public void CoplanarAndSeparated()
{
var tA = new Triangle(new Vector3(10, 0, -10), new Vector3(-10, 0, -10), new Vector3(0, 0, 10));
var tB = new Triangle(new Vector3(10, 0, 20), new Vector3(-10, 0, 20), new Vector3(0, 0, 40));
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(false, haveContact);
// "Rotate" triangle to test next edges.
var oldB = tB;
tB[0] = oldB[1];
tB[1] = oldB[2];
tB[2] = oldB[0];
}
// "Rotate" triangle to test next edges.
var oldA = tA;
tA[0] = oldA[1];
tA[1] = oldA[2];
tA[2] = oldA[0];
}
MathHelper.Swap(ref tA, ref tB);
}
}
public void BothFacesDegenerate()
{
var tA = new Triangle(new Vector3(-10, 0, 0), new Vector3(-10, 0, 0), new Vector3(10, 0, 0));
var tB = new Triangle(new Vector3(0, 0, -10), new Vector3(0, 0, 10), new Vector3(0, 0, 10));
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(false, haveContact);
}
public void SeparationEdgeA2EdgeB2_1()
{
var tA = new Triangle(new Vector3(0, 0, -10), new Vector3(-10, 0, 0), new Vector3(0, 0, 10));
var tB = new Triangle(new Vector3(1, 10, 0), new Vector3(10, 0, 0), new Vector3(1, -10, 0));
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(false, haveContact);
}
public void Test0()
{
var tta = new TriangleTriangleAlgorithm(new CollisionDetection());
int numberOfContacts = 0;
int numberOfTests = 10000;
RandomHelper.Random = new Random(1234567);
for (int i = 0; i < numberOfTests; i++)
{
// Create two triangles.
var tA = new Triangle();
tA.Vertex0 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex1 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex2 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
var tB = new Triangle();
tB.Vertex0 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex1 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex2 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
var ttTest = GeometryHelper.HaveContact(tA, tB);
if (ttTest)
{
numberOfContacts++;
}
var coA = new CollisionObject(new GeometricObject(new TriangleShape(tA)));
var coB = new CollisionObject(new GeometricObject(new TriangleShape(tB)));
var cs = tta.GetContacts(coA, coB);
Assert.AreEqual(ttTest, cs.HaveContact);
if (cs.HaveContact)
{
Assert.AreEqual(1, cs.Count);
var epsilon = 0.01f;
if (!GeometryHelper.IsOver(tA, cs[0].PositionAWorld, epsilon))
{
Debugger.Break();
}
if (!GeometryHelper.IsOver(tB, cs[0].PositionBWorld, epsilon))
{
Debugger.Break();
}
Assert.IsTrue(GeometryHelper.IsOver(tA, cs[0].PositionAWorld, epsilon));
Assert.IsTrue(GeometryHelper.IsOver(tB, cs[0].PositionBWorld, epsilon));
}
}
//Trace.WriteLine("% hits:" + 100f * numberOfContacts / numberOfTests);
}
public void PointPoint()
{
var a = new Vector3(1, 1, 1);
var tA = new Triangle(a, a, a);
var tB = new Triangle(a, a, a);
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(false, haveContact);
}
public void CoplanarAndEdge()
{
var tA = new Triangle(new Vector3(10, 0, -10), new Vector3(-10, 0, -10), new Vector3(0, 0, 0));
var tB = new Triangle(new Vector3(10, 0, -1), new Vector3(-10, 0, -1), new Vector3(10, 0, -2));
for (int a = 0; a < 2; a++)
{
for (int b = 0; b < 2; b++)
{
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(true, haveContact);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, 1, 0), n) ||
Vector3.AreNumericallyEqual(new Vector3(0, -1, 0), n));
Assert.IsTrue(GeometryHelper.IsOver(tA, p, 0.00001f));
Assert.IsTrue(GeometryHelper.IsOver(tB, p, 0.00001f));
//Assert.IsTrue(Vector3.AreNumericallyEqual(?, p));
Assert.AreEqual(0, d);
// "Rotate" triangle to test next edges.
var oldB = tB;
tB[0] = oldB[1];
tB[1] = oldB[2];
tB[2] = oldB[0];
}
// "Rotate" triangle to test next edges.
var oldA = tA;
tA[0] = oldA[1];
tA[1] = oldA[2];
tA[2] = oldA[0];
}
MathHelper.Swap(ref tA, ref tB);
}
// Change winding order.
MathHelper.Swap(ref tB.Vertex0, ref tB.Vertex1);
}
// Change winding order.
MathHelper.Swap(ref tA.Vertex0, ref tA.Vertex1);
}
}
public void VertexA0VertexB0()
{
var tA = new Triangle(new Vector3(10, 0, -10), new Vector3(-10, 0, -10), new Vector3(0, 0, 10));
var tB = new Triangle(new Vector3(10, 0, -10), new Vector3(10, 10, 0), new Vector3(-10, 10, 0));
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(true, haveContact);
Assert.IsTrue(Vector3.AreNumericallyEqual(tA.Vertex0, p));
Assert.IsTrue(Numeric.AreEqual(0, d));
}
public void FaceBDegenerate()
{
var tB = new Triangle(new Vector3(-1, 0, 0), new Vector3(10, 0, -0), new Vector3(10, 0, 0));
var tA = new Triangle(new Vector3(0, -10, -10), new Vector3(0, -10, 10), new Vector3(0, 10, 0));
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(true, haveContact);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(-0.5f, 0, 0), p));
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(1, 0, 0), n));
Assert.IsTrue(Numeric.AreEqual(1, d));
}
public void FaceEdge()
{
var tA = new Triangle(new Vector3(10, 0, -10), new Vector3(-10, 0, -10), new Vector3(0, 0, 10));
var tB = new Triangle(new Vector3(-10, -1, 0), new Vector3(10, -1, 0), new Vector3(0, 10, 0));
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
Vector3 p, n;
float d;
bool haveContact = TriangleTriangleAlgorithm.GetContact(ref tA, ref tB, out p, out n, out d);
Assert.AreEqual(true, haveContact);
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(-5, -0.5f, 0), p) ||
Vector3.AreNumericallyEqual(new Vector3(5, -0.5f, 0), p));
Assert.IsTrue(GeometryHelper.IsOver(tB, p));
if (i == 0)
{
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, 1, 0), n));
}
else
{
Assert.IsTrue(Vector3.AreNumericallyEqual(new Vector3(0, -1, 0), n));
}
Assert.IsTrue(Numeric.AreEqual(1, d));
// "Rotate" triangle to test next edges.
