public void BoxVolume()
{
var s = new BoxShape(1, 2, 3);
Assert.AreEqual(1 * 2 * 3, s.GetVolume(0.0001f, 10));
var m = s.GetMesh(0.001f, 4);
Assert.AreEqual(1 * 2 * 3, m.GetVolume());
}
public void BoxMass()
{
var b = new BoxShape(1, 2, 3);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = b.GetMesh(0.1f, 1);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
Assert.AreEqual(m0, m1);
Assert.AreEqual(com0, com1);
Assert.AreEqual(i0, i1);
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.AreEqual(m0 * 0.7f, m2);
Assert.AreEqual(com0, com2);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2));
const float e = 0.01f;
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public void ConvexHullOfPointsTest()
{
var s = new BoxShape(1, 2, 3);
var v0 = s.GetVolume(0.001f, 10);
var s1 = new ConvexHullOfPoints(s.GetMesh(0.1f, 1).Vertices);
var v1 = s1.GetVolume(0.001f, 10);
Assert.IsTrue(Numeric.AreEqual(v0, v1, 0.01f * (1 + v0))); // 1% error is allowed.
}
