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overte/tests/physics/src/ShapeColliderTests.cpp
Andrew Meadows c475d5db36 unit tests for ray-vs-AACubeShape and PlaneShape
2014-09-12 08:41:28 -07:00

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//
// ShapeColliderTests.cpp
// tests/physics/src
//
// Created by Andrew Meadows on 02/21/2014.
// Copyright 2014 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
//
//#include <stdio.h>
#include <iostream>
#include <math.h>
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
#include <AACubeShape.h>
#include <CapsuleShape.h>
#include <CollisionInfo.h>
#include <PlaneShape.h>
#include <ShapeCollider.h>
#include <SharedUtil.h>
#include <SphereShape.h>
#include <StreamUtils.h>
#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);
void ShapeColliderTests::sphereMissesSphere() {
// non-overlapping spheres of unequal size
float radiusA = 7.0f;
float radiusB = 3.0f;
float alpha = 1.2f;
float beta = 1.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
float offsetDistance = alpha * radiusA + beta * radiusB;
SphereShape sphereA(radiusA, origin);
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;
}
}
void ShapeColliderTests::sphereTouchesSphere() {
// overlapping spheres of unequal size
float radiusA = 7.0f;
float radiusB = 3.0f;
float alpha = 0.2f;
float beta = 0.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
float offsetDistance = alpha * radiusA + beta * radiusB;
float expectedPenetrationDistance = (1.0f - alpha) * radiusA + (1.0f - beta) * radiusB;
glm::vec3 expectedPenetration = expectedPenetrationDistance * offsetDirection;
SphereShape sphereA(radiusA, origin);
SphereShape sphereB(radiusB, offsetDistance * offsetDirection);
CollisionList collisions(16);
int numCollisions = 0;
// 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;
}
// 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;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision" << std::endl;
return;
}
// penetration points from sphereA into sphereB
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;
}
// 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 (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
}
// 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;
}
// penetration points from sphereA into sphereB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
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;
}
// 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 (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
}
}
void ShapeColliderTests::sphereMissesCapsule() {
// non-overlapping sphere and capsule
float radiusA = 1.5f;
float radiusB = 2.3f;
float totalRadius = radiusA + radiusB;
float halfHeightB = 1.7f;
float axialOffset = totalRadius + 1.1f * halfHeightB;
float radialOffset = 1.2f * radiusA + 1.3f * radiusB;
SphereShape sphereA(radiusA);
CapsuleShape capsuleB(radiusB, halfHeightB);
// give the capsule some arbirary transform
float angle = 37.8f;
glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
glm::quat rotation = glm::angleAxis(angle, axis);
glm::vec3 translation(15.1f, -27.1f, -38.6f);
capsuleB.setRotation(rotation);
capsuleB.setTranslation(translation);
CollisionList collisions(16);
// walk sphereA along the local yAxis next to, but not touching, capsuleB
glm::vec3 localStartPosition(radialOffset, axialOffset, 0.0f);
int numberOfSteps = 10;
float delta = 1.3f * (totalRadius + halfHeightB) / (numberOfSteps - 1);
for (int i = 0; i < numberOfSteps; ++i) {
// translate sphereA into world-frame
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;
}
}
void ShapeColliderTests::sphereTouchesCapsule() {
// overlapping sphere and capsule
float radiusA = 2.0f;
float radiusB = 1.0f;
float totalRadius = radiusA + radiusB;
float halfHeightB = 2.0f;
float alpha = 0.5f;
float beta = 0.5f;
float radialOffset = alpha * radiusA + beta * radiusB;
SphereShape sphereA(radiusA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
int numCollisions = 0;
{ // 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;
}
// 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 (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getTranslation() - 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 collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch" << std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - (radialOffset - totalRadius) * xAxis;
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
expectedPenetration *= -1.0f;
}
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 BtoA = sphereA.getTranslation() - capsuleB.getTranslation();
glm::vec3 closestApproach = capsuleB.getTranslation() + glm::dot(BtoA, yAxis) * yAxis;
expectedContactPoint = closestApproach + radiusB * glm::normalize(BtoA - closestApproach);
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
closestApproach = sphereA.getTranslation() - glm::dot(BtoA, yAxis) * yAxis;
expectedContactPoint = closestApproach - radiusB * glm::normalize(BtoA - closestApproach);
}
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint << std::endl;
}
}
{ // 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;
}
// 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 (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * 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;
}
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch" << std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
expectedPenetration *= -1.0f;
}
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 endPoint;
capsuleB.getEndPoint(endPoint);
expectedContactPoint = endPoint + radiusB * yAxis;
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
expectedContactPoint = axialOffset - radiusA * 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;
}
}
{ // sphereA hits start 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;
}
// 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 (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * 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;
}
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch" << std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
expectedPenetration *= -1.0f;
}
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration << std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 startPoint;
capsuleB.getStartPoint(startPoint);
expectedContactPoint = startPoint - radiusB * yAxis;
if (collision->_shapeA == &sphereA) {
// the ShapeCollider swapped the order of the shapes
expectedContactPoint = axialOffset + radiusA * 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;
}
}
if (collisions.size() != numCollisions) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected " << numCollisions << " collisions but actual number is " << collisions.size()
<< std::endl;
}
}
void ShapeColliderTests::capsuleMissesCapsule() {
// non-overlapping capsules
float radiusA = 2.0f;
float halfHeightA = 3.0f;
float radiusB = 3.0f;
float halfHeightB = 4.0f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
// side by side
capsuleB.setTranslation((1.01f * totalRadius) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// end to end
capsuleB.setTranslation((1.01f * totalHalfLength) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setTranslation((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule 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;
}
}
void ShapeColliderTests::capsuleTouchesCapsule() {
// overlapping capsules
float radiusA = 2.0f;
float halfHeightA = 3.0f;
float radiusB = 3.0f;
float halfHeightB = 4.0f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
int numCollisions = 0;
{ // side by side
capsuleB.setTranslation((0.99f * totalRadius) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
}
{ // end to end
capsuleB.setTranslation((0.99f * totalHalfLength) * yAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
}
{ // rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setTranslation((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
}
{ // again, but this time check collision details
float overlap = 0.1f;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
capsuleB.setTranslation(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
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.getTranslation() + 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::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
collision = collisions.getCollision(numCollisions - 1);
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.getTranslation() - (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(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
capsuleB.setTranslation(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch" << std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
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.getTranslation() + 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;
}
}
}
void ShapeColliderTests::sphereMissesAACube() {
CollisionList collisions(16);
float sphereRadius = 1.0f;
glm::vec3 sphereCenter(0.0f);
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.0f;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
float offset = 2.0f * EPSILON;
// faces
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
sphereCenter = cubeCenter + (0.5f * cubeSide + sphereRadius + offset) * faceNormal;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube face."
