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Added a custom test macro, QFUZZY_COMPARE (compares two values with an explicit error tolerance), and the infrastructure for defining more.

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Reworked physics test files, but they're a WIP.
This commit is contained in:
Seiji Emery 2015-06-21 09:29:09 -07:00
parent d75f3b1398
commit 16dd5e0590
9 changed files with 274 additions and 330 deletions
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108
tests/QTestExtensions.hpp Normal file
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@ -0,0 +1,108 @@
//
// QTestExtensions.hpp
// tests/
//
// Created by Seiji Emery on 6/20/15.
// Copyright 2015 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_QTestExtensions_hpp
#define hifi_QTestExtensions_hpp
#include <QtTest/QtTest>
#include <functional>
// Adds some additional functionality to QtTest (eg. explicitely defined fuzzy comparison
// of float and custom data types), and some extension mechanisms to provide other new
// functionality as needed.
// Generic function that reimplements the debugging output of a QCOMPARE failure via QFAIL.
// Use this to implement your own QCOMPARE-ish macros (see QEXPLICIT_FUZZY_COMPARE for
// more info).
template <typename T>
void QTest_failWithMessage (const T & actual, const T & expected, const char * actual_expr, const char * expected_expr, int line, const char * file)
{
}
// Generic function that reimplements the debugging output of a QCOMPARE failure via QFAIL.
// Use this to implement your own QCOMPARE-ish macros (see QEXPLICIT_FUZZY_COMPARE for
// more info).
// This version provides a callback to write additional messages.
// If the messages span more than one line, wrap them with '\n\t' to get proper indentation.
template <typename T>
inline QString QTest_generateCompareFailureMessage (const char * failMessage, const T & actual, const T & expected, const char * actual_expr, const char * expected_expr, std::function<QTextStream & (QTextStream &)> writeAdditionalMessages)
{
QString s1 = actual_expr, s2 = expected_expr;
int pad1_ = qMax(s2.length() - s1.length(), 0);
int pad2_ = qMax(s1.length() - s2.length(), 0);
QString pad1 = QString(")").rightJustified(pad1_, ' ');
QString pad2 = QString(")").rightJustified(pad2_, ' ');
QString msg;
QTextStream stream (&msg);
stream << failMessage << "\n\t"
"Actual: (" << actual_expr << pad1 << ": " << actual << "\n\t"
"Expected: (" << expected_expr << pad2 << ": " << expected << "\n\t";
writeAdditionalMessages(stream);
return msg;
}
template <typename T>
inline QString QTest_generateCompareFailureMessage (const char * failMessage, const T & actual, const T & expected, const char * actual_expr, const char * expected_expr)
{
QString s1 = actual_expr, s2 = expected_expr;
int pad1_ = qMax(s2.length() - s1.length(), 0);
int pad2_ = qMax(s1.length() - s2.length(), 0);
QString pad1 = QString(")").rightJustified(pad1_, ' ');
QString pad2 = QString(")").rightJustified(pad2_, ' ');
QString msg;
QTextStream stream (&msg);
stream << failMessage << "\n\t"
"Actual: (" << actual_expr << pad1 << ": " << actual << "\n\t"
"Expected: (" << expected_expr << pad2 << ": " << expected;
return msg;
}
template <typename T, typename V>
inline bool QTest_fuzzyCompare(const T & actual, const T & expected, const char * actual_expr, const char * expected_expr, int line, const char * file, const V & epsilon)
{
if (fuzzyCompare(actual, expected) > epsilon) {
QTest::qFail(qPrintable(QTest_generateCompareFailureMessage("Compared values are not the same (fuzzy compare)", actual, expected, actual_expr, expected_expr,
[&] (QTextStream & stream) -> QTextStream & {
return stream << "Err tolerance: " << fuzzyCompare((actual), (expected)) << " > " << epsilon;
})), file, line);
return false;
}
return true;
}
#define QFUZZY_COMPARE(actual, expected, epsilon) \
do { \
if (!QTest_fuzzyCompare(actual, expected, #actual, #expected, __LINE__, __FILE__, epsilon)) \
return; \
} while(0)
// Note: this generates a message that looks something like the following:
// FAIL! : BulletUtilTests::fooTest() Compared values are not the same (fuzzy compare)
// Actual (foo * 3): glm::vec3 { 1, 0, 3 }
// Expected (bar + baz): glm::vec3 { 2, 0, 5 }
// Error Tolerance: 2.23607 > 1
// Loc: [/Users/semery/hifi/tests/physics/src/BulletUtilTests.cpp(68)]
//
// The last line (and the FAIL! message up to "Compared values...") are generated automatically by
// QFAIL. It is possible to generate these manually via __FILE__ and __LINE__, but QFAIL does this
// already so there's no point in reimplementing it. However, since we are using QFAIL to generate
// our line number for us, it's important that it's actually invoked on the same line as the thing
// that calls it -- hence the elaborate macro(s) above (since the result is *technically* one line)
//
#endif

