From f0e1a6ccd391605e121a14428b2e168040626b8c Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 25 Feb 2014 11:38:08 -0800
Subject: [PATCH] more capsuleCapsule tests
---
tests/physics/src/ShapeColliderTests.cpp | 181 ++++++++++++++++++-----
1 file changed, 141 insertions(+), 40 deletions(-)
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index 9ade128b17..ba648995c0 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -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;
+ }
}
}