private void HorizontalAdd()
{
float[] a = new[]
{
1f,
0f,
1f,
2f,
100f,
0.1f,
1234f,
678.234f,
10f,
1f,
0f,
1f,
2f,
100f,
0.1f,
1234f,
678.234f,
};
const float r = 4042.668f;
Assert.That(NumericsHelpers.HorizontalAdd(a), Is.Approximately(r));
}
public void ClosestPoint()
{
var obb = new OrientedRectangle(Vector2.One, Vector2.One * 0.5f, MathF.PI / 2);
var worldPoint = new Vector2(13, -13);
var closestPoint = obb.ClosestPointWorld(worldPoint);
Assert.That(closestPoint, Is.Approximately(new Vector2(1.5f, 0.5f)));
}
private void EqualsApprox(ReadOnlySpan <float> a, ReadOnlySpan <float> b, double tolerance = .00001)
{
Assert.That(a.Length, Is.EqualTo(b.Length));
for (var i = 0; i < a.Length; i++)
{
Assert.That(b[i], Is.Approximately(a[i], tolerance));
}
}
public void TransformPoint()
{
var obb = new OrientedRectangle(Vector2.One, Vector2.Zero, MathF.PI / 2);
var worldPoint = new Vector2(2, 0);
var localPoint = obb.TransformPoint(worldPoint);
Assert.That(localPoint, Is.Approximately(new Vector2(1, 3)));
}
public void TestDirectionToVec(float x, float y, Direction dir, Angle _)
{
var control = new Vector2(x, y).Normalized;
var controlInt = new Vector2i((int)x, (int)y);
var val = dir.ToVec();
var intVec = dir.ToIntVec();
Assert.That(val, Is.Approximately(control));
Assert.That(intVec, Is.EqualTo(controlInt));
}
public void RectCircle_Collide()
{
var a = new OrientedRectangle(Vector2.Zero, new Vector2(3, 1), MathF.PI / 2);
var b = new Circle(new Vector2(1.5f, 0), 1f);
CollisionSolver.CalculateCollisionFeatures(in a, in b, 1, out var results);
Assert.That(results.Collided);
Assert.That(results.Normal, Is.Approximately(Vector2.UnitX));
Assert.That(results.Penetration, Is.EqualTo(0.5f / 2));
Assert.That(results.Contacts, Is.Not.Null);
Assert.That(results.Contacts.Length, Is.EqualTo(1));
Assert.That(results.Contacts[0], Is.Approximately(new Vector2(0.75f, 0)));
}
public void ORectCircle_Collide()
{
var a = new OrientedRectangle(Vector2.Zero, new Vector2(3, 1), MathF.PI / 2);
var b = new Circle(new Vector2(1.5f, 0), 1f);
CollisionSolver.CalculateCollisionFeatures(in a, in b, false, out var results);
Assert.AreEqual(true, results.Collided);
Assert.That(results.Normal, Is.Approximately(Vector2.UnitX));
Assert.AreEqual(0.5f / 2, results.Penetration);
Assert.IsNotNull(results.Contacts);
Assert.AreEqual(1, results.Contacts.Length);
Assert.That(results.Contacts[0], Is.Approximately(new Vector2(0.75f, 0)));
}
public void TestVecToAngle(float x, float y, Direction dir, Angle angle)
{
var target = new Vector2(x, y).Normalized;
Assert.That(target.ToWorldAngle().Reduced(), Is.Approximately(new Angle(angle)));
}
public void Constructor_DefaultZoom_isTwo()
{
var eye = new Eye();
Assert.That(eye.Zoom, Is.Approximately(Vector2.One * 2f));
}
public async Task TestNestedParentVelocities()
{
var server = StartServer(new ServerIntegrationOptions {
ExtraPrototypes = Prototypes
});
await server.WaitIdleAsync();
var entityManager = server.ResolveDependency <IEntityManager>();
var mapManager = server.ResolveDependency <IMapManager>();
var physicsSys = server.ResolveDependency <IEntitySystemManager>().GetEntitySystem <SharedPhysicsSystem>();
await server.WaitAssertion(() =>
{
var mapId = mapManager.CreateMap();
var grid = mapManager.CreateGrid(mapId);
Assert.That(entityManager.TryGetComponent <PhysicsComponent>(grid.GridEntityId, out var gridPhysics));
gridPhysics.BodyType = BodyType.Dynamic;
Vector2 offset1 = new(2, 0);
var dummy1 = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(grid.GridEntityId, offset1));
Assert.That(entityManager.TryGetComponent(dummy1, out PhysicsComponent body1));
Assert.That(entityManager.TryGetComponent(dummy1, out TransformComponent xform1));
xform1.AttachParent(grid.GridEntityId);
// create another entity attached to the dummy1
Vector2 offset2 = new(-1, 0);
var dummy2 = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(dummy1, offset2));
Assert.That(entityManager.TryGetComponent(dummy2, out PhysicsComponent body2));