84
tests/physics/src/BulletUtilTests.cpp
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@ -11,13 +11,13 @@
#include <iostream>
#include "PhysicsTestUtil.h"
#include <BulletUtil.h>
#include <NumericalConstants.h>
#include "BulletUtilTests.h"
QTEST_MAIN(BulletUtilTests)
void BulletUtilTests::fromBulletToGLM() {
@ -25,18 +25,8 @@ void BulletUtilTests::fromBulletToGLM() {
glm::vec3 gV = bulletToGLM(bV);
QCOMPARE(gV.x, bV.getX());
// if (gV.x != bV .getX()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: x mismatch bullet.x = " << bV.getX() << " != glm.x = " << gV.x << std::endl;
// }
if (gV.y != bV.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.y = " << bV.getY() << " != glm.y = " << gV.y << std::endl;
}
if (gV.z != bV.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.z = " << bV.getZ() << " != glm.z = " << gV.z << std::endl;
}
QCOMPARE(gV.y, bV.getY());
QCOMPARE(gV.z, bV.getZ());
float angle = 0.317f * PI;
btVector3 axis(1.23f, 2.34f, 3.45f);
@ -44,39 +34,19 @@ void BulletUtilTests::fromBulletToGLM() {
btQuaternion bQ(axis, angle);
glm::quat gQ = bulletToGLM(bQ);
if (gQ.x != bQ.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.x = " << bQ.getX() << " != glm.x = " << gQ.x << std::endl;
}
if (gQ.y != bQ.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.y = " << bQ.getY() << " != glm.y = " << gQ.y << std::endl;
}
if (gQ.z != bQ.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.z = " << bQ.getZ() << " != glm.z = " << gQ.z << std::endl;
}
if (gQ.w != bQ.getW()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.w = " << bQ.getW() << " != glm.w = " << gQ.w << std::endl;
}
QCOMPARE(gQ.x, bQ.getX());
QCOMPARE(gQ.y, bQ.getY());
QCOMPARE(gQ.z, bQ.getZ() + 10);
QCOMPARE(gQ.w, bQ.getW());
}
void BulletUtilTests::fromGLMToBullet() {
glm::vec3 gV(1.23f, 4.56f, 7.89f);
btVector3 bV = glmToBullet(gV);
if (gV.x != bV.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.x = " << gV.x << " != bullet.x = " << bV.getX() << std::endl;
}
if (gV.y != bV.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.y = " << gV.y << " != bullet.y = " << bV.getY() << std::endl;
}
if (gV.z != bV.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.z = " << gV.z << " != bullet.z = " << bV.getZ() << std::endl;
}
QCOMPARE(gV.x, bV.getX());
QCOMPARE(gV.y, bV.getY());
QCOMPARE(gV.z, bV.getZ());
float angle = 0.317f * PI;
btVector3 axis(1.23f, 2.34f, 3.45f);
@ -84,25 +54,17 @@ void BulletUtilTests::fromGLMToBullet() {
btQuaternion bQ(axis, angle);
glm::quat gQ = bulletToGLM(bQ);
if (gQ.x != bQ.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.x = " << gQ.x << " != bullet.x = " << bQ.getX() << std::endl;
}
if (gQ.y != bQ.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.y = " << gQ.y << " != bullet.y = " << bQ.getY() << std::endl;
}
if (gQ.z != bQ.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.z = " << gQ.z << " != bullet.z = " << bQ.getZ() << std::endl;
}
if (gQ.w != bQ.getW()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.w = " << gQ.w << " != bullet.w = " << bQ.getW() << std::endl;
}
QCOMPARE(gQ.x, bQ.getX());
QCOMPARE(gQ.y, bQ.getY());
QCOMPARE(gQ.z, bQ.getZ());
QCOMPARE(gQ.w, bQ.getW());
}
//void BulletUtilTests::runAllTests() {
// fromBulletToGLM();
// fromGLMToBullet();
//}
void BulletUtilTests::fooTest () {
glm::vec3 a { 1, 0, 3 };
glm::vec3 b { 2, 0, 5 };
// QCOMPARE(10, 22);
QFUZZY_COMPARE(a, b, 1.0f);
}