<< " faceNormal = " << faceNormal << std::endl;
}
}
}
// edges
int numSteps = 5;
// loop over each face...
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
collisions.clear();
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// Step the sphere along the edge in the direction of thirdNormal, starting at one corner and
// moving to the other. Test the penetration (invarient) and contact (changing) at each point.
float delta = cubeSide / (float)(numSteps - 1);
glm::vec3 startPosition = cubeCenter + (0.5f * cubeSide) * (faceNormal + neighborNormal - thirdNormal);
for (int m = 0; m < numSteps; ++m) {
sphereCenter = startPosition + ((float)m * delta) * thirdNormal + (sphereRadius + offset) * edgeNormal;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube edge."
<< " edgeNormal = " << edgeNormal << std::endl;
}
}
}
}
}
}
// corners
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// compute a direction that is slightly offset from cornerNormal
glm::vec3 perpAxis = glm::normalize(glm::cross(cornerNormal, firstNormal));
glm::vec3 nearbyAxis = glm::normalize(cornerNormal + 0.3f * perpAxis);
// swing the sphere on a small cone that starts at the corner and is centered on the cornerNormal
float delta = TWO_PI / (float)(numSteps - 1);
for (int i = 0; i < numSteps; i++) {
float angle = (float)i * delta;
glm::quat rotation = glm::angleAxis(angle, cornerNormal);
glm::vec3 offsetAxis = rotation * nearbyAxis;
sphereCenter = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide) * cornerNormal + (sphereRadius + offset) * offsetAxis;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube corner."
<< " cornerNormal = " << cornerNormal << std::endl;
break;
}
}
}
}
}
}
void ShapeColliderTests::sphereTouchesAACubeFaces() {
CollisionList collisions(16);
float sphereRadius = 1.13f;
glm::vec3 sphereCenter(0.0f);
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 4.34f;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
for (int i = 0; i < numDirections; ++i) {
// loop over both sides of cube positive and negative
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
// outside
{
collisions.clear();
float overlap = 0.25f * sphereRadius;
float parallelOffset = 0.5f * cubeSide + sphereRadius - overlap;
float perpOffset = 0.25f * cubeSide;
glm::vec3 expectedPenetration = - overlap * faceNormal;
// We rotate the position of the sphereCenter about a circle on the cube face so that
// it hits the same face in multiple spots. The penetration should be invarient for
// all collisions.
float delta = TWO_PI / 4.0f;
for (float angle = 0; angle < TWO_PI + EPSILON; angle += delta) {
glm::quat rotation = glm::angleAxis(angle, faceNormal);
glm::vec3 perpAxis = rotation * faceNormals[(i + 1) % numDirections];
sphereCenter = cubeCenter + parallelOffset * faceNormal + perpOffset * perpAxis;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide outside cube face."
<< " faceNormal = " << faceNormal
<< std::endl;
break;
}
if (glm::distance(expectedPenetration, collision->_penetration) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: penetration = " << collision->_penetration
<< " expected " << expectedPenetration << " faceNormal = " << faceNormal << std::endl;
}
glm::vec3 expectedContact = sphereCenter - sphereRadius * faceNormal;
if (glm::distance(expectedContact, collision->_contactPoint) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: contactaPoint = " << collision->_contactPoint
<< " expected " << expectedContact << " faceNormal = " << faceNormal << std::endl;
}
if (collision->getShapeA()) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: collision->_shapeA should be NULL" << std::endl;
}
if (collision->getShapeB()) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: collision->_shapeB should be NULL" << std::endl;
}
}
}
// inside
{
collisions.clear();
float overlap = 1.25f * sphereRadius;
float sphereOffset = 0.5f * cubeSide + sphereRadius - overlap;
sphereCenter = cubeCenter + sphereOffset * faceNormal;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide inside cube face."
<< " faceNormal = " << faceNormal << std::endl;
break;
}
glm::vec3 expectedPenetration = - overlap * faceNormal;
if (glm::distance(expectedPenetration, collision->_penetration) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: penetration = " << collision->_penetration
<< " expected " << expectedPenetration << " faceNormal = " << faceNormal << std::endl;
}
glm::vec3 expectedContact = sphereCenter - sphereRadius * faceNormal;
if (glm::distance(expectedContact, collision->_contactPoint) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: contactaPoint = " << collision->_contactPoint
<< " expected " << expectedContact << " faceNormal = " << faceNormal << std::endl;
}
}
}
}
}
void ShapeColliderTests::sphereTouchesAACubeEdges() {
CollisionList collisions(20);
float sphereRadius = 1.37f;
glm::vec3 sphereCenter(0.0f);
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.98f;
float overlap = 0.25 * sphereRadius;
int numSteps = 5;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
// loop over each face...
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
collisions.clear();
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// Step the sphere along the edge in the direction of thirdNormal, starting at one corner and
// moving to the other. Test the penetration (invarient) and contact (changing) at each point.
glm::vec3 expectedPenetration = - overlap * edgeNormal;
float delta = cubeSide / (float)(numSteps - 1);
glm::vec3 startPosition = cubeCenter + (0.5f * cubeSide) * (faceNormal + neighborNormal - thirdNormal);
for (int m = 0; m < numSteps; ++m) {
sphereCenter = startPosition + ((float)m * delta) * thirdNormal + (sphereRadius - overlap) * edgeNormal;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube edge."
