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#include <UnitTest++.h>
#include <ode/ode.h>
#include "common.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
{
const int VertexCount = 4;
const int IndexCount = 2*3;
// this is a square on the XY plane
/*
3 2
+----+
| /|
| / |
| / |
|/ |
+----+
0 1
*/
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);
dContactGeom cg[4];
int nc;
dVector3 trinormal = { 0, 0, -1 };
// Test case: sphere touches the diagonal edge
dGeomSetPosition(sphere, 0,0,radius);
nc = dCollide(trimesh, sphere, 4, &cg[0], sizeof cg[0]);
CHECK_EQUAL(2, nc);
for (int i=0; i<nc; ++i) {
CHECK_EQUAL(0, cg[i].depth);
CHECK_ARRAY_EQUAL(trinormal, cg[i].normal, 3);
}
// 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(2, nc);
for (int i=0; i<nc; ++i) {
CHECK_EQUAL(0, cg[i].depth);
CHECK_ARRAY_EQUAL(trinormal, cg[i].normal, 3);
}
// 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(2, nc);
dVector3 rtrinormal = { 0, 1, 0 };
for (int i=0; i<nc; ++i) {
CHECK_EQUAL(0, cg[i].depth);
CHECK_ARRAY_EQUAL(rtrinormal, cg[i].normal, 3);
}
}
}
TEST(test_collision_heightfield_ray_fail)
{
/*
* This test demonstrated a bug in the AABB handling of the
* heightfield.
*/
{
// 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];
// Make sure it does not crash!
dCollide(ray, height, 10, &(contactBuf[0].geom), sizeof(dContact));
dGeomDestroy(height);
dGeomDestroy(ray);
dGeomHeightfieldDataDestroy(heightfieldData);
}
}
#include "../ode/demo/convex_prism.h"
TEST(test_collision_ray_convex)
{
/*
* Issue 55: ray vs convex collider does not consider the position of the convex geometry.
*/
{
dContact contact;
// Create convex
dGeomID convex = dCreateConvex(0,
prism_planes,
prism_planecount,
prism_points,
prism_pointcount,
prism_polygons);
dGeomSetPosition(convex,0,0,0);
// Create ray
dGeomID ray = dCreateRay(0, 20);
dGeomRaySet(ray, 0, -10, 0, 0, 1, 0);
int count = dCollide(ray, convex, 1, &contact.geom, sizeof(dContact));
CHECK_EQUAL(1,count);
CHECK_CLOSE(0.0,contact.geom.pos[0], dEpsilon);
CHECK_CLOSE(-1.0,contact.geom.pos[1], dEpsilon);
CHECK_CLOSE(0.0,contact.geom.pos[2], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[0], dEpsilon);
CHECK_CLOSE(-1.0, contact.geom.normal[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[2], dEpsilon);
CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
// Move Ray
dGeomRaySet(ray, 5, -10, 0, 0, 1, 0);
count = dCollide(ray, convex, 1, &contact.geom, sizeof(dContact));
CHECK_EQUAL(1,count);
CHECK_CLOSE(5.0, contact.geom.pos[0], dEpsilon);
CHECK_CLOSE(-1.0, contact.geom.pos[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.pos[2], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[0], dEpsilon);
CHECK_CLOSE(-1.0, contact.geom.normal[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[2], dEpsilon);
CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
// Rotate Convex
dMatrix3 rotate90z =
{
0,-1,0,0,
1,0,0,0,
0,0,1,0
};
dGeomSetRotation(convex, rotate90z);
count = dCollide(ray, convex, 1, &contact.geom, sizeof(dContact));
CHECK_EQUAL(0,count);
// Move Ray
dGeomRaySet(ray, 10, 0, 0, -1, 0, 0);
count = dCollide(ray, convex, 1, &contact.geom, sizeof(dContact));
CHECK_EQUAL(1,count);
CHECK_CLOSE(1.0, contact.geom.pos[0], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.pos[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.pos[2], dEpsilon);
CHECK_CLOSE(1.0, contact.geom.normal[0], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[2], dEpsilon);
CHECK_CLOSE(9.0,contact.geom.depth, dEpsilon);
// Move Ray
dGeomRaySet(ray, 10, 1000, 1000, -1, 0, 0);
// Move Geom
dGeomSetPosition(convex, 0, 1000, 1000);
count = dCollide(ray, convex, 1, &contact.geom, sizeof(dContact));
CHECK_EQUAL(1, count);
CHECK_CLOSE(1.0, contact.geom.pos[0], dEpsilon);
CHECK_CLOSE(1000.0, contact.geom.pos[1], dEpsilon);
CHECK_CLOSE(1000.0, contact.geom.pos[2], dEpsilon);
CHECK_CLOSE(1.0, contact.geom.normal[0], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[1], dEpsilon);
CHECK_CLOSE(0.0, contact.geom.normal[2], dEpsilon);
CHECK_CLOSE(9.0, contact.geom.depth, dEpsilon);
dGeomDestroy(convex);
dGeomDestroy(ray);
}
}
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