2
tests/physics/src/BulletUtilTests.h
View file

@ -20,7 +20,7 @@ class BulletUtilTests : public QObject {
private slots:
void fromBulletToGLM();
void fromGLMToBullet();
// void runAllTests();
void fooTest ();
};
#endif // hifi_BulletUtilTests_h

116
tests/physics/src/CollisionInfoTests.cpp
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@ -24,7 +24,6 @@
QTEST_MAIN(CollisionInfoTests)
/*
static glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
static glm::vec3 xZxis(0.0f, 1.0f, 0.0f);
static glm::vec3 xYxis(0.0f, 0.0f, 1.0f);
@ -32,83 +31,82 @@ static glm::vec3 xYxis(0.0f, 0.0f, 1.0f);
void CollisionInfoTests::rotateThenTranslate() {
CollisionInfo collision;
collision._penetration = xAxis;
collision._contactPoint = yAxis;
collision._addedVelocity = xAxis + yAxis + zAxis;
collision._contactPoint = xYxis;
collision._addedVelocity = xAxis + xYxis + xZxis;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
float distance = 3.0f;
glm::vec3 translation = distance * yAxis;
glm::vec3 translation = distance * xYxis;
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;
}
QCOMPARE(collision._penetration, xYxis);
// float error = glm::distance(collision._penetration, xYxis);
// if (error > EPSILON) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: collision._penetration = " << collision._penetration
// << " but we expected " << xYxis
// << 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;
}
QCOMPARE(collision._contactPoint, expectedContactPoint);
// 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;
}
glm::vec3 expectedAddedVelocity = xYxis - xAxis + xZxis;
QCOMPARE(collision._addedVelocity, expectedAddedVelocity);
// 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;
collision._contactPoint = xYxis;
collision._addedVelocity = xAxis + xYxis + xZxis;
glm::quat rotation = glm::angleAxis( -PI_OVER_TWO, zAxis);
float distance = 3.0f;
glm::vec3 translation = distance * yAxis;
glm::vec3 translation = distance * xYxis;
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;
}
QCOMPARE(collision._penetration, -xYxis);
// float error = glm::distance(collision._penetration, -xYxis);
// if (error > EPSILON) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: collision._penetration = " << collision._penetration
// << " but we expected " << -yAxis
// << std::endl;
// }
glm::vec3 expectedContactPoint = (1.0f + 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;
}
QCOMPARE(collision._contactPoint, expectedContactPoint);
// 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;
}
}
*/
glm::vec3 expectedAddedVelocity = - xYxis + xAxis + xYxis;
QCOMPARE(collision._addedVelocity, expectedAddedVelocity);
// 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();
//}

2
tests/physics/src/CollisionInfoTests.h
View file

@ -20,8 +20,6 @@ class CollisionInfoTests : public QObject {
private slots:
// void rotateThenTranslate();
// void translateThenRotate();
// void runAllTests();
};
#endif // hifi_CollisionInfoTests_h

26
tests/physics/src/MeshMassPropertiesTests.cpp
View file

@ -9,13 +9,14 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "PhysicsTestUtil.h"
#include <iostream>
#include <string>
#include <MeshMassProperties.h>
#include "MeshMassPropertiesTests.h"
//#define VERBOSE_UNIT_TESTS
#define VERBOSE_UNIT_TESTS
const btScalar acceptableRelativeError(1.0e-5f);
const btScalar acceptableAbsoluteError(1.0e-4f);
@ -40,13 +41,13 @@ void pushTriangle(VectorOfIndices& indices, uint32_t a, uint32_t b, uint32_t c)
}
void MeshMassPropertiesTests::testParallelAxisTheorem() {
#ifdef EXPOSE_HELPER_FUNCTIONS_FOR_UNIT_TEST
// verity we can compute the inertia tensor of a box in two different ways:
//#ifdef EXPOSE_HELPER_FUNCTIONS_FOR_UNIT_TEST
// verity we can compute the inertia tensor of a box in two different ways:
// (a) as one box
// (b) as a combination of two partial boxes.
#ifdef VERBOSE_UNIT_TESTS
std::cout << "\n" << __FUNCTION__ << std::endl;
#endif // VERBOSE_UNIT_TESTS
//#ifdef VERBOSE_UNIT_TESTS
// std::cout << "\n" << __FUNCTION__ << std::endl;
//#endif // VERBOSE_UNIT_TESTS
btScalar bigBoxX = 7.0f;
btScalar bigBoxY = 9.0f;
@ -76,11 +77,12 @@ void MeshMassPropertiesTests::testParallelAxisTheorem() {
btScalar error;
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
error = bitBoxInertia[i][j] - twoSmallBoxesInertia[i][j];
if (fabsf(error) > acceptableAbsoluteError) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR : box inertia[" << i << "][" << j << "] off by = "
<< error << std::endl;
}
QFUZZY_COMPARE(bitBoxInertia[i][j], twoSmallBoxesInertia[i][j], acceptableAbsoluteError);
// error = bitBoxInertia[i][j] - twoSmallBoxesInertia[i][j];
// if (fabsf(error) > acceptableAbsoluteError) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR : box inertia[" << i << "][" << j << "] off by = "
// << error << std::endl;
// }
}
}
@ -88,7 +90,7 @@ void MeshMassPropertiesTests::testParallelAxisTheorem() {
printMatrix("expected inertia", bitBoxInertia);
printMatrix("computed inertia", twoSmallBoxesInertia);
#endif // VERBOSE_UNIT_TESTS
#endif // EXPOSE_HELPER_FUNCTIONS_FOR_UNIT_TEST
//#endif // EXPOSE_HELPER_FUNCTIONS_FOR_UNIT_TEST
}
void MeshMassPropertiesTests::testTetrahedron(){