<< " edgeNormal = " << edgeNormal << std::endl;
break;
}
if (glm::distance(expectedPenetration, collision->_penetration) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: penetration = " << collision->_penetration
<< " expected " << expectedPenetration << " edgeNormal = " << edgeNormal << std::endl;
}
glm::vec3 expectedContact = sphereCenter - sphereRadius * edgeNormal;
if (glm::distance(expectedContact, collision->_contactPoint) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: contactaPoint = " << collision->_contactPoint
<< " expected " << expectedContact << " edgeNormal = " << edgeNormal << std::endl;
}
}
}
}
}
}
}
void ShapeColliderTests::sphereTouchesAACubeCorners() {
CollisionList collisions(20);
float sphereRadius = 1.37f;
glm::vec3 sphereCenter(0.0f);
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.98f;
float overlap = 0.25 * sphereRadius;
int numSteps = 5;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// compute a direction that is slightly offset from cornerNormal
glm::vec3 perpAxis = glm::normalize(glm::cross(cornerNormal, firstNormal));
glm::vec3 nearbyAxis = glm::normalize(cornerNormal + 0.1f * perpAxis);
// swing the sphere on a small cone that starts at the corner and is centered on the cornerNormal
float delta = TWO_PI / (float)(numSteps - 1);
for (int i = 0; i < numSteps; i++) {
float angle = (float)i * delta;
glm::quat rotation = glm::angleAxis(angle, cornerNormal);
glm::vec3 offsetAxis = rotation * nearbyAxis;
sphereCenter = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide) * cornerNormal + (sphereRadius - overlap) * offsetAxis;
CollisionInfo* collision = ShapeCollider::sphereVsAACubeHelper(sphereCenter, sphereRadius,
cubeCenter, cubeSide, collisions);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube corner."
<< " cornerNormal = " << cornerNormal << std::endl;
break;
}
glm::vec3 expectedPenetration = - overlap * offsetAxis;
if (glm::distance(expectedPenetration, collision->_penetration) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: penetration = " << collision->_penetration
<< " expected " << expectedPenetration << " cornerNormal = " << cornerNormal << std::endl;
}
glm::vec3 expectedContact = sphereCenter - sphereRadius * offsetAxis;
if (glm::distance(expectedContact, collision->_contactPoint) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: contactaPoint = " << collision->_contactPoint
<< " expected " << expectedContact << " cornerNormal = " << cornerNormal << std::endl;
}
}
}
}
}
}
void ShapeColliderTests::capsuleMissesAACube() {
CollisionList collisions(16);
float capsuleRadius = 1.0f;
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.0f;
AACubeShape cube(cubeSide, cubeCenter);
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
float offset = 2.0f * EPSILON;
// capsule caps miss cube faces
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick a random point somewhere above the face
glm::vec3 startPoint = cubeCenter + (cubeSide + capsuleRadius) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly more than one radius above the face
glm::vec3 endPoint = cubeCenter + (0.5f * cubeSide + capsuleRadius + offset) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// randomly swap the points so capsule axis may point toward or away from face
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube face."
<< " faceNormal = " << faceNormal << std::endl;
}
}
}
// capsule caps miss cube edges
// loop over each face...
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
collisions.clear();
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// pick a random point somewhere above the edge
glm::vec3 startPoint = cubeCenter + (SQUARE_ROOT_OF_2 * cubeSide + capsuleRadius) * edgeNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly more than one radius above the edge
glm::vec3 endPoint = cubeCenter + (SQUARE_ROOT_OF_2 * 0.5f * cubeSide + capsuleRadius + offset) * edgeNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// randomly swap the points so capsule axis may point toward or away from edge
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
bool hit = ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions);
if (hit) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube face."
<< " edgeNormal = " << edgeNormal << std::endl;
}
}
}
}
}
// capsule caps miss cube corners
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// pick a random point somewhere above the corner
glm::vec3 startPoint = cubeCenter + (SQUARE_ROOT_OF_3 * cubeSide + capsuleRadius) * cornerNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly more than one radius above the corner
glm::vec3 endPoint = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide + capsuleRadius + offset) * cornerNormal;
// randomly swap the points so capsule axis may point toward or away from corner
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube face."
<< " cornerNormal = " << cornerNormal << std::endl;
}
}
}
}
// capsule sides almost hit cube edges
// loop over each face...
