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#include <UnitTest++.h>
#include <ode/ode.h>
TEST(test_collision_trimesh_sphere_exact)
{
/*
* This tests some extreme cases, where a sphere barely touches some triangles
* with zero depth.
*/
#ifdef dTRIMESH_GIMPACT
/*
* Although GIMPACT is algorithmically able to handle this extreme case,
* the numerical approximation used for the square root produces inexact results.
*/
return;
#endif
dInitODE();
{
const int VertexCount = 4;
const int IndexCount = 2*3;
// this is a square on the XY plane
float vertices[VertexCount * 3] = {
-1,-1,0,
1,-1,0,
1,1,0,
-1,1,0
};
dTriIndex indices[IndexCount] = {
0,1,2,
0,2,3
};
dTriMeshDataID data = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(data,
vertices,
3 * sizeof(float),
VertexCount,
indices,
IndexCount,
3 * sizeof(dTriIndex));
dGeomID trimesh = dCreateTriMesh(0, data, 0, 0, 0);
const dReal radius = 4;
dGeomID sphere = dCreateSphere(0, radius);
dGeomSetPosition(sphere, 0,0,radius);
dContactGeom cg[4];
int nc;
// check extreme case
nc = dCollide(trimesh, sphere, 4, &cg[0], sizeof cg[0]);
CHECK_EQUAL(1, nc);
CHECK_EQUAL(0, cg[0].depth);
// now translate both geoms
dGeomSetPosition(trimesh, 10,30,40);
dGeomSetPosition(sphere, 10,30,40+radius);
// check extreme case, again
nc = dCollide(trimesh, sphere, 4, &cg[0], sizeof cg[0]);
CHECK_EQUAL(1, nc);
CHECK_EQUAL(0, cg[0].depth);
// and now, let's rotate the trimesh, 90 degrees on X
dMatrix3 rot = { 1, 0, 0, 0,
0, 0, -1, 0,
0, 1, 0, 0 };
dGeomSetPosition(trimesh, 10,30,40);
dGeomSetRotation(trimesh, rot);
dGeomSetPosition(sphere, 10,30-radius,40);
// check extreme case, again
nc = dCollide(trimesh, sphere, 4, &cg[0], sizeof cg[0]);
CHECK_EQUAL(1, nc);
CHECK_EQUAL(0, cg[0].depth);
}
dCloseODE();
}
TEST(test_collision_heightfield_ray_fail)
{
/*
* This test demonstrated a bug in the AABB handling of the
* heightfield.
*/
dInitODE();
{
// Create quick heightfield with dummy data
dHeightfieldDataID heightfieldData = dGeomHeightfieldDataCreate();
unsigned char dataBuffer[16+1] = "1234567890123456";
dGeomHeightfieldDataBuildByte(heightfieldData, dataBuffer, 0, 4, 4, 4, 4, 1, 0, 0, 0);
dGeomHeightfieldDataSetBounds(heightfieldData, '0', '9');
dGeomID height = dCreateHeightfield(0, heightfieldData, 1);
// Create ray outside bounds
dGeomID ray = dCreateRay(0, 20);
dGeomRaySet(ray, 5, 10, 1, 0, -1, 0);
dContact contactBuf[10];
// Crash!
dCollide(ray, height, 10, &(contactBuf[0].geom), sizeof(dContact));
dGeomDestroy(height);
dGeomDestroy(ray);
dGeomHeightfieldDataDestroy(heightfieldData);
}
dCloseODE();
}
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