// ----- Constructor: Set relevant scene node properties.
public TextNode()
{
// The IsRenderable flag needs to be set to indicate that the scene node should
// be handled during rendering.
IsRenderable = true;
// The CastsShadows flag needs to be set if the scene node needs to be rendered
// into the shadow maps. But in this case the scene node should be ignored.
CastsShadows = false;
// A bounding shape needs to be set for frustum culling.
Shape = new PointShape();
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public void PerspectiveOffCenterTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetOffCenter(1, 5, 2, 5, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(3, 3, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(3, 3, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 2, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9f, 2, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 1.9f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5.1f, 5, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5.1f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 20, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.9f, 20, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 19.9f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50.1f, 50, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50.1f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void OrthographicTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new OrthographicProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((OrthographicProjection)cameraInstance.Camera.Projection).Set(4, 3, 2, 10);
Matrix44F projection = Matrix44F.CreateOrthographic(4, 3, 2, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(-2, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(-1.5f, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(1.5f, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(8, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(-2, -1.5f, -2);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-2.1f, -1.6f, -1.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2, 1.5f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2.1f, 1.6f, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
cameraInstance.PoseWorld = new Pose(position, orientation);
((OrthographicProjection)cameraInstance.Camera.Projection).Set(8, 4, 1, 100);
cameraInstance.Camera.Projection.Near = 1;
cameraInstance.Camera.Projection.Far = 100;
projection = Matrix44F.CreateOrthographic(8, 4, 1, 100);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3F(-4, -2f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-4.1f, -1.9f, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4, 2f, -100);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4.1f, 2.1f, -100.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void PerspectiveTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(MathHelper.ToRadians(60), cameraInstance.Camera.Projection.FieldOfViewY);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(85.4601055f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.AreEqual(16.0f / 10.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.IsTrue(Numeric.AreEqual(1.8475209f, cameraInstance.Camera.Projection.Width));
Assert.IsTrue(Numeric.AreEqual(1.1547005f, cameraInstance.Camera.Projection.Height));
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.IsTrue(Numeric.AreEqual(-0.9237604f, cameraInstance.Camera.Projection.Left));
Assert.IsTrue(Numeric.AreEqual(0.9237604f, cameraInstance.Camera.Projection.Right));
Assert.IsTrue(Numeric.AreEqual(-0.5773503f, cameraInstance.Camera.Projection.Bottom));
Assert.IsTrue(Numeric.AreEqual(0.5773503f, cameraInstance.Camera.Projection.Top));
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(0, 0, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.924f, -0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.924f, 0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.24f, -5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.24f, 5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}