public void Raycast_Against_RotatedBox_Test(
[Values(0f, 10f, -20f, 30f, 40f)] float startX,
[Values(0f, -10f, 30f, -50f, 70f)] float startY)
{
// Simulate the physics.
SimulatePhysics();
var aabb = RotatedBox.Aabb;
Assert.IsTrue(startX < aabb.Min.x);
var start = new float2(startX, startY);
var expectedPosition = new float2(aabb.Min.x + RayEpsilon, 0f);
// Set-up the query.
var input = new RaycastInput
{
Start = start,
End = expectedPosition,
Filter = CollisionFilter.Default
};
// Perform the query.
var results = PhysicsWorld.CastRay(input, out RaycastHit hit);
Assert.IsTrue(results);
Assert.IsTrue(hit.PhysicsBodyIndex != PhysicsBody.Constants.InvalidBodyIndex, "PhysicsBody Index is Invalid.");
Assert.AreEqual(hit.Entity, RotatedBox.Entity, "Entity is invalid.");
PhysicsAssert.AreEqual(expectedPosition, hit.Position, QueryEpsilon, "