/* This implentation is wrong
* /// <summary>
* /// Determines if there is an intersection between the current object and a
* /// triangle.
* /// </summary>
* /// <param name="vertex1">The first vertex of the triangle to test.</param>
* /// <param name="vertex2">The second vertex of the triagnle to test.</param>
* /// <param name="vertex3">The third vertex of the triangle to test.</param>
* /// <returns>Whether the two objects intersected.</returns>
* public bool Intersects(ref Vector3 vertex1, ref Vector3 vertex2, ref Vector3 vertex3)
* {
* return Collision.BoxIntersectsTriangle(ref this, ref vertex1, ref vertex2, ref vertex3);
* }
*/
/// <summary>
/// Determines if there is an intersection between the current object and a
/// <see cref="BoundingBox"/>.
/// </summary>
/// <param name="box">The box to test.</param>
/// <returns>Whether the two objects intersected.</returns>
public bool Intersects(ref BoundingBox box)
{
return(Collision.BoxIntersectsBox(ref this, ref box));
}
public void GjkBatteryTest()
{
Gjk gjk = new Gjk();
const int iterations = 10000;
//Point to point test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
Vector3 point1 = Utilities.GenerateVector3();
Vector3 point2 = Utilities.GenerateVector3();
float expected = Vector3.Distance(point1, point2);
float actual = gjk.GetMinimumDistance(v =>
{
return(point1 - point2);
});
Utilities.AreEqual(expected, actual);
}
//Sphere to sphere test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
BoundingSphere shape1 = new BoundingSphere(Utilities.GenerateVector3(), Utilities.GenerateFloat());
BoundingSphere shape2 = new BoundingSphere(Utilities.GenerateVector3(), Utilities.GenerateFloat());
float expected = Collision.DistanceSphereSphere(ref shape1, ref shape2);
if (Collision.SphereIntersectsSphere(ref shape1, ref shape2))
{
i--;
continue;
}
float actual = gjk.GetMinimumDistance(v =>
{
Vector3 a = shape1.SupportMapping(v);
Vector3 b = shape2.SupportMapping(-v);
return(a - b);
});
Utilities.AreEqual(expected, actual);
}
//Box to box test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
BoundingBox shape1 = new BoundingBox(Utilities.GenerateVector3(), Utilities.GenerateVector3());
BoundingBox shape2 = new BoundingBox(Utilities.GenerateVector3(), Utilities.GenerateVector3());
float expected = Collision.DistanceBoxBox(ref shape1, ref shape2);
if (Collision.BoxIntersectsBox(ref shape1, ref shape2))
{
i--;
continue;
}
float actual = gjk.GetMinimumDistance(v =>
{
Vector3 a = shape1.SupportMapping(v);
Vector3 b = shape2.SupportMapping(-v);
return(a - b);
});
Utilities.AreEqual(expected, actual);
}
}
