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more capsuleCapsule tests

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This commit is contained in:
Andrew Meadows 2014-02-25 11:38:08 -08:00
parent 362708be60
commit f0e1a6ccd3
1 changed files with 141 additions and 40 deletions
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181
tests/physics/src/ShapeColliderTests.cpp
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@ -460,52 +460,153 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusB, halfHeightB);
// side by side
capsuleB.setPosition((0.95f * totalRadius) * xAxis);
CollisionInfo collision;
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
{ // side by side
capsuleB.setPosition((0.99f * totalRadius) * xAxis);
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
}
// end to end
capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
{ // end to end
capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(rightAngle, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
{ // rotate B and move it to the side
glm::quat rotation = glm::angleAxis(rightAngle, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
}
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
{ // again, but this time check collision details
float overlap = 0.1f;
glm::quat rotation = glm::angleAxis(rightAngle, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
glm::vec3 expectedPenetration = overlap * xAxis;
float inaccuracy = glm::length(collision._penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision._penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * xAxis;
inaccuracy = glm::length(collision._contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision._contactPoint
<< std::endl;
}
// capsuleB vs capsuleA
if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
expectedPenetration = - overlap * xAxis;
inaccuracy = glm::length(collision._penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision._penetration
<< std::endl;
}
expectedContactPoint = capsuleB.getPosition() - (radiusB + halfHeightB) * xAxis;
inaccuracy = glm::length(collision._contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision._contactPoint
<< std::endl;
}
}
{ // collide cylinder wall against cylinder wall
float overlap = 0.137f;
float shift = 0.317f * halfHeightA;
glm::quat rotation = glm::angleAxis(rightAngle, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collision))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
}
glm::vec3 expectedPenetration = overlap * zAxis;
float inaccuracy = glm::length(collision._penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision._penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * zAxis + shift * yAxis;
inaccuracy = glm::length(collision._contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision._contactPoint
<< std::endl;
}
}
}