31
tests/physics/src/PhysicsTestUtil.h
View file

@ -14,18 +14,39 @@
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
#include <BulletUtil.h>
#include <qtextstream.h>
#include <CollisionInfo.h>
const glm::vec3 origin(0.0f);
const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
inline std::ostream& operator<<(std::ostream& s, const CollisionInfo& c) {
return s << "[penetration=" << c._penetration
<< ", contactPoint=" << c._contactPoint
<< ", addedVelocity=" << c._addedVelocity
<< "]";
// Implement these functions for whatever data types you need.
//
// fuzzyCompare takes two args of type T (the type you're comparing), and should
// return an error / difference of type V (eg. if T is a vector, V is a scalar).
// For vector types this is just the distance between a and b.
//
// stringify is just a toString() / repr() style function. For PoD types,
// I'd recommend using the c++11 initialization syntax (type { constructor args... }),
// since it's clear and unambiguous.
//
inline float fuzzyCompare (const glm::vec3 & a, const glm::vec3 & b) {
return glm::distance(a, b);
}
inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
}
inline btScalar fuzzyCompare (btScalar a, btScalar b) {
return a - b;
}
#include "../QTestExtensions.hpp"
#endif // hifi_PhysicsTestUtil_h

233
tests/physics/src/ShapeColliderTests.cpp
View file

@ -10,6 +10,7 @@
//
//#include <stdio.h>
#include "PhysicsTestUtil.h"
#include <iostream>
#include <math.h>
@ -27,10 +28,11 @@
#include "ShapeColliderTests.h"
const glm::vec3 origin(0.0f);
static const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
static const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
//const glm::vec3 origin(0.0f);
//static const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
//static const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
//static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
QTEST_MAIN(ShapeColliderTests)
@ -47,37 +49,12 @@ void ShapeColliderTests::sphereMissesSphere() {
SphereShape sphereB(radiusB, offsetDistance * offsetDirection);
CollisionList collisions(16);
// collide A to B...
{
bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// collide B to A...
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// also test shapeShape
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
}
// collide A to B and vice versa
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &sphereB, collisions), false);
QCOMPARE(ShapeCollider::collideShapes(&sphereB, &sphereA, collisions), false);
// Collision list should be empty
QCOMPARE(collisions.size(), 0);
}
void ShapeColliderTests::sphereTouchesSphere() {
@ -98,74 +75,38 @@ void ShapeColliderTests::sphereTouchesSphere() {
// collide A to B...
{
bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
} else {
++numCollisions;
}
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &sphereB, collisions), true);
++numCollisions;
// verify state of collisions
if (numCollisions != collisions.size()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected collisions size of " << numCollisions << " but actual size is " << collisions.size()
<< std::endl;
}
QCOMPARE(collisions.size(), numCollisions);
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision" << std::endl;
return;
}
QVERIFY(collision != nullptr);
// penetration points from sphereA into sphereB
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
QCOMPARE(collision->_penetration, expectedPenetration);
// contactPoint is on surface of sphereA
glm::vec3 AtoB = sphereB.getTranslation() - sphereA.getTranslation();
glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * glm::normalize(AtoB);
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
QCOMPARE(collision->_contactPoint, expectedContactPoint);
QFUZZY_COMPARE(collision->_contactPoint, expectedContactPoint, EPSILON);
}
// collide B to A...
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
} else {
++numCollisions;
}
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &sphereB, collisions), true);
++numCollisions;
// penetration points from sphereA into sphereB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
float inaccuracy = glm::length(collision->_penetration + expectedPenetration);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
QFUZZY_COMPARE(collision->_penetration, expectedPenetration, EPSILON);
// contactPoint is on surface of sphereA
glm::vec3 BtoA = sphereA.getTranslation() - sphereB.getTranslation();
