public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiDifferenceShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiDifferenceShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
public void Clone()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiDifferenceShape minkowskiDifferenceShape = new MinkowskiDifferenceShape(geometryA, geometryB);
MinkowskiDifferenceShape clone = minkowskiDifferenceShape.Clone() as MinkowskiDifferenceShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void Clone()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiDifferenceShape minkowskiDifferenceShape = new MinkowskiDifferenceShape(geometryA, geometryB);
MinkowskiDifferenceShape clone = minkowskiDifferenceShape.Clone() as MinkowskiDifferenceShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void Constructor()
{
Assert.AreEqual(Vector3F.Zero, ((PointShape)new MinkowskiDifferenceShape().ObjectA.Shape).Position);
Assert.AreEqual(Vector3F.Zero, ((PointShape)new MinkowskiDifferenceShape().ObjectB.Shape).Position);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectA.Pose);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectB.Pose);
var m = new MinkowskiDifferenceShape(
new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2))),
new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity));
Assert.AreEqual(new Vector3F(1, 0, 0), m.ObjectA.Pose.Position);
Assert.AreEqual(new Vector3F(0, 0, 0), m.ObjectB.Pose.Position);
}
public void Constructor()
{
Assert.AreEqual(Vector3F.Zero, ((PointShape) new MinkowskiDifferenceShape().ObjectA.Shape).Position);
Assert.AreEqual(Vector3F.Zero, ((PointShape) new MinkowskiDifferenceShape().ObjectB.Shape).Position);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectA.Pose);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectB.Pose);
var m = new MinkowskiDifferenceShape(
new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2))),
new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity));
Assert.AreEqual(new Vector3F(1, 0, 0), m.ObjectA.Pose.Position);
Assert.AreEqual(new Vector3F(0, 0, 0), m.ObjectB.Pose.Position);
}
public void GetSupportPoint()
{
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(1, 0, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(0, 1, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(0, 0, 1)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(1, 1, 1)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, 5, 0), cs.GetSupportPoint(new Vector3F(1, 0, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, 5, 0), cs.GetSupportPoint(new Vector3F(0, 1, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(1, 5, 3), cs.GetSupportPoint(new Vector3F(0, 0, 1))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-2, 5, 0), cs.GetSupportPoint(new Vector3F(-1, 0, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, -5, 0), cs.GetSupportPoint(new Vector3F(0, -1, 0))));
MinkowskiDifferenceShape m = new MinkowskiDifferenceShape();
((GeometricObject)m.ObjectB).Shape = new LineSegmentShape(new Vector3F(1, 0, 0), new Vector3F(3, 0, 0));
Assert.AreEqual(new Vector3F(-1, 0, 0), m.GetSupportPoint(new Vector3F(1, 1, 0)));
((GeometricObject)m.ObjectB).Pose = new Pose(new Vector3F(1, 1, 0), QuaternionF.Identity);
Assert.AreEqual(new Vector3F(-2, -1, 0), m.GetSupportPoint(new Vector3F(1, 1, 0)));
((GeometricObject)m.ObjectA).Shape = new CircleShape(20);
Assert.AreEqual(new Vector3F(18, -1, 0), m.GetSupportPoint(new Vector3F(1, 0, 0)));
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3(0, 0.5f * ObjectSize, 0), Quaternion.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3(0.3f * ObjectSize, 0.7f * ObjectSize, 0), Quaternion.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3(0, 1.15f * ObjectSize, 0), Quaternion.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3(0, 2 * ObjectSize, 0), Matrix.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3(0.2f, 0, -0.12f), new Vector3(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3(0.2f, 0, -0.12f), new Vector3(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3(ObjectSize, 0, 0), new Vector3(0, ObjectSize, 0), new Vector3(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Quaternion.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Quaternion.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternion());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternion().Rotate(new Vector3(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternion().Rotate(Vector3.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3.Zero;
newObject.AngularVelocity = Vector3.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public void ConstructorException2()
{
var m = new MinkowskiDifferenceShape(new GeometricObject(), null);
}
public void SetUp()
{
cs = new MinkowskiDifferenceShape();
cs.ObjectA = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
cs.ObjectB = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
}
public void ConstructorException2()
{
var m = new MinkowskiDifferenceShape(new GeometricObject(), null);
}
public void SetUp()
{
cs = new MinkowskiDifferenceShape();
cs.ObjectA = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
cs.ObjectB = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
}
public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiDifferenceShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiDifferenceShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
public void GetSupportPoint()
{
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(1, 0, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(0, 1, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(0, 0, 1)));
Assert.AreEqual(new Vector3F(0, 0, 0), new MinkowskiDifferenceShape().GetSupportPoint(new Vector3F(1, 1, 1)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, 5, 0), cs.GetSupportPoint(new Vector3F(1, 0, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, 5, 0), cs.GetSupportPoint(new Vector3F(0, 1, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(1, 5, 3), cs.GetSupportPoint(new Vector3F(0, 0, 1))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-2, 5, 0), cs.GetSupportPoint(new Vector3F(-1, 0, 0))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(4, -5, 0), cs.GetSupportPoint(new Vector3F(0, -1, 0))));
MinkowskiDifferenceShape m = new MinkowskiDifferenceShape();
((GeometricObject)m.ObjectB).Shape = new LineSegmentShape(new Vector3F(1, 0, 0), new Vector3F(3, 0, 0));
Assert.AreEqual(new Vector3F(-1, 0, 0), m.GetSupportPoint(new Vector3F(1, 1, 0)));
((GeometricObject)m.ObjectB).Pose = new Pose(new Vector3F(1, 1, 0), QuaternionF.Identity);
Assert.AreEqual(new Vector3F(-2, -1, 0), m.GetSupportPoint(new Vector3F(1, 1, 0)));
((GeometricObject)m.ObjectA).Shape = new CircleShape(20);
Assert.AreEqual(new Vector3F(18, -1, 0), m.GetSupportPoint(new Vector3F(1, 0, 0)));
}