float capsuleLength = 2.0f;
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
collisions.clear();
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// pick a random point somewhere along the edge
glm::vec3 edgePoint = cubeCenter + (SQUARE_ROOT_OF_2 * 0.5f * cubeSide) * edgeNormal +
((cubeSide - 2.0f * offset) * (randFloat() - 0.5f)) * thirdNormal;
// pick a random normal that is deflected slightly from edgeNormal
glm::vec3 deflectedNormal = glm::normalize(edgeNormal +
(0.1f * (randFloat() - 0.5f)) * faceNormal +
(0.1f * (randFloat() - 0.5f)) * neighborNormal);
// compute the axis direction, which will be perp to deflectedNormal and thirdNormal
glm::vec3 axisDirection = glm::normalize(glm::cross(deflectedNormal, thirdNormal));
// compute a point for the capsule's axis along deflection normal away from edgePoint
glm::vec3 axisPoint = edgePoint + (capsuleRadius + offset) * deflectedNormal;
// now we can compute the capsule endpoints
glm::vec3 endPoint = axisPoint + (0.5f * capsuleLength * randFloat()) * axisDirection;
glm::vec3 startPoint = axisPoint - (0.5f * capsuleLength * randFloat()) * axisDirection;
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube"
<< " edgeNormal = " << edgeNormal << std::endl;
}
}
}
}
}
// capsule sides almost hit cube corners
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// compute a penetration normal that is somewhat randomized about cornerNormal
glm::vec3 penetrationNormal = - glm::normalize(cornerNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * thirdNormal);
// pick a random point somewhere above the corner
glm::vec3 corner = cubeCenter + (0.5f * cubeSide) * (firstNormal + secondNormal + thirdNormal);
glm::vec3 startPoint = corner + (3.0f * cubeSide) * cornerNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly less than one radius above the corner
// with some sight perp motion
glm::vec3 endPoint = corner - (capsuleRadius + offset) * penetrationNormal;
// randomly swap the points so capsule axis may point toward or away from corner
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube"
<< " cornerNormal = " << cornerNormal << std::endl;
}
}
}
}
// capsule sides almost hit cube faces
// these are the steps along the capsuleAxis where we'll put the capsule endpoints
float steps[] = { -1.0f, 2.0f, 0.25f, 0.75f, -1.0f };
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick two random point on opposite edges of the face
glm::vec3 firstEdgeIntersection = cubeCenter + (0.5f * cubeSide) * (faceNormal + secondNormal) +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
glm::vec3 secondEdgeIntersection = cubeCenter + (0.5f * cubeSide) * (faceNormal - secondNormal) +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// compute the un-normalized axis for the capsule
glm::vec3 capsuleAxis = secondEdgeIntersection - firstEdgeIntersection;
// there are three pairs in steps[]
for (int j = 0; j < 4; j++) {
collisions.clear();
glm::vec3 startPoint = firstEdgeIntersection + steps[j] * capsuleAxis + (capsuleRadius + offset) * faceNormal;
glm::vec3 endPoint = firstEdgeIntersection + steps[j + 1] * capsuleAxis + (capsuleRadius + offset) * faceNormal;
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should NOT collide with cube"
<< " faceNormal = " << faceNormal << std::endl;
break;
}
}
}
}
}
void ShapeColliderTests::capsuleTouchesAACube() {
CollisionList collisions(16);
float capsuleRadius = 1.0f;
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.0f;
AACubeShape cube(cubeSide, cubeCenter);
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
float overlap = 0.25f * capsuleRadius;
float allowableError = 10.0f * EPSILON;
// capsule caps hit cube faces
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick a random point somewhere above the face
glm::vec3 startPoint = cubeCenter + (cubeSide + capsuleRadius) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly less than one radius above the face
// (but reduce width of range by 2*overlap to prevent the penetration from
// registering against other faces)
glm::vec3 endPoint = cubeCenter + (0.5f * cubeSide + capsuleRadius - overlap) * faceNormal +
((cubeSide - 2.0f * overlap) * (randFloat() - 0.5f)) * secondNormal +
((cubeSide - 2.0f * overlap) * (randFloat() - 0.5f)) * thirdNormal;
glm::vec3 collidingPoint = endPoint;
// randomly swap the points so capsule axis may point toward or away from face
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " faceNormal = " << faceNormal << std::endl;
break;
}
CollisionInfo* collision = collisions.getLastCollision();
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision with faceNormal = " << faceNormal << std::endl;
return;
}
// penetration points from capsule into cube
glm::vec3 expectedPenetration = - overlap * faceNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " faceNormal = " << faceNormal
<< std::endl;
}
// contactPoint is on surface of capsule
glm::vec3 expectedContactPoint = collidingPoint - capsuleRadius * faceNormal;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " faceNormal = " << faceNormal
<< std::endl;
}
}
}
// capsule caps hit cube edges
// loop over each face...
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
collisions.clear();
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// pick a random point somewhere above the edge
glm::vec3 startPoint = cubeCenter + (SQUARE_ROOT_OF_2 * cubeSide + capsuleRadius) * edgeNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly less than one radius above the edge
glm::vec3 endPoint = cubeCenter + (SQUARE_ROOT_OF_2 * 0.5f * cubeSide + capsuleRadius - overlap) * edgeNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
glm::vec3 collidingPoint = endPoint;
// randomly swap the points so capsule axis may point toward or away from edge
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " edgeNormal = " << edgeNormal << std::endl;
}
CollisionInfo* collision = collisions.getLastCollision();
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision with edgeNormal = " << edgeNormal << std::endl;
return;
}
// penetration points from capsule into cube
glm::vec3 expectedPenetration = - overlap * edgeNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " edgeNormal = " << edgeNormal
<< std::endl;
}
// contactPoint is on surface of capsule
glm::vec3 expectedContactPoint = collidingPoint - capsuleRadius * edgeNormal;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " edgeNormal = " << edgeNormal
<< std::endl;
}
}
}
}
}
// capsule caps hit cube corners
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// pick a random point somewhere above the corner
glm::vec3 startPoint = cubeCenter + (SQUARE_ROOT_OF_3 * cubeSide + capsuleRadius) * cornerNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly less than one radius above the corner
glm::vec3 endPoint = cubeCenter + (SQUARE_ROOT_OF_3 * 0.5f * cubeSide + capsuleRadius - overlap) * cornerNormal;
glm::vec3 collidingPoint = endPoint;
// randomly swap the points so capsule axis may point toward or away from corner
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " cornerNormal = " << cornerNormal << std::endl;
}
CollisionInfo* collision = collisions.getLastCollision();
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision with cornerNormal = " << cornerNormal << std::endl;
return;
}
// penetration points from capsule into cube
glm::vec3 expectedPenetration = - overlap * cornerNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " cornerNormal = " << cornerNormal
<< std::endl;
}
// contactPoint is on surface of capsule
glm::vec3 expectedContactPoint = collidingPoint - capsuleRadius * cornerNormal;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " cornerNormal = " << cornerNormal
<< std::endl;
}
}
}
}
// capsule sides hit cube edges
// loop over each face...
float capsuleLength = 2.0f;
for (int i = 0; i < numDirections; ++i) {
for (float faceSign = -1.0f; faceSign < 2.0f; faceSign += 2.0f) {
glm::vec3 faceNormal = faceSign * faceNormals[i];
// loop over each neighboring face...
for (int j = (i + 1) % numDirections; j != i; j = (j + 1) % numDirections) {
// Compute the index to the third direction, which points perpendicular to both the face
// and the neighbor face.
