Adding physics test framework

tests/physics/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+set(TARGET_NAME physics-tests)
+
+set(ROOT_DIR ../..)
+set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
+
+# setup for find modules
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/modules/")
+
+#find_package(Qt5Network REQUIRED)
+#find_package(Qt5Script REQUIRED)
+#find_package(Qt5Widgets REQUIRED)
+
+include(${MACRO_DIR}/SetupHifiProject.cmake)
+setup_hifi_project(${TARGET_NAME} TRUE)
+
+include(${MACRO_DIR}/AutoMTC.cmake)
+auto_mtc(${TARGET_NAME} ${ROOT_DIR})
+
+#qt5_use_modules(${TARGET_NAME} Network Script Widgets)
+
+#include glm
+include(${MACRO_DIR}/IncludeGLM.cmake)
+include_glm(${TARGET_NAME} ${ROOT_DIR})
+
+# link in the shared libraries
+include(${MACRO_DIR}/LinkHifiLibrary.cmake)
+link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
+
+IF (WIN32)
+    #target_link_libraries(${TARGET_NAME} Winmm Ws2_32)
+ENDIF(WIN32)
+

tests/physics/src/CollisionInfoTests.cpp

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+//
+//  CollisionInfoTests.cpp
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+#include <iostream>
+
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+#include <CollisionInfo.h>
+#include <SharedUtil.h>
+
+#include "CollisionInfoTests.h"
+#include "PhysicsTestUtil.h"
+
+
+void CollisionInfoTests::rotateThenTranslate() {
+    CollisionInfo collision;
+    collision._penetration = xAxis;
+    collision._contactPoint = yAxis;
+    collision._addedVelocity = xAxis + yAxis + zAxis;
+
+    glm::quat rotation = glm::angleAxis(rightAngle, zAxis);
+    float distance = 3.f;
+    glm::vec3 translation = distance * yAxis;
+
+    collision.rotateThenTranslate(rotation, translation);
+
+    float error = glm::distance(collision._penetration, yAxis);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__ 
+            << " ERROR: collision._penetration = " << collision._penetration
+            << " but we expected " << yAxis
+            << std::endl;
+    } 
+
+    glm::vec3 expectedContactPoint = -xAxis + translation;
+    error = glm::distance(collision._contactPoint, expectedContactPoint);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__ 
+            << " ERROR: collision._contactPoint = " << collision._contactPoint
+            << " but we expected " << expectedContactPoint
+            << std::endl;
+    } 
+
+    glm::vec3 expectedAddedVelocity = yAxis - xAxis + zAxis;
+    error = glm::distance(collision._addedVelocity, expectedAddedVelocity);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__ 
+            << " ERROR: collision._addedVelocity = " << collision._contactPoint
+            << " but we expected " << expectedAddedVelocity
+            << std::endl;
+    } 
+}
+
+void CollisionInfoTests::translateThenRotate() {
+    CollisionInfo collision;
+    collision._penetration = xAxis;
+    collision._contactPoint = yAxis;
+    collision._addedVelocity = xAxis + yAxis + zAxis;
+
+    glm::quat rotation = glm::angleAxis( -rightAngle, zAxis);
+    float distance = 3.f;
+    glm::vec3 translation = distance * yAxis;
+
+    collision.translateThenRotate(translation, rotation);
+
+    float error = glm::distance(collision._penetration, -yAxis);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__ 
+            << " ERROR: collision._penetration = " << collision._penetration
+            << " but we expected " << -yAxis
+            << std::endl;
+    } 
+
+    glm::vec3 expectedContactPoint = (1.f + distance) * xAxis;
+    error = glm::distance(collision._contactPoint, expectedContactPoint);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: collision._contactPoint = " << collision._contactPoint
+            << " but we expected " << expectedContactPoint
+            << std::endl;
+    } 
+
+    glm::vec3 expectedAddedVelocity = - yAxis + xAxis + zAxis;
+    error = glm::distance(collision._addedVelocity, expectedAddedVelocity);
+    if (error > EPSILON) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: collision._addedVelocity = " << collision._contactPoint
+            << " but we expected " << expectedAddedVelocity
+            << std::endl;
+    } 
+}
+
+void CollisionInfoTests::runAllTests() {
+    CollisionInfoTests::rotateThenTranslate();
+    CollisionInfoTests::translateThenRotate();
+}

tests/physics/src/CollisionInfoTests.h

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+//
+//  CollisionInfoTests.h
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+#ifndef __tests__CollisionInfoTests__
+#define __tests__CollisionInfoTests__
+
+namespace CollisionInfoTests {
+
+    void rotateThenTranslate();
+    void translateThenRotate();
+
+    void runAllTests(); 
+}
+
+#endif // __tests__CollisionInfoTests__
+

tests/physics/src/PhysicsTestUtil.cpp

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+//
+//  PhysicsTestUtil.cpp
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+#include "PhysicsTestUtil.h"
+
+std::ostream& operator<<(std::ostream& s, const glm::vec3& v) {
+    s << "<" << v.x << "," << v.y << "," << v.z << ">";
+    return s;
+}
+
+std::ostream& operator<<(std::ostream& s, const CollisionInfo& c) {
+    s << "[penetration=" << c._penetration 
+        << ", contactPoint=" << c._contactPoint
+        << ", addedVelocity=" << c._addedVelocity;
+    return s;
+}

tests/physics/src/PhysicsTestUtil.h

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+//
+//  PhysicsTestUtil.h
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+#ifndef __tests__PhysicsTestUtil__
+#define __tests__PhysicsTestUtil__
+
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+#include <CollisionInfo.h>
+
+const glm::vec3 xAxis(1.f, 0.f, 0.f);
+const glm::vec3 yAxis(0.f, 1.f, 0.f);
+const glm::vec3 zAxis(0.f, 0.f, 1.f);
+
+const float rightAngle = 90.f;  // degrees
+
+std::ostream& operator<<(std::ostream& s, const glm::vec3& v);
+std::ostream& operator<<(std::ostream& s, const CollisionInfo& c);
+
+#endif // __tests__PhysicsTestUtil__

tests/physics/src/ShapeColliderTests.cpp

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+//
+//  ShapeColliderTests.cpp
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+//#include <stdio.h>
+#include <iostream>
+
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+#include <CollisionInfo.h>
+#include <SharedUtil.h>
+
+#include "PhysicsTestUtil.h"
+#include "ShapeColliderTests.h"
+
+
+/*
+void ShapeColliderTests::test1() {
+}
+
+void ShapeColliderTests::test2() {
+}
+*/
+
+void ShapeColliderTests::runAllTests() {
+//    ShapeColliderTests::test1();
+//    ShapeColliderTests::test2();
+}

tests/physics/src/ShapeColliderTests.h

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+//
+//  ShapeColliderTests.h
+//  physics-tests
+//
+//  Created by Andrew Meadows on 2014.02.21
+//  Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
+//
+
+#ifndef __tests__ShapeColliderTests__
+#define __tests__ShapeColliderTests__
+
+namespace ShapeColliderTests {
+
+    //void rotateThenTranslate();
+    //void translateThenRotate();
+
+    void runAllTests(); 
+}
+
+#endif // __tests__ShapeColliderTests__

tests/physics/src/main.cpp

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+//
+//  main.cpp
+//  physics-tests
+//
+
+//#include <QDebug>
+
+#include "ShapeColliderTests.h"
+#include "CollisionInfoTests.h"
+
+int main(int argc, char** argv) {
+    CollisionInfoTests::runAllTests();
+    ShapeColliderTests::runAllTests();
+    return 0;
+}