var oldB = tB;
tB[0] = oldB[1];
tB[1] = oldB[2];
tB[2] = oldB[0];
}
// "Rotate" triangle to test next edges.
var oldA = tA;
tA[0] = oldA[1];
tA[1] = oldA[2];
tA[2] = oldA[0];
}
MathHelper.Swap(ref tA, ref tB);
}
}
public void TestCoplanar()
{
var tta = new TriangleTriangleAlgorithm(new CollisionDetection());
var gjk = new Gjk(new CollisionDetection());
int numberOfContacts = 0;
int numberOfTests = 1000;
RandomHelper.Random = new Random(1234567);
for (int i = 0; i < numberOfTests; i++)
{
// Create two triangles.
var tA = new Triangle();
tA.Vertex0 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex1 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex2 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
var tB = new Triangle();
tB.Vertex0 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex1 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex2 = new Vector3(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
var ttTest = GeometryHelper.HaveContact(tA, tB);
if (ttTest)
{
numberOfContacts++;
}
var coA = new CollisionObject(new GeometricObject(new TriangleShape(tA)));
var coB = new CollisionObject(new GeometricObject(new TriangleShape(tB)));
var csTta = tta.GetContacts(coA, coB);
var csGjk = gjk.GetClosestPoints(coA, coB);
if (csTta.HaveContact != csGjk.HaveContact)
{
Trace.WriteLine("Test failed: " + i + " GJK: " + csGjk.HaveContact + " TTA: " + csTta);
}
Assert.AreEqual(ttTest, csGjk.HaveContact);
Assert.AreEqual(ttTest, csTta.HaveContact);
}
//Trace.WriteLine("% hits:" + 100f * numberOfContacts / numberOfTests);
}
public void TestCoplanar()
{
var tta = new TriangleTriangleAlgorithm(new CollisionDetection());
var gjk = new Gjk(new CollisionDetection());
int numberOfContacts = 0;
int numberOfTests = 1000;
RandomHelper.Random = new Random(1234567);
for (int i = 0; i < numberOfTests; i++)
{
// Create two triangles.
var tA = new Triangle();
tA.Vertex0 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex1 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex2 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
var tB = new Triangle();
tB.Vertex0 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex1 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex2 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), -290, RandomHelper.Random.NextFloat(-100, 100));
var ttTest = GeometryHelper.HaveContact(tA, tB);
if (ttTest)
numberOfContacts++;
var coA = new CollisionObject(new GeometricObject(new TriangleShape(tA)));
var coB = new CollisionObject(new GeometricObject(new TriangleShape(tB)));
var csTta = tta.GetContacts(coA, coB);
var csGjk = gjk.GetClosestPoints(coA, coB);
if (csTta.HaveContact != csGjk.HaveContact)
Trace.WriteLine("Test failed: " + i + " GJK: " + csGjk.HaveContact + " TTA: " + csTta);
Assert.AreEqual(ttTest, csGjk.HaveContact);
Assert.AreEqual(ttTest, csTta.HaveContact);
}
//Trace.WriteLine("% hits:" + 100f * numberOfContacts / numberOfTests);
}
public void Test0()
{
var tta = new TriangleTriangleAlgorithm(new CollisionDetection());
int numberOfContacts = 0;
int numberOfTests = 10000;
RandomHelper.Random = new Random(1234567);
for (int i = 0; i < numberOfTests; i++)
{
// Create two triangles.
var tA = new Triangle();
tA.Vertex0 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex1 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tA.Vertex2 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
var tB = new Triangle();
tB.Vertex0 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex1 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
tB.Vertex2 = new Vector3F(RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100), RandomHelper.Random.NextFloat(-100, 100));
var ttTest = GeometryHelper.HaveContact(tA, tB);
if (ttTest)
numberOfContacts++;
var coA = new CollisionObject(new GeometricObject(new TriangleShape(tA)));
var coB = new CollisionObject(new GeometricObject(new TriangleShape(tB)));
var cs = tta.GetContacts(coA, coB);
Assert.AreEqual(ttTest, cs.HaveContact);
if (cs.HaveContact)
{
Assert.AreEqual(1, cs.Count);
var epsilon = 0.01f;
if (!GeometryHelper.IsOver(tA, cs[0].PositionAWorld, epsilon))
Debugger.Break();
if (!GeometryHelper.IsOver(tB, cs[0].PositionBWorld, epsilon))
Debugger.Break();
Assert.IsTrue(GeometryHelper.IsOver(tA, cs[0].PositionAWorld, epsilon));
Assert.IsTrue(GeometryHelper.IsOver(tB, cs[0].PositionBWorld, epsilon));
}
}
//Trace.WriteLine("% hits:" + 100f * numberOfContacts / numberOfTests);
}