int k = (j + 1) % numDirections;
if (k == i) {
k = (i + 1) % numDirections;
}
glm::vec3 thirdNormal = faceNormals[k];
collisions.clear();
for (float neighborSign = -1.0f; neighborSign < 2.0f; neighborSign += 2.0f) {
glm::vec3 neighborNormal = neighborSign * faceNormals[j];
// combine the face and neighbor normals to get the edge normal
glm::vec3 edgeNormal = glm::normalize(faceNormal + neighborNormal);
// pick a random point somewhere along the edge
glm::vec3 edgePoint = cubeCenter + (SQUARE_ROOT_OF_2 * 0.5f * cubeSide) * edgeNormal +
((cubeSide - 2.0f * overlap) * (randFloat() - 0.5f)) * thirdNormal;
// pick a random normal that is deflected slightly from edgeNormal
glm::vec3 deflectedNormal = glm::normalize(edgeNormal +
(0.1f * (randFloat() - 0.5f)) * faceNormal +
(0.1f * (randFloat() - 0.5f)) * neighborNormal);
// compute the axis direction, which will be perp to deflectedNormal and thirdNormal
glm::vec3 axisDirection = glm::normalize(glm::cross(deflectedNormal, thirdNormal));
// compute a point for the capsule's axis along deflection normal away from edgePoint
glm::vec3 axisPoint = edgePoint + (capsuleRadius - overlap) * deflectedNormal;
// now we can compute the capsule endpoints
glm::vec3 endPoint = axisPoint + (0.5f * capsuleLength * randFloat()) * axisDirection;
glm::vec3 startPoint = axisPoint - (0.5f * capsuleLength * randFloat()) * axisDirection;
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " edgeNormal = " << edgeNormal << std::endl;
}
CollisionInfo* collision = collisions.getLastCollision();
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision with edgeNormal = " << edgeNormal << std::endl;
return;
}
// penetration points from capsule into cube
glm::vec3 expectedPenetration = - overlap * deflectedNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError / capsuleLength) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " edgeNormal = " << edgeNormal
<< std::endl;
}
// contactPoint is on surface of capsule
glm::vec3 expectedContactPoint = axisPoint - capsuleRadius * deflectedNormal;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > allowableError / capsuleLength) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " edgeNormal = " << edgeNormal
<< std::endl;
}
}
}
}
}
// capsule sides hit cube corners
for (float firstSign = -1.0f; firstSign < 2.0f; firstSign += 2.0f) {
glm::vec3 firstNormal = firstSign * faceNormals[0];
for (float secondSign = -1.0f; secondSign < 2.0f; secondSign += 2.0f) {
glm::vec3 secondNormal = secondSign * faceNormals[1];
for (float thirdSign = -1.0f; thirdSign < 2.0f; thirdSign += 2.0f) {
collisions.clear();
glm::vec3 thirdNormal = thirdSign * faceNormals[2];
// the cornerNormal is the normalized sum of the three faces
glm::vec3 cornerNormal = glm::normalize(firstNormal + secondNormal + thirdNormal);
// compute a penetration normal that is somewhat randomized about cornerNormal
glm::vec3 penetrationNormal = - glm::normalize(cornerNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.05f * cubeSide * (randFloat() - 0.5f)) * thirdNormal);
// pick a random point somewhere above the corner
glm::vec3 corner = cubeCenter + (0.5f * cubeSide) * (firstNormal + secondNormal + thirdNormal);
glm::vec3 startPoint = corner + (3.0f * cubeSide) * cornerNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * firstNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * secondNormal +
(0.25f * cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// pick a second random point slightly less than one radius above the corner
// with some sight perp motion
glm::vec3 endPoint = corner - (capsuleRadius - overlap) * penetrationNormal;
glm::vec3 collidingPoint = endPoint;
// randomly swap the points so capsule axis may point toward or away from corner
if (randFloat() > 0.5f) {
glm::vec3 temp = startPoint;
startPoint = endPoint;
endPoint = temp;
}
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " cornerNormal = " << cornerNormal << std::endl;
}
CollisionInfo* collision = collisions.getLastCollision();
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision with cornerNormal = " << cornerNormal << std::endl;
return;
}
// penetration points from capsule into cube
glm::vec3 expectedPenetration = overlap * penetrationNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " cornerNormal = " << cornerNormal
<< std::endl;
}
// contactPoint is on surface of capsule
glm::vec3 expectedContactPoint = collidingPoint + capsuleRadius * penetrationNormal;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " cornerNormal = " << cornerNormal
<< std::endl;
}
}
}
}
// capsule sides hit cube faces
// these are the steps along the capsuleAxis where we'll put the capsule endpoints
float steps[] = { -1.0f, 2.0f, 0.25f, 0.75f, -1.0f };
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick two random point on opposite edges of the face
glm::vec3 firstEdgeIntersection = cubeCenter + (0.5f * cubeSide) * (faceNormal + secondNormal) +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
glm::vec3 secondEdgeIntersection = cubeCenter + (0.5f * cubeSide) * (faceNormal - secondNormal) +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// compute the un-normalized axis for the capsule
glm::vec3 capsuleAxis = secondEdgeIntersection - firstEdgeIntersection;
// there are three pairs in steps[]
for (int j = 0; j < 4; j++) {
collisions.clear();
glm::vec3 startPoint = firstEdgeIntersection + steps[j] * capsuleAxis + (capsuleRadius - overlap) * faceNormal;
glm::vec3 endPoint = firstEdgeIntersection + steps[j + 1] * capsuleAxis + (capsuleRadius - overlap) * faceNormal;
// create a capsule between the points
CapsuleShape capsule(capsuleRadius, startPoint, endPoint);
// collide capsule with cube
if (!ShapeCollider::capsuleVsAACube(&capsule, &cube, collisions)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: capsule should collide with cube"
<< " faceNormal = " << faceNormal << std::endl;
break;
}
int numCollisions = collisions.size();
if (numCollisions != 2) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule should hit cube face at two spots."
