public void TestLineSegIntersect()
{
foreach (Aabb box in Take(100, Aabbs))
{
checkBox(box);
Aabb a, b, c, d;
box.QuadBreak(out a, out b, out c, out d);
checkBox(a); checkBox(b); checkBox(c); checkBox(d);
Aabb[] subs = new Aabb[] { a, b, c, d };
foreach (Aabb t in subs)
{
Assert.IsTrue(box.Contains(t));
Assert.IsTrue(box.Intersects(t));
Assert.IsTrue(t.Intersects(box));
Assert.IsFalse(t.Contains(box));
Assert.IsTrue(Math.Abs((box.H * 0.5) - t.H) < 0.00001, "Not half height?");
Assert.IsTrue(Math.Abs((box.W * 0.5) - t.W) < 0.00001, "Not half width?");
foreach (Aabb tt in subs)
{
if (tt == t)
{
continue;
}
Assert.IsFalse(t.Contains(tt));
Assert.IsFalse(tt.Contains(t));
if (t.Intersects(tt))
{
Aabb x = Aabb.Intersect(t, tt);
Assert.IsTrue(x.W >= 0.0, "Neg width?");
Assert.IsTrue(x.H >= 0.0, "Neg height?");
Assert.IsTrue((x.W * x.H) < 0.000001, "non-tiny intersection?");
}
}
}
foreach (Aabb o in new Aabb[] { b, c, d })
{
Assert.IsFalse(a.Contains(o));
}
}
}
public void TestAabb()
{
float3 v0 = float3(100, 200, 300);
float3 v1 = float3(200, 300, 400);
float3 v2 = float3(50, 100, 350);
Aabb a0; a0.Min = float3.zero; a0.Max = v0;
Aabb a1; a1.Min = float3.zero; a1.Max = v1;
Aabb a2; a2.Min = v2; a2.Max = v1;
Aabb a3; a3.Min = v2; a3.Max = v0;
Assert.IsTrue(a0.IsValid);
Assert.IsTrue(a1.IsValid);
Assert.IsTrue(a2.IsValid);
Assert.IsFalse(a3.IsValid);
Assert.IsTrue(a1.Contains(a0));
Assert.IsFalse(a0.Contains(a1));
Assert.IsTrue(a1.Contains(a2));
Assert.IsFalse(a2.Contains(a1));
Assert.IsFalse(a0.Contains(a2));
Assert.IsFalse(a2.Contains(a0));
// Test Union / Intersect
{
Aabb unionAabb = a0;
unionAabb.Include(a1);
Assert.IsTrue(unionAabb.Min.x == 0);
Assert.IsTrue(unionAabb.Min.y == 0);
Assert.IsTrue(unionAabb.Min.z == 0);
Assert.IsTrue(unionAabb.Max.x == a1.Max.x);
Assert.IsTrue(unionAabb.Max.y == a1.Max.y);
Assert.IsTrue(unionAabb.Max.z == a1.Max.z);
Aabb intersectAabb = a2;
intersectAabb.Intersect(a3);
Assert.IsTrue(intersectAabb.Min.x == 50);
Assert.IsTrue(intersectAabb.Min.y == 100);
Assert.IsTrue(intersectAabb.Min.z == 350);
Assert.IsTrue(intersectAabb.Max.x == a3.Max.x);
Assert.IsTrue(intersectAabb.Max.y == a3.Max.y);
Assert.IsTrue(intersectAabb.Max.z == a3.Max.z);
}
// Test Expand / Contains
{
Aabb a5; a5.Min = v2; a5.Max = v1;
float3 testPoint = float3(v2.x - 1.0f, v1.y + 1.0f, .5f * (v2.z + v1.z));
Assert.IsFalse(a5.Contains(testPoint));
a5.Expand(1.5f);
Assert.IsTrue(a5.Contains(testPoint));
}
// Test transform
{
Aabb ut; ut.Min = v0; ut.Max = v1;
// Identity transform should not modify aabb
Aabb outAabb = Unity.Physics.Math.TransformAabb(RigidTransform.identity, ut);
TestUtils.AreEqual(ut.Min, outAabb.Min, 1e-3f);
// Test translation
outAabb = Unity.Physics.Math.TransformAabb(new RigidTransform(quaternion.identity, float3(100.0f, 0.0f, 0.0f)), ut);
Assert.AreEqual(outAabb.Min.x, 200);
Assert.AreEqual(outAabb.Min.y, 200);
Assert.AreEqual(outAabb.Max.x, 300);
Assert.AreEqual(outAabb.Max.z, 400);
// Test rotation
quaternion rot = quaternion.EulerXYZ(0.0f, 0.0f, k_pi2);
outAabb = Unity.Physics.Math.TransformAabb(new RigidTransform(rot, float3.zero), ut);
TestUtils.AreEqual(outAabb.Min, float3(-300.0f, 100.0f, 300.0f), 1e-3f);
TestUtils.AreEqual(outAabb.Max, float3(-200.0f, 200.0f, 400.0f), 1e-3f);
TestUtils.AreEqual(outAabb.SurfaceArea, ut.SurfaceArea, 1e-2f);
}
}