public void CompositeShapeWithRotatedChildren()
{
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void GeneralShape()
{
var s = new CylinderShape(1, 3);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 4, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 10);
var s2 = new TriangleMeshShape(m);
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s2, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 4, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
// Try with target mass.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(s2, new Vector3F(1, -2, -3), 23, false, 0.001f, 4, out m2, out com2, out i2);
Assert.IsTrue(Numeric.AreEqual(23, m2, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i2, e * (1 + i0.Trace)));
}
public void CompositeShapeWithRigidBodiesDoesNotSupportScaling()
{
// The first composite shape does not use rigid bodies.
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
// The second composite shape uses rigid bodies as children.
var r0 = new RigidBody(s.Children[0].Shape);
r0.Pose = s.Children[0].Pose;
r0.Scale = s.Children[0].Scale;
r0.MassFrame = MassFrame.FromShapeAndDensity(r0.Shape, r0.Scale, 0.7f, 0.001f, 10);
var r1 = new RigidBody(s.Children[1].Shape);
r1.Pose = s.Children[1].Pose;
r1.Scale = s.Children[1].Scale;
r1.MassFrame = MassFrame.FromShapeAndDensity(r1.Shape, r1.Scale, 0.7f, 0.001f, 10);
var s1 = new CompositeShape();
s1.Children.Add(r0);
s1.Children.Add(r1);
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s1,
new Vector3F(2), // !!!
100, true, 0.001f, 10, out m1, out com1, out i1);
}
public void ScaledConvexMass()
{
var s = new ScaledConvexShape(new CapsuleShape(1, 3), new Vector3F(0.9f, -0.8f, 1.2f));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.IsTrue(Numeric.AreEqual(m0 * 0.7f, m2, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2, e * (1 + i0.Trace)));
}
public void GetMeshMassArgumentNullException()
{
float m;
Vector3F com;
Matrix33F i;
MassHelper.GetMass(null, out m, out com, out i);
}
public void GetShapeMassArgumentOutOfRangeException2()
{
float m;
Vector3F com;
Matrix33F i;
MassHelper.GetMass(new SphereShape(1), Vector3F.One, 1, true, -0.1f, 1, out m, out com, out i);
}
public void GetShapeMassArgumentNullException()
{
float m;
Vector3F com;
Matrix33F i;
MassHelper.GetMass(null, Vector3F.One, 1, true, 0.1f, 1, out m, out com, out i);
}
public ActionResult CreateConfirmed()
{
for (int a = 0; a < 365; a++)
{
MassHelper.GenerateMasses(db, DateTime.Today.AddDays(a));
}
return(RedirectToAction("Index"));
}
public void TransformedShapeNegativeScalingNotSupported()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3F(0.7f, 0.8f, 0.9f), new Pose(new Vector3F(-1, 7, 4))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, -2.8f), 1, true, 0.001f, 10, out m0, out com0, out i0);
}
public void TransformedShapeNonuniformScaleWithRotationNotSupported()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3F(0.7f, 0.8f, 0.9f), new Pose(new Vector3F(-1, 7, 4), QuaternionF.CreateRotationX(1))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 1, true, 0.001f, 10, out m0, out com0, out i0);
}
public void EmptyShape()
{
var s = new EmptyShape();
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 4, out m0, out com0, out i0);
Assert.AreEqual(0, m0);
Assert.AreEqual(Vector3F.Zero, com0);
Assert.AreEqual(Matrix33F.Zero, i0);
}
public void InfiniteShape()
{
var s = new InfiniteShape();
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 4, out m0, out com0, out i0);
Assert.AreEqual(float.PositiveInfinity, m0);
Assert.AreEqual(Vector3F.Zero, com0);
Assert.AreEqual(Matrix33F.CreateScale(float.PositiveInfinity), i0);
}
public void ConeMass()
{
var s = new ConeShape(1, 2);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 10);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.IsTrue(Numeric.AreEqual(m0 * 0.7f, m2, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2, e * (1 + i0.Trace)));
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public void BoxMass()
{
var b = new BoxShape(1, 2, 3);
float m0;
Vector3 com0;
Matrix i0;
MassHelper.GetMass(b, new Vector3(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = b.GetMesh(0.1f, 1);
m.Transform(Matrix.CreateScale(1, -2, -3));
float m1;
Vector3 com1;
Matrix i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
Assert.AreEqual(m0, m1);
Assert.AreEqual(com0, com1);
Assert.AreEqual(i0, i1);
// Try other density.
float m2;
Vector3 com2;
Matrix i2;
MassHelper.GetMass(b, new Vector3(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.AreEqual(m0 * 0.7f, m2);
Assert.AreEqual(com0, com2);
Assert.IsTrue(Matrix.AreNumericallyEqual(i0 * 0.7f, i2));
const float e = 0.01f;
// Try with target mass.
float m3;
Vector3 com3;
Matrix i3;
MassHelper.GetMass(b, new Vector3(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public void CompositeShapeWithRigidBodies()
{
// The first composite shape does not use rigid bodies.
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1), 0.7f, true, 0.001f, 10, out m0, out com0, out i0);
// The second composite shape uses rigid bodies as children.
var r0 = new RigidBody(s.Children[0].Shape);
r0.Pose = s.Children[0].Pose;
r0.Scale = s.Children[0].Scale;
r0.MassFrame = MassFrame.FromShapeAndDensity(r0.Shape, r0.Scale, 0.7f, 0.001f, 10);
var r1 = new RigidBody(s.Children[1].Shape);
r1.Pose = s.Children[1].Pose;
r1.Scale = s.Children[1].Scale;
r1.MassFrame = MassFrame.FromShapeAndDensity(r1.Shape, r1.Scale, 0.7f, 0.001f, 10);
var s1 = new CompositeShape();
s1.Children.Add(r0);
s1.Children.Add(r1);
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s1, new Vector3F(1), 100, true, 0.001f, 10, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void ApproximateAabbMass()
{
var s = new ConvexHullOfPoints(new[] { new Vector3F(1, 1, 1), new Vector3F(2, 4, 6) });
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1.2f, 2.1f, 0.6f), 0.7f, true, 0.001f, 0, out m0, out com0, out i0);
var s2 = new TransformedShape(new GeometricObject(new BoxShape(1, 3, 5), new Pose(new Vector3F(1.5f, 2.5f, 3.5f))));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s2, new Vector3F(1.2f, 2.1f, 0.6f), 0.7f, true, 0.001f, 0, out m1, out com1, out i1);
const float e = 0.0001f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void DiagonalizeTest()
{
for (int i = 0; i < 1000; i++)
{
var inertia = RandomHelper.Random.NextMatrix33F(0, 100);
// Make symmetric
inertia.M10 = inertia.M01;
inertia.M12 = inertia.M21;
inertia.M20 = inertia.M02;
Assert.IsTrue(inertia.IsSymmetric);
Vector3F inertiaDiagonale;
Matrix33F rotation;
MassHelper.DiagonalizeInertia(inertia, out inertiaDiagonale, out rotation);
Assert.IsTrue(rotation.IsRotation);
var inertia2 = rotation * Matrix33F.CreateScale(inertiaDiagonale) * rotation.Transposed;
Assert.IsTrue(Matrix33F.AreNumericallyEqual(inertia, inertia2, 0.001f)); // Epsilon = 10^-4 is already too small :-(
}
}
public void CompositeShapeWithNonUniformScaling()
{
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0))));
s.Children.Add(new GeometricObject(new SphereShape(1), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 0.7f, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2, 2.1f, 2.8f));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, 0.7f * m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, 0.7f * i1, e * (1 + i0.Trace)));
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public void TransformedShapeMassWithNonuniformScaling()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3F(0.7f, 0.8f, 0.9f), new Pose(new Vector3F(-1, 7, 4))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2, 2.1f, 2.8f));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void TransformedShapeMassWithScaling()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3(0.7f), new Pose(new Vector3(-1, 7, 4), RandomHelper.Random.NextQuaternion())));
float m0;
Vector3 com0;
Matrix i0;
MassHelper.GetMass(s, new Vector3(2), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix.CreateScale(2));
float m1;
Vector3 com1;
Matrix i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