<< " Expected collisions size of 2 but is actually " << numCollisions
<< ". faceNormal = " << faceNormal << std::endl;
break;
}
// compute the expected contact points
// NOTE: whether the startPoint or endPoint are expected to collide depends the relative values
// of the steps[] that were used to compute them above.
glm::vec3 expectedContactPoints[2];
if (j == 0) {
expectedContactPoints[0] = firstEdgeIntersection - overlap * faceNormal;
expectedContactPoints[1] = secondEdgeIntersection - overlap * faceNormal;
} else if (j == 1) {
expectedContactPoints[0] = secondEdgeIntersection - overlap * faceNormal;
expectedContactPoints[1] = endPoint - capsuleRadius * faceNormal;
} else if (j == 2) {
expectedContactPoints[0] = startPoint - capsuleRadius * faceNormal;
expectedContactPoints[1] = endPoint - capsuleRadius * faceNormal;
} else if (j == 3) {
expectedContactPoints[0] = startPoint - capsuleRadius * faceNormal;
expectedContactPoints[1] = firstEdgeIntersection - overlap * faceNormal;
}
// verify each contact
for (int k = 0; k < 2; ++k) {
CollisionInfo* collision = collisions.getCollision(k);
// penetration points from capsule into cube
glm::vec3 expectedPenetration = - overlap * faceNormal;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< " faceNormal = " << faceNormal
<< std::endl;
}
// the order of the final contact points is undefined, so we
// figure out which expected contact point is the closest to the real one
// and then verify accuracy on that
float length0 = glm::length(collision->_contactPoint - expectedContactPoints[0]);
float length1 = glm::length(collision->_contactPoint - expectedContactPoints[1]);
glm::vec3 expectedContactPoint = (length0 < length1) ? expectedContactPoints[0] : expectedContactPoints[1];
// contactPoint is on surface of capsule
inaccuracy = (length0 < length1) ? length0 : length1;
if (fabs(inaccuracy) > allowableError) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contact: expectedContactPoint[" << k << "] = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< " faceNormal = " << faceNormal
<< std::endl;
}
}
}
}
}
}
void ShapeColliderTests::rayHitsSphere() {
float startDistance = 3.0f;
float radius = 1.0f;
glm::vec3 center(0.0f);
SphereShape sphere(radius, center);
// very simple ray along xAxis
{
RayIntersectionInfo intersection;
intersection._rayStart = -startDistance * xAxis;
intersection._rayDirection = xAxis;
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should intersect sphere" << std::endl;
}
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray sphere intersection distance error = " << relativeError << std::endl;
}
if (intersection._hitShape != &sphere) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should point at sphere"
<< std::endl;
}
}
// ray along a diagonal axis
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, startDistance, 0.0f);
intersection._rayDirection = - glm::normalize(intersection._rayStart);
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should intersect sphere" << std::endl;
}
float expectedDistance = SQUARE_ROOT_OF_2 * startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray sphere intersection distance error = " << relativeError << std::endl;
}
}
// rotated and displaced ray and sphere
{
startDistance = 7.41f;
radius = 3.917f;
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(0.987654321f, axis);
glm::vec3 translation(35.7f, 2.46f, -1.97f);
glm::vec3 unrotatedRayDirection = -xAxis;
glm::vec3 untransformedRayStart = startDistance * xAxis;
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (untransformedRayStart + translation);
intersection._rayDirection = rotation * unrotatedRayDirection;
sphere.setRadius(radius);
sphere.setTranslation(rotation * translation);
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should intersect sphere" << std::endl;
}
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray sphere intersection distance error = "
<< relativeError << std::endl;
}
}
}
void ShapeColliderTests::rayBarelyHitsSphere() {
float radius = 1.0f;
glm::vec3 center(0.0f);
float delta = 2.0f * EPSILON;
SphereShape sphere(radius, center);
float startDistance = 3.0f;
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, radius - delta, 0.0f);
intersection._rayDirection = xAxis;
// very simple ray along xAxis
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely hit sphere" << std::endl;
}
if (intersection._hitShape != &sphere) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should point at sphere"
<< std::endl;
}
}
{
// translate and rotate the whole system...
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(0.987654321f, axis);
glm::vec3 translation(35.7f, 0.46f, -1.97f);
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (intersection._rayStart + translation);
intersection._rayDirection = rotation * intersection._rayDirection;
sphere.setTranslation(rotation * translation);
// ...and test again
if (!sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely hit sphere" << std::endl;
}
}
}
void ShapeColliderTests::rayBarelyMissesSphere() {
// same as the barely-hits case, but this time we move the ray away from sphere
float radius = 1.0f;
glm::vec3 center(0.0f);
float delta = 2.0f * EPSILON;
SphereShape sphere(radius, center);
float startDistance = 3.0f;
{
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, radius + delta, 0.0f);
intersection._rayDirection = xAxis;
// very simple ray along xAxis
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
}
{
// translate and rotate the whole system...
