public void ComputeCollision()
{
CollisionDetection cd = new CollisionDetection();
CombinedCollisionAlgorithm cca = new CombinedCollisionAlgorithm(cd, new SphereSphereAlgorithm(cd), new SphereSphereAlgorithm(cd));
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3(3, 0, 0)),
});
ContactSet set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.IsTrue(set == null || set.Count == 0);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3(2, 0, 0));
set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.AreEqual(1, set.Count);
}
public void ComputeCollision()
{
CollisionDetection cd = new CollisionDetection();
CombinedCollisionAlgorithm cca = new CombinedCollisionAlgorithm(cd, new SphereSphereAlgorithm(cd), new SphereSphereAlgorithm(cd));
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(3, 0, 0)),
});
ContactSet set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.IsTrue(set == null || set.Count == 0);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0, 0));
set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.AreEqual(1, set.Count);
}
public void TouchingButNotTouching()
{
// Special case: GJK reports contact, MPR cannot find the contact.
// This happens for perfectly touching quadrics.
CollisionDetection cd = new CollisionDetection();
CombinedCollisionAlgorithm cca = new CombinedCollisionAlgorithm(cd, new Gjk(cd), new MinkowskiPortalRefinement(cd));
CollisionObject a = new CollisionObject();
((GeometricObject)a.GeometricObject).Shape = new ConeShape(2, 2);
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new CircleShape(2);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3(4, 0, 0));
Assert.AreEqual(false, cca.HaveContact(a, b));
Assert.AreEqual(0, cca.GetContacts(a, b).Count);
Assert.IsTrue(cca.GetClosestPoints(a, b)[0].PenetrationDepth < 0);
}
public void TouchingButNotTouching()
{
// Special case: GJK reports contact, MPR cannot find the contact.
// This happens for perfectly touching quadrics.
CollisionDetection cd = new CollisionDetection();
CombinedCollisionAlgorithm cca = new CombinedCollisionAlgorithm(cd, new Gjk(cd), new MinkowskiPortalRefinement(cd));
CollisionObject a = new CollisionObject();
((GeometricObject)a.GeometricObject).Shape = new ConeShape(2, 2);
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new CircleShape(2);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(4, 0, 0));
Assert.AreEqual(false, cca.HaveContact(a, b));
Assert.AreEqual(0, cca.GetContacts(a, b).Count);
Assert.IsTrue(cca.GetClosestPoints(a, b)[0].PenetrationDepth < 0);
}
