rayMissesCapsule() {
// toward capsule center
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, 0.0f);
intersection._rayDirection = glm::vec3(-1.0f, 0.0f, 0.0f);
intersection._rayDirection = -xAxis;
float delta = 2.0f * EPSILON;
// over top cap
@ -2098,6 +2116,9 @@ void ShapeColliderTests::rayMissesCapsule() {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
// TODO: test at steep angles near edge
}
@ -2190,6 +2211,9 @@ void ShapeColliderTests::rayMissesPlane() {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
{ // make a simple ray that points away from plane