public void TestTouchingContact()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3(10, -3, 20));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3(0, 1, 0).Normalized, 2);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3(1, 0, 0), Quaternion.CreateRotationZ(-(float)Math.PI));
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(10, -2, 20), cs[0].Position));
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, 1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(0, cs[0].PenetrationDepth));
}
public void TestContainment()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3F(0, -2, 0));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3F(0, 1, 0).Normalized, 0);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 0));
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3F(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, -1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
// Test swapped case:
cs = ContactSet.Create(objectB, objectA);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectB, cs.ObjectA);
Assert.AreEqual(objectA, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3F(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
}
public void TestArgumentException1()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
CollisionObject objectB = new CollisionObject();
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
}
public void TestArgumentException1()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
CollisionObject objectB = new CollisionObject();
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
}
public void TestArgumentException2()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new SphereShape(1);
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
}
public void TestArgumentException2()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new SphereShape(1);
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
}
public void TestContainment()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3(0, -2, 0));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3(0, 1, 0).Normalized, 0);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3(0, 0, 0));
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, -1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
// Test swapped case:
cs = ContactSet.Create(objectB, objectA);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectB, cs.ObjectA);
Assert.AreEqual(objectA, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, 1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
}
public void TestNoContact()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3(5, 5, 5));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3(1, 1, 1).Normalized, 2);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3(1, 1, 1));
ContactSet cs = ContactSet.Create(objectA, objectB);
cs.Add(ContactHelper.CreateContact(cs, Vector3.Zero, Vector3.UnitX, 0, false));
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(0, cs.Count);
}
public void TestNullArgument()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
algo.UpdateContacts(null, 0);
}
public void TestNoContact()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3F(5, 5, 5));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3F(1, 1, 1).Normalized, 2);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3F(1, 1, 1));
ContactSet cs = ContactSet.Create(objectA, objectB);
cs.Add(ContactHelper.CreateContact(cs, Vector3F.Zero, Vector3F.UnitX, 0, false));
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(0, cs.Count);
}
public void TestTouchingContact()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3F(10, -3, 20));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3F(0, 1, 0).Normalized, 2);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationZ(-(float)Math.PI));
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(10, -2, 20), cs[0].Position));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(0, cs[0].PenetrationDepth));
}
public void TestNullArgument()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
algo.UpdateContacts(null, 0);
}
