public void TestFindContactsOnAxisAlignedBox()
{
Volumes.AxisAlignedBox3 box = new Volumes.AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
float outRadius = 5.0f + Specifications.HullAccuracy;
Assert.AreEqual(
new float[] { 10.0f, 20.0f },
new Line3(new Vector3(0.0f, 15.0f, 15.0f), Vector3.Right).FindContacts(box),
"Contact locations on AAB for X sweep found"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f - outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f + outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f, 15.0f - outRadius), Vector3.Right).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f, 15.0f + outRadius), Vector3.Right).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new double[] { 10.0f, 20.0f },
new Line3(new Vector3(15.0f, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Contact locations on AAB for Y sweep found"
);
Assert.IsNull(
new Line3(new Vector3(15.0f - outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f + outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 0.0f, 15.0f - outRadius), Vector3.Up).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 0.0f, 15.0f + outRadius), Vector3.Up).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new float[] { 10.0f, 20.0f },
new Line3(new Vector3(15.0f, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Contact locations on AAB for Z sweep found"
);
Assert.IsNull(
new Line3(new Vector3(15.0f - outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f + outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 15.0f - outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 15.0f + outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
}
public void TestFindContactsOnAxisAlignedBox() {
Volumes.AxisAlignedBox3 box = new Volumes.AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
float outRadius = 5.0f + Specifications.MaximumDeviation;
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0f to take line's length into account
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box),
"Contact locations on AAB for X sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(15.0f - outRadius, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f - outRadius, 15.0f),
new Vector3(30.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f + outRadius, 15.0f),
new Vector3(30.0f, 15.0f + outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f - outRadius),
new Vector3(30.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f + outRadius),
new Vector3(30.0f, 15.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0 to take line's length into account
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box),
"Contact locations on AAB for Y sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 0.0f, 15.0f),
new Vector3(15.0f - outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 0.0f, 15.0f),
new Vector3(15.0f + outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f - outRadius),
new Vector3(15.0f, 30.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f + outRadius),
new Vector3(15.0f, 30.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0 to take line's length into account
new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box),
"Contact locations on AAB for Z sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 15.0f + outRadius),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 15.0f, 0.0f),
new Vector3(15.0f - outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 0.0f),
new Vector3(15.0f + outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f - outRadius, 0.0f),
new Vector3(15.0f, 15.0f - outRadius, 30.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 0.0f),
new Vector3(15.0f, 15.0f + outRadius, 30.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
}
public void TestFindContactsOnAxisAlignedBox()
{
Volumes.AxisAlignedBox3 box = new Volumes.AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
float outRadius = 5.0f + Specifications.MaximumDeviation;
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0f to take line's length into account
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box),
"Contact locations on AAB for X sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(15.0f - outRadius, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f - outRadius, 15.0f),
new Vector3(30.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f + outRadius, 15.0f),
new Vector3(30.0f, 15.0f + outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f - outRadius),
new Vector3(30.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f + outRadius),
new Vector3(30.0f, 15.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0 to take line's length into account
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box),
"Contact locations on AAB for Y sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 0.0f, 15.0f),
new Vector3(15.0f - outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 0.0f, 15.0f),
new Vector3(15.0f + outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f - outRadius),
new Vector3(15.0f, 30.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f + outRadius),
new Vector3(15.0f, 30.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new float[] { 10.0f / 30.0f, 20.0f / 30.0f }, // 30.0 to take line's length into account
new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box),
"Contact locations on AAB for Z sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 15.0f + outRadius),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 15.0f, 0.0f),
new Vector3(15.0f - outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 0.0f),
new Vector3(15.0f + outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f - outRadius, 0.0f),
new Vector3(15.0f, 15.0f - outRadius, 30.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 0.0f),
new Vector3(15.0f, 15.0f + outRadius, 30.0f)
).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
}
public void TestFindContactsOnAxisAlignedBox() {
Volumes.AxisAlignedBox3 box = new Volumes.AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
float outRadius = 5.0f + Specifications.MaximumDeviation;
Assert.AreEqual(
new double[] { 10.0f, 20.0f },
new Ray3(new Vector3(0.0f, 15.0f, 15.0f), Vector3.Right).FindContacts(box),
"Contact locations on AAB for X sweep found"
);
Assert.AreEqual(
new double[] { 0.0f, 5.0f },
new Ray3(new Vector3(15.0f, 15.0f, 15.0f), Vector3.Right).FindContacts(box),
"Contact locations on AAB for X sweep starting in AAB found"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f + outRadius, 15.0f, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(0.0f, 15.0f - outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(0.0f, 15.0f + outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(0.0f, 15.0f, 15.0f - outRadius), Vector3.Right).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(0.0f, 15.0f, 15.0f + outRadius), Vector3.Right).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new double[] { 10.0f, 20.0f },
new Ray3(new Vector3(15.0f, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Contact locations on AAB for Y sweep found"
);
Assert.AreEqual(
new double[] { 0.0f, 5.0f },
new Ray3(new Vector3(15.0f, 15.0f, 15.0f), Vector3.Up).FindContacts(box),
"Contact locations on AAB for Y sweep starting in AAB found"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 15.0f + outRadius, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f - outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f + outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 0.0f, 15.0f - outRadius), Vector3.Up).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 0.0f, 15.0f + outRadius), Vector3.Up).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.AreEqual(
new double[] { 10.0f, 20.0f },
new Ray3(new Vector3(15.0f, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Contact locations on AAB for Z sweep found"
);
Assert.AreEqual(
new double[] { 0.0f, 5.0f },
new Ray3(new Vector3(15.0f, 15.0f, 15.0f), Vector3.Backward).FindContacts(box),
"Contact locations on AAB for Z sweep starting in AAB found"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 15.0f, 15.0f + outRadius), Vector3.Backward).FindContacts(box),
"Close miss of AAB on Z axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f - outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f + outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on X axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 15.0f - outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
Assert.IsNull(
new Ray3(new Vector3(15.0f, 15.0f + outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of AAB on Y axis properly handled"
);
}
