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 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);
}