public void Clone()
{
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(
new[]
{
new Vector3(0, 0, 0),
new Vector3(1, 0, 0),
new Vector3(0, 2, 0),
new Vector3(0, 0, 3),
new Vector3(1, 5, 0),
new Vector3(0, 1, 7),
});
ConvexPolyhedron clone = convexPolyhedron.Clone() as ConvexPolyhedron;
Assert.IsNotNull(clone);
for (int i = 0; i < clone.Vertices.Count; i++)
{
Assert.AreEqual(convexPolyhedron.Vertices[i], clone.Vertices[i]);
}
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity), clone.GetAabb(Pose.Identity));
Assert.AreEqual(convexPolyhedron.InnerPoint, clone.InnerPoint);
Assert.AreEqual(convexPolyhedron.GetSupportPoint(new Vector3(1, 1, 1)), clone.GetSupportPoint(new Vector3(1, 1, 1)));
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void Clone()
{
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(
new[]
{
new Vector3F(0, 0, 0),
new Vector3F(1, 0, 0),
new Vector3F(0, 2, 0),
new Vector3F(0, 0, 3),
new Vector3F(1, 5, 0),
new Vector3F(0, 1, 7),
});
ConvexPolyhedron clone = convexPolyhedron.Clone() as ConvexPolyhedron;
Assert.IsNotNull(clone);
for (int i = 0; i < clone.Vertices.Count; i++)
Assert.AreEqual(convexPolyhedron.Vertices[i], clone.Vertices[i]);
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity), clone.GetAabb(Pose.Identity));
Assert.AreEqual(convexPolyhedron.InnerPoint, clone.InnerPoint);
Assert.AreEqual(convexPolyhedron.GetSupportPoint(new Vector3F(1,1,1)), clone.GetSupportPoint(new Vector3F(1, 1, 1)));
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(convexPolyhedron.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void SerializationBinary()
{
var a = new ConvexPolyhedron(
new[]
{
new Vector3(0, 0, 0),
new Vector3(1, 0, 0),
new Vector3(0, 2, 0),
new Vector3(0, 0, 3),
new Vector3(1, 5, 0),
new Vector3(0, 1, 7),
});
// 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 = (ConvexPolyhedron)deserializer.Deserialize(stream);
for (int i = 0; i < b.Vertices.Count; i++)
{
Assert.AreEqual(a.Vertices[i], b.Vertices[i]);
}
Assert.AreEqual(a.GetAabb(Pose.Identity), b.GetAabb(Pose.Identity));
Assert.AreEqual(a.InnerPoint, b.InnerPoint);
Assert.AreEqual(a.GetSupportPoint(new Vector3(1, 1, 1)), b.GetSupportPoint(new Vector3(1, 1, 1)));
}
public void EmptyConvexPolyhedron()
{
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(Enumerable.Empty<Vector3F>());
Assert.AreEqual(0, convexPolyhedron.Vertices.Count);
Assert.AreEqual(Vector3F.Zero, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(), convexPolyhedron.GetAabb(Pose.Identity));
}
public void EmptyConvexPolyhedron()
{
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(Enumerable.Empty <Vector3>());
Assert.AreEqual(0, convexPolyhedron.Vertices.Count);
Assert.AreEqual(Vector3.Zero, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(), convexPolyhedron.GetAabb(Pose.Identity));
}
public void OnePoint()
{
Vector3F point = new Vector3F(1, 0, 0);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point });
Assert.AreEqual(1, convexPolyhedron.Vertices.Count);
Assert.AreEqual(point, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(point, point), convexPolyhedron.GetAabb(Pose.Identity));
}
public void OnePoint()
{
Vector3 point = new Vector3(1, 0, 0);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point });
Assert.AreEqual(1, convexPolyhedron.Vertices.Count);
Assert.AreEqual(point, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(point, point), convexPolyhedron.GetAabb(Pose.Identity));
}
public void TwoPoints()
{
Vector3 point0 = new Vector3(1, 0, 0);
Vector3 point1 = new Vector3(10, 0, 0);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point0, point1 });
Assert.AreEqual(2, convexPolyhedron.Vertices.Count);
Assert.AreEqual((point0 + point1) / 2, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(point0, point1), convexPolyhedron.GetAabb(Pose.Identity));
}
public void ThreePoints()
{
Vector3 point0 = new Vector3(1, 1, 1);
Vector3 point1 = new Vector3(2, 1, 1);
Vector3 point2 = new Vector3(1, 2, 1);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point0, point1, point2 });
Assert.AreEqual(3, convexPolyhedron.Vertices.Count);
Assert.AreEqual((point0 + point1 + point2) / 3, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(new Vector3(1, 1, 1), new Vector3(2, 2, 1)), convexPolyhedron.GetAabb(Pose.Identity));
}
public void TwoPoints()
{
Vector3F point0 = new Vector3F(1, 0, 0);
Vector3F point1 = new Vector3F(10, 0, 0);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point0, point1 });
Assert.AreEqual(2, convexPolyhedron.Vertices.Count);
Assert.AreEqual((point0 + point1) / 2, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(point0, point1), convexPolyhedron.GetAabb(Pose.Identity));
}
public void ThreePoints()
{
Vector3F point0 = new Vector3F(1, 1, 1);
Vector3F point1 = new Vector3F(2, 1, 1);
Vector3F point2 = new Vector3F(1, 2, 1);
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(new[] { point0, point1, point2 });
Assert.AreEqual(3, convexPolyhedron.Vertices.Count);
Assert.AreEqual((point0 + point1 + point2) / 3, convexPolyhedron.InnerPoint);
Assert.AreEqual(new Aabb(new Vector3F(1, 1, 1), new Vector3F(2, 2, 1)), convexPolyhedron.GetAabb(Pose.Identity));
}
public void SerializationBinary()
{
var a = new ConvexPolyhedron(
new[]
{
new Vector3F(0, 0, 0),
new Vector3F(1, 0, 0),
new Vector3F(0, 2, 0),
new Vector3F(0, 0, 3),
new Vector3F(1, 5, 0),
new Vector3F(0, 1, 7),
});
// 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 = (ConvexPolyhedron)deserializer.Deserialize(stream);
for (int i = 0; i < b.Vertices.Count; i++)
Assert.AreEqual(a.Vertices[i], b.Vertices[i]);
Assert.AreEqual(a.GetAabb(Pose.Identity), b.GetAabb(Pose.Identity));
Assert.AreEqual(a.InnerPoint, b.InnerPoint);
Assert.AreEqual(a.GetSupportPoint(new Vector3F(1, 1, 1)), b.GetSupportPoint(new Vector3F(1, 1, 1)));
}