public void ComputeCollision()
{
CollisionObject a = new CollisionObject(
new GeometricObject
{
Pose = new Pose(new Vector3F(0, 0, 0)),
Shape = new BoxShape(2, 2, 2),
});
CollisionObject b = new CollisionObject(
new GeometricObject
{
Shape = new BoxShape(2, 2, 2),
Pose = Pose.Identity,
});
ContactSet set;
BoxBoxAlgorithm algo = new BoxBoxAlgorithm(new CollisionDetection());
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 3f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
set = algo.GetContacts(a, b);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, -3f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(3, 0f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(-3, 0f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 0f, 3));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 0f, -3));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
// TODO: More unit tests required...
}
public void ComputeCollision()
{
CollisionObject a = new CollisionObject(
new GeometricObject
{
Pose = new Pose(new Vector3F(0, 0, 0)),
Shape = new BoxShape(2, 2, 2),
});
CollisionObject b = new CollisionObject(
new GeometricObject
{
Shape = new BoxShape(2, 2, 2),
Pose = Pose.Identity,
});
ContactSet set;
BoxBoxAlgorithm algo = new BoxBoxAlgorithm(new CollisionDetection());
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 3f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
set = algo.GetContacts(a, b);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, -3f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(3, 0f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(-3, 0f, 0));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 0f, 3));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0, 0f, -3));
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
// TODO: More unit tests required...
}