glm::vec3 expectedContactPoint = sphereB.getTranslation() + radiusB * glm::normalize(BtoA);
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
QFUZZY_COMPARE(collision->_contactPoint, expectedContactPoint, EPSILON);
}
}
@ -200,25 +141,12 @@ void ShapeColliderTests::sphereMissesCapsule() {
glm::vec3 localPosition = localStartPosition + ((float)i * delta) * yAxis;
sphereA.setTranslation(rotation * localPosition + translation);
// sphereA agains capsuleB
if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch" << std::endl;
}
// capsuleB against sphereA
if (ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch" << std::endl;
}
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
// sphereA agains capsuleB and vice versa
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions), false);
QCOMPARE(ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions), false);
}
QCOMPARE(collisions.size(), 0);
}
void ShapeColliderTests::sphereTouchesCapsule() {
@ -239,42 +167,22 @@ void ShapeColliderTests::sphereTouchesCapsule() {
{ // sphereA collides with capsuleB's cylindrical wall
sphereA.setTranslation(radialOffset * xAxis);
if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch" << std::endl;
} else {
++numCollisions;
}
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions), true);
++numCollisions;
// penetration points from sphereA into capsuleB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = (radialOffset - totalRadius) * xAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
QFUZZY_COMPARE(collision->_penetration, expectedPenetration, EPSILON);
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
QFUZZY_COMPARE(collision->_contactPoint, expectedContactPoint, EPSILON);
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch" << std::endl;
} else {
++numCollisions;
}
QCOMPARE(ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions), true);
++numCollisions;
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
@ -283,13 +191,8 @@ void ShapeColliderTests::sphereTouchesCapsule() {
// the ShapeCollider swapped the order of the shapes
expectedPenetration *= -1.0f;
}
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
QFUZZY_COMPARE(collision->_penetration, expectedPenetration, EPSILON);
// contactPoint is on surface of capsuleB
glm::vec3 BtoA = sphereA.getTranslation() - capsuleB.getTranslation();
glm::vec3 closestApproach = capsuleB.getTranslation() + glm::dot(BtoA, yAxis) * yAxis;
@ -299,37 +202,24 @@ void ShapeColliderTests::sphereTouchesCapsule() {
closestApproach = sphereA.getTranslation() - glm::dot(BtoA, yAxis) * yAxis;
expectedContactPoint = closestApproach - radiusB * glm::normalize(BtoA - closestApproach);
}
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
QFUZZY_COMPARE(collision->_contactPoint, expectedContactPoint, EPSILON);
}
{ // sphereA hits end cap at axis
glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
sphereA.setTranslation(axialOffset);
if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch" << std::endl;
} else {
++numCollisions;
}
QCOMPARE(ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions), true);
++numCollisions;
// penetration points from sphereA into capsuleB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = - ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
QFUZZY_COMPARE(collision->_penetration, expectedPenetration, EPSILON);
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabsf(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
@ -2509,36 +2399,3 @@ void ShapeColliderTests::measureTimeOfCollisionDispatch() {
*/
}
//void ShapeColliderTests::runAllTests() {
// ShapeCollider::initDispatchTable();
//
// //measureTimeOfCollisionDispatch();
//
// sphereMissesSphere();
// sphereTouchesSphere();
//
// sphereMissesCapsule();
// sphereTouchesCapsule();
//
// capsuleMissesCapsule();
// capsuleTouchesCapsule();
//
// sphereMissesAACube();
// sphereTouchesAACubeFaces();
// sphereTouchesAACubeEdges();
// sphereTouchesAACubeCorners();
//
// capsuleMissesAACube();
// capsuleTouchesAACube();
//
// rayHitsSphere();
// rayBarelyHitsSphere();
// rayBarelyMissesSphere();
// rayHitsCapsule();
// rayMissesCapsule();
// rayHitsPlane();
// rayMissesPlane();
//
// rayHitsAACube();
// rayMissesAACube();
//}

2
tests/physics/src/ShapeColliderTests.h
View file

@ -46,8 +46,6 @@ private slots:
void rayMissesAACube();
void measureTimeOfCollisionDispatch();
// void runAllTests();
};
#endif // hifi_ShapeColliderTests_h