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moved some functions around
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Andrew Meadows
parent
e133a696f5
commit
f1ae0ce992
1 changed files with 114 additions and 114 deletions
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@ -680,6 +680,119 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
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}
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}
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void ShapeColliderTests::sphereMissesAACube() {
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CollisionList collisions(16);
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float sphereRadius = 1.0f;
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glm::vec3 sphereCenter(0.0f);
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glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
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float cubeSide = 2.0f;
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glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
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int numDirections = 3;
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float offset = 2.0f * EPSILON;
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// faces
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for (int i = 0; i < numDirections; ++i) {
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for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
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glm::vec3 faceNormal = sign * faceNormals[i];
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sphereCenter = cubeCenter + (0.5f * cubeSide + sphereRadius + offset) * faceNormal;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube face."
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<< " faceNormal = " << faceNormal << std::endl;
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}
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}
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}
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// edges
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int numSteps = 5;
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// loop over each face...
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for (int i = 0; i < numDirections; ++i) {
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for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
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glm::vec3 faceNormal = faceSign * faceNormals[i];
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// loop over each neighboring face...
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for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
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// Compute the index to the third direction, which points perpendicular to both the face
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// and the neighbor face.
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int k = (j + 1) % numDirections;
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if (k == i) {
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k = (i + 1) % numDirections;
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}
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glm::vec3 thirdNormal = faceNormals[k];
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for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
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collisions.clear();
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glm::vec3 neighborNormal = neighborSign * faceNormals[j];
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// combine the face and neighbor normals to get the edge normal
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glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
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// Step the sphere along the edge in the direction of thirdNormal, starting at one corner and
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// moving to the other. Test the penetration (invarient) and contact (changing) at each point.
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float delta = cubeSide / (float)(numSteps - 1);
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glm::vec3 startPosition = cubeCenter + (0.5f * cubeSide) * (faceNormal + neighborNormal - thirdNormal);
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for (int m = 0; m < numSteps; ++m) {
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sphereCenter = startPosition + ((float)m * delta) * thirdNormal + (sphereRadius + offset) * edgeNormal;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube edge."
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<< " edgeNormal = " << edgeNormal << std::endl;
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}
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}
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}
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}
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}
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}
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// corners
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for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
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glm::vec3 firstNormal = firstSign * faceNormals[0];
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for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
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glm::vec3 secondNormal = secondSign * faceNormals[1];
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for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
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collisions.clear();
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glm::vec3 thirdNormal = thirdSign * faceNormals[2];
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// the cornerNormal is the normalized sum of the three faces
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glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
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// compute a direction that is slightly offset from cornerNormal
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glm::vec3 perpAxis = glm::normalize(glm::cross(cornerNormal, firstNormal));
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glm::vec3 nearbyAxis = glm::normalize(cornerNormal + 0.3f * perpAxis);
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// swing the sphere on a small cone that starts at the corner and is centered on the cornerNormal
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float delta = TWO_PI / (float)(numSteps - 1);
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for (int i = 0; i < numSteps; i++) {
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float angle = (float)i * delta;
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glm::quat rotation = glm::angleAxis(angle, cornerNormal);
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glm::vec3 offsetAxis = rotation * nearbyAxis;
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sphereCenter = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide) * cornerNormal + (sphereRadius + offset) * offsetAxis;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube corner."
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<< " cornerNormal = " << cornerNormal << std::endl;
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break;
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}
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}
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}
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}
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}
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}
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void ShapeColliderTests::sphereTouchesAACubeFaces() {
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CollisionList collisions(16);
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@ -909,119 +1022,6 @@ void ShapeColliderTests::sphereTouchesAACubeCorners() {
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}
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}
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void ShapeColliderTests::sphereMissesAACube() {
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CollisionList collisions(16);
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float sphereRadius = 1.0f;
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glm::vec3 sphereCenter(0.0f);
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glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
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float cubeSide = 2.0f;
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glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
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int numDirections = 3;
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float offset = 2.0f * EPSILON;
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// faces
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for (int i = 0; i < numDirections; ++i) {
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for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
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glm::vec3 faceNormal = sign * faceNormals[i];
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sphereCenter = cubeCenter + (0.5f * cubeSide + sphereRadius + offset) * faceNormal;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube face."
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<< " faceNormal = " << faceNormal << std::endl;
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}
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}
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}
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// edges
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int numSteps = 5;
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// loop over each face...
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for (int i = 0; i < numDirections; ++i) {
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for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
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glm::vec3 faceNormal = faceSign * faceNormals[i];
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// loop over each neighboring face...
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for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
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// Compute the index to the third direction, which points perpendicular to both the face
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// and the neighbor face.
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int k = (j + 1) % numDirections;
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if (k == i) {
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k = (i + 1) % numDirections;
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}
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glm::vec3 thirdNormal = faceNormals[k];
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for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
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collisions.clear();
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glm::vec3 neighborNormal = neighborSign * faceNormals[j];
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// combine the face and neighbor normals to get the edge normal
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glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
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// Step the sphere along the edge in the direction of thirdNormal, starting at one corner and
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// moving to the other. Test the penetration (invarient) and contact (changing) at each point.
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float delta = cubeSide / (float)(numSteps - 1);
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glm::vec3 startPosition = cubeCenter + (0.5f * cubeSide) * (faceNormal + neighborNormal - thirdNormal);
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for (int m = 0; m < numSteps; ++m) {
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sphereCenter = startPosition + ((float)m * delta) * thirdNormal + (sphereRadius + offset) * edgeNormal;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube edge."
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<< " edgeNormal = " << edgeNormal << std::endl;
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}
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}
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}
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}
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}
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}
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// corners
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for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
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glm::vec3 firstNormal = firstSign * faceNormals[0];
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for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
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glm::vec3 secondNormal = secondSign * faceNormals[1];
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for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
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collisions.clear();
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glm::vec3 thirdNormal = thirdSign * faceNormals[2];
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// the cornerNormal is the normalized sum of the three faces
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glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
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// compute a direction that is slightly offset from cornerNormal
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glm::vec3 perpAxis = glm::normalize(glm::cross(cornerNormal, firstNormal));
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glm::vec3 nearbyAxis = glm::normalize(cornerNormal + 0.3f * perpAxis);
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// swing the sphere on a small cone that starts at the corner and is centered on the cornerNormal
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float delta = TWO_PI / (float)(numSteps - 1);
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for (int i = 0; i < numSteps; i++) {
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float angle = (float)i * delta;
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glm::quat rotation = glm::angleAxis(angle, cornerNormal);
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glm::vec3 offsetAxis = rotation * nearbyAxis;
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sphereCenter = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide) * cornerNormal + (sphereRadius + offset) * offsetAxis;
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CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
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cubeCenter, cubeSide, collisions);
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if (collision) {
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std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube corner."
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<< " cornerNormal = " << cornerNormal << std::endl;
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break;
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}
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}
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}
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}
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}
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}
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void ShapeColliderTests::rayHitsSphere() {
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float startDistance = 3.0f;
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glm::vec3 rayStart(-startDistance, 0.0f, 0.0f);
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@ -1484,10 +1484,10 @@ void ShapeColliderTests::runAllTests() {
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capsuleMissesCapsule();
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capsuleTouchesCapsule();
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sphereMissesAACube();
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sphereTouchesAACubeFaces();
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sphereTouchesAACubeEdges();
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sphereTouchesAACubeCorners();
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sphereMissesAACube();
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rayHitsSphere();
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rayBarelyHitsSphere();
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