Assert.That(entityManager.TryGetComponent(dummy2, out TransformComponent xform2));
xform2.AttachParent(dummy1);
Assert.That(xform2.WorldPosition, Is.Approximately(new Vector2(1, 0), 1e-6));
gridPhysics.LinearVelocity = new Vector2(1, 0);
gridPhysics.AngularVelocity = 1;
// check that dummy2 properly gets the velocities from its grand-parent
var linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
var angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
var velocities = physicsSys.GetMapVelocities(dummy2, body2);
Assert.That(linearVelocity, Is.Approximately(Vector2.One, 1e-6));
Assert.That(angularVelocity, Is.Approximately(1f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
// check that if we make move in the opposite direction, but spin in the same direction, then dummy2 is
// (for this moment in time) stationary, but still rotating.
body1.LinearVelocity = -gridPhysics.LinearVelocity;
body1.AngularVelocity = gridPhysics.AngularVelocity;
linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
velocities = physicsSys.GetMapVelocities(dummy2, body2);
Assert.That(linearVelocity, Is.Approximately(Vector2.Zero, 1e-6));
Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
// but not if we update the local position:
xform2.WorldPosition = Vector2.Zero;
linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
velocities = physicsSys.GetMapVelocities(dummy2, body2);
Assert.That(linearVelocity, Is.Approximately(new Vector2(0, -2), 1e-6));
Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
});
}
public async Task TestMapVelocities()
{
var server = StartServer(new ServerIntegrationOptions {
ExtraPrototypes = Prototypes
});
await server.WaitIdleAsync();
var entityManager = server.ResolveDependency <IEntityManager>();
var mapManager = server.ResolveDependency <IMapManager>();
var physicsSys = server.ResolveDependency <IEntitySystemManager>().GetEntitySystem <SharedPhysicsSystem>();
await server.WaitAssertion(() =>
{
var mapId = mapManager.CreateMap();
var grid = mapManager.CreateGrid(mapId);
var grid2 = mapManager.CreateGrid(mapId);
Assert.That(entityManager.TryGetComponent <PhysicsComponent>(grid.GridEntityId, out var gridPhysics));
gridPhysics.BodyType = BodyType.Dynamic;
Vector2 offset = new(3, 4);
Vector2 expectedFinalVelocity = new Vector2(-4, 3) * 2 + Vector2.One;
var dummy = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(grid.GridEntityId, offset));
Assert.That(entityManager.TryGetComponent(dummy, out PhysicsComponent body));
Assert.That(entityManager.TryGetComponent(dummy, out TransformComponent xform));
xform.AttachParent(grid.GridEntityId);
// Test Linear Velocities
gridPhysics.LinearVelocity = Vector2.One;
Assert.That(body.LinearVelocity, Is.Approximately(Vector2.Zero, 1e-6));
Assert.That(body.AngularVelocity, Is.Approximately(0f, 1e-6));
var linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
var angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
var velocities = physicsSys.GetMapVelocities(dummy, body);
Assert.That(linearVelocity, Is.Approximately(Vector2.One, 1e-6));
Assert.That(angularVelocity, Is.Approximately(0f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
// Add angular velocity
gridPhysics.AngularVelocity = 2;
Assert.That(body.LinearVelocity, Is.EqualTo(Vector2.Zero));
Assert.That(body.AngularVelocity, Is.EqualTo(0f));
linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
velocities = physicsSys.GetMapVelocities(dummy, body);
Assert.That(linearVelocity, Is.Approximately(expectedFinalVelocity, 1e-6));
Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
// Check that velocity does not change when changing parent
xform.AttachParent(grid2.GridEntityId);
linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
velocities = physicsSys.GetMapVelocities(dummy, body);
Assert.That(linearVelocity, Is.Approximately(expectedFinalVelocity, 1e-6));
Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
});
}