float angle = 0.987654321f;
glm::vec3 axis = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
glm::quat rotation = glm::angleAxis(angle, axis);
glm::vec3 translation(35.7f, 2.46f, -1.97f);
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (glm::vec3(-startDistance, radius + delta, 0.0f) + translation);
intersection._rayDirection = rotation * xAxis;
sphere.setTranslation(rotation * translation);
// ...and test again
if (sphere.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should just barely miss sphere" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
}
void ShapeColliderTests::rayHitsCapsule() {
float startDistance = 3.0f;
float radius = 1.0f;
float halfHeight = 2.0f;
glm::vec3 center(0.0f);
CapsuleShape capsule(radius, halfHeight);
// simple tests along xAxis
{ // toward capsule center
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
if (intersection._hitShape != &capsule) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should point at capsule"
<< std::endl;
}
}
{ // toward top of cylindrical wall
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
float delta = 2.0f * EPSILON;
{ // toward top cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight + delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
const float EDGE_CASE_SLOP_FACTOR = 20.0f;
{ // toward tip of top cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, halfHeight + radius - delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
{ // toward tip of bottom cap
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, - halfHeight - radius + delta, 0.0f);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
{ // toward edge of capsule cylindrical face
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, radius - delta);
intersection._rayDirection = - xAxis;
if (!capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit capsule" << std::endl;
}
float expectedDistance = startDistance - radius * sqrtf(2.0f * delta); // using small angle approximation of cosine
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / startDistance;
// for edge cases we allow a LOT of error
if (relativeError > EDGE_CASE_SLOP_FACTOR * EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray capsule intersection distance error = "
<< relativeError << std::endl;
}
}
// TODO: test at steep angles near cylinder/cap junction
}
void ShapeColliderTests::rayMissesCapsule() {
// same as edge case hit tests, but shifted in the opposite direction
float startDistance = 3.0f;
float radius = 1.0f;
float halfHeight = 2.0f;
glm::vec3 center(0.0f);
CapsuleShape capsule(radius, halfHeight);
{ // simple test along xAxis
// toward capsule center
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(startDistance, 0.0f, 0.0f);
intersection._rayDirection = -xAxis;
float delta = 2.0f * EPSILON;
// over top cap
intersection._rayStart.y = halfHeight + radius + delta;
intersection._hitDistance = FLT_MAX;
if (capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss capsule" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
// below bottom cap
intersection._rayStart.y = - halfHeight - radius - delta;
intersection._hitDistance = FLT_MAX;
if (capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss capsule" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
// past edge of capsule cylindrical face
intersection._rayStart.y = 0.0f;
intersection._rayStart.z = radius + delta;
intersection._hitDistance = FLT_MAX;
if (capsule.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss capsule" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
// TODO: test at steep angles near edge
}
void ShapeColliderTests::rayHitsPlane() {
// make a simple plane
float planeDistanceFromOrigin = 3.579f;
glm::vec3 planePosition(0.0f, planeDistanceFromOrigin, 0.0f);
PlaneShape plane;
plane.setPoint(planePosition);
plane.setNormal(yAxis);
// make a simple ray
float startDistance = 1.234f;
{
RayIntersectionInfo intersection;
intersection._rayStart = -startDistance * xAxis;
intersection._rayDirection = glm::normalize(glm::vec3(1.0f, 1.0f, 1.0f));
if (!plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit plane" << std::endl;
}
float expectedDistance = SQUARE_ROOT_OF_3 * planeDistanceFromOrigin;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / planeDistanceFromOrigin;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray plane intersection distance error = "
<< relativeError << std::endl;
}
if (intersection._hitShape != &plane) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should point at plane"
<< std::endl;
}
}
{ // rotate the whole system and try again
float angle = 37.8f;
glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
glm::quat rotation = glm::angleAxis(angle, axis);
plane.setNormal(rotation * yAxis);
plane.setPoint(rotation * planePosition);
RayIntersectionInfo intersection;
intersection._rayStart = rotation * (-startDistance * xAxis);
intersection._rayDirection = rotation * glm::normalize(glm::vec3(1.0f, 1.0f, 1.0f));
if (!plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit plane" << std::endl;
}
float expectedDistance = SQUARE_ROOT_OF_3 * planeDistanceFromOrigin;
float relativeError = fabsf(intersection._hitDistance - expectedDistance) / planeDistanceFromOrigin;
if (relativeError > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray plane intersection distance error = "
<< relativeError << std::endl;
}
}
}
void ShapeColliderTests::rayMissesPlane() {
// make a simple plane
float planeDistanceFromOrigin = 3.579f;
glm::vec3 planePosition(0.0f, planeDistanceFromOrigin, 0.0f);
PlaneShape plane;
plane.setTranslation(planePosition);
{ // parallel rays should miss
float startDistance = 1.234f;
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, 0.0f, 0.0f);
intersection._rayDirection = glm::normalize(glm::vec3(-1.0f, 0.0f, -1.0f));
if (plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss plane" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
// rotate the whole system and try again
float angle = 37.8f;
glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
glm::quat rotation = glm::angleAxis(angle, axis);
plane.setTranslation(rotation * planePosition);
plane.setRotation(rotation);
intersection._rayStart = rotation * intersection._rayStart;
intersection._rayDirection = rotation * intersection._rayDirection;
intersection._hitDistance = FLT_MAX;
if (plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss plane" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
if (intersection._hitShape != NULL) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should be NULL" << std::endl;
}
}
{ // make a simple ray that points away from plane
float startDistance = 1.234f;
RayIntersectionInfo intersection;
intersection._rayStart = glm::vec3(-startDistance, 0.0f, 0.0f);
intersection._rayDirection = glm::normalize(glm::vec3(-1.0f, -1.0f, -1.0f));
intersection._hitDistance = FLT_MAX;
if (plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss plane" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
// rotate the whole system and try again
float angle = 37.8f;
glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
glm::quat rotation = glm::angleAxis(angle, axis);
plane.setTranslation(rotation * planePosition);
plane.setRotation(rotation);
intersection._rayStart = rotation * intersection._rayStart;
intersection._rayDirection = rotation * intersection._rayDirection;
intersection._hitDistance = FLT_MAX;
if (plane.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should miss plane" << std::endl;
}
if (intersection._hitDistance != FLT_MAX) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: distance should be unchanged after intersection miss"
<< std::endl;
}
}
}
void ShapeColliderTests::rayHitsAACube() {
glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
float cubeSide = 2.127f;
AACubeShape cube(cubeSide, cubeCenter);
float rayOffset = 3.796f;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
int numRayCasts = 5;
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick a random point somewhere above the face
glm::vec3 rayStart = cubeCenter +
(cubeSide + rayOffset) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// cast multiple rays toward the face
for (int j = 0; j < numRayCasts; ++j) {
// pick a random point on the face
glm::vec3 facePoint = cubeCenter +
0.5f * cubeSide * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// construct a ray from first point through second point
RayIntersectionInfo intersection;
intersection._rayStart = rayStart;
intersection._rayDirection = glm::normalize(facePoint - rayStart);
intersection._rayLength = 1.0001f * glm::distance(rayStart, facePoint);
// cast the ray
bool hit = cube.findRayIntersection(intersection);
// validate
if (!hit) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should hit cube face" << std::endl;
break;
}
if (glm::abs(1.0f - glm::dot(faceNormal, intersection._hitNormal)) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: ray should hit cube face with normal " << faceNormal
<< " but found different normal " << intersection._hitNormal << std::endl;
}
if (glm::distance(facePoint, intersection.getIntersectionPoint()) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: ray should hit cube face at " << facePoint
<< " but actually hit at " << intersection.getIntersectionPoint()
<< std::endl;
}
if (intersection._hitShape != &cube) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray intersection._hitShape should point at cube"
<< std::endl;
}
}
}
}
}
void ShapeColliderTests::rayMissesAACube() {
//glm::vec3 cubeCenter(1.23f, 4.56f, 7.89f);
//float cubeSide = 2.127f;
glm::vec3 cubeCenter(0.0f);
float cubeSide = 2.f;
AACubeShape cube(cubeSide, cubeCenter);
float rayOffset = 3.796f;
glm::vec3 faceNormals[] = {xAxis, yAxis, zAxis};
int numDirections = 3;
int numRayCasts = 5;
const float SOME_SMALL_NUMBER = 0.0001f;
{ // ray misses cube for being too short
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick a random point somewhere above the face
glm::vec3 rayStart = cubeCenter +
(cubeSide + rayOffset) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// cast multiple rays toward the face
for (int j = 0; j < numRayCasts; ++j) {
// pick a random point on the face
glm::vec3 facePoint = cubeCenter +
0.5f * cubeSide * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// construct a ray from first point to almost second point
RayIntersectionInfo intersection;
intersection._rayStart = rayStart;
intersection._rayDirection = glm::normalize(facePoint - rayStart);
intersection._rayLength = (1.0f - SOME_SMALL_NUMBER) * glm::distance(rayStart, facePoint);
// cast the ray
if (cube.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should NOT hit cube face "
<< faceNormal << std::endl;
}
}
}
}
}
{ // long ray misses cube
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// pick a random point somewhere above the face
glm::vec3 rayStart = cubeCenter +
(cubeSide + rayOffset) * faceNormal +
(cubeSide * (randFloat() - 0.5f)) * secondNormal +
(cubeSide * (randFloat() - 0.5f)) * thirdNormal;
// cast multiple rays that miss the face
for (int j = 0; j < numRayCasts; ++j) {
// pick a random point just outside of face
float inside = (cubeSide * (randFloat() - 0.5f));
float outside = 0.5f * cubeSide + SOME_SMALL_NUMBER * randFloat();
if (randFloat() - 0.5f < 0.0f) {
outside *= -1.0f;
}
glm::vec3 sidePoint = cubeCenter + 0.5f * cubeSide * faceNormal;
if (randFloat() - 0.5f < 0.0f) {
sidePoint += outside * secondNormal + inside * thirdNormal;
} else {
sidePoint += inside * secondNormal + outside * thirdNormal;
}
// construct a ray from first point through second point
RayIntersectionInfo intersection;
intersection._rayStart = rayStart;
intersection._rayDirection = glm::normalize(sidePoint - rayStart);
// cast the ray
if (cube.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should NOT hit cube face "
<< faceNormal << std::endl;
}
}
}
}
}
{ // ray parallel to face barely misses cube
for (int i = 0; i < numDirections; ++i) {
for (float sign = -1.0f; sign < 2.0f; sign += 2.0f) {
glm::vec3 faceNormal = sign * faceNormals[i];
glm::vec3 secondNormal = faceNormals[(i + 1) % numDirections];
glm::vec3 thirdNormal = faceNormals[(i + 2) % numDirections];
// cast multiple rays that miss the face
for (int j = 0; j < numRayCasts; ++j) {
// rayStart is above the face
glm::vec3 rayStart = cubeCenter + (0.5f + SOME_SMALL_NUMBER) * cubeSide * faceNormal;
// move rayStart to some random edge and choose the ray direction to point across the face
float inside = (cubeSide * (randFloat() - 0.5f));
float outside = 0.5f * cubeSide + SOME_SMALL_NUMBER * randFloat();
if (randFloat() - 0.5f < 0.0f) {
outside *= -1.0f;
}
glm::vec3 rayDirection = secondNormal;
if (randFloat() - 0.5f < 0.0f) {
rayStart += outside * secondNormal + inside * thirdNormal;
} else {
rayStart += inside * secondNormal + outside * thirdNormal;
rayDirection = thirdNormal;
}
if (outside > 0.0f) {
rayDirection *= -1.0f;
}
// construct a ray from first point through second point
RayIntersectionInfo intersection;
intersection._rayStart = rayStart;
intersection._rayDirection = rayDirection;
// cast the ray
if (cube.findRayIntersection(intersection)) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: ray should NOT hit cube face "
<< faceNormal << std::endl;
}
}
}
}
}
}
void ShapeColliderTests::measureTimeOfCollisionDispatch() {
/* KEEP for future manual testing
// create two non-colliding spheres
float radiusA = 7.0f;
float radiusB = 3.0f;
float alpha = 1.2f;
float beta = 1.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
float offsetDistance = alpha * radiusA + beta * radiusB;
SphereShape sphereA(radiusA, origin);
SphereShape sphereB(radiusB, offsetDistance * offsetDirection);
CollisionList collisions(16);
//int numTests = 1;
quint64 oldTime;
quint64 newTime;
int numTests = 100000000;
{
quint64 startTime = usecTimestampNow();
for (int i = 0; i < numTests; ++i) {
ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
}
quint64 endTime = usecTimestampNow();
std::cout << numTests << " non-colliding collisions in " << (endTime - startTime) << " usec" << std::endl;
newTime = endTime - startTime;
}
*/
}
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();
}
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