public void TestContainment()
{
PlaneConvexAlgorithm algo = new PlaneConvexAlgorithm(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new BoxShape(1, 2, 3),
Pose = new Pose(new Vector3F(0, -1, 0)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new PlaneShape(new Vector3F(0, 1, 0), 0),
});
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
// Test contact set update.
ContactSet cs = ContactSet.Create(a, b);
cs.Add(Contact.Create());
algo.UpdateContacts(cs, 0);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(2, cs[0].PenetrationDepth);
}
public void TestContainment()
{
PlaneConvexAlgorithm algo = new PlaneConvexAlgorithm(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new BoxShape(1, 2, 3),
Pose = new Pose(new Vector3F(0, -1, 0)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new PlaneShape(new Vector3F(0, 1, 0), 0),
});
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
// Test contact set update.
ContactSet cs = ContactSet.Create(a, b);
cs.Add(Contact.Create());
algo.UpdateContacts(cs, 0);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(2, cs[0].PenetrationDepth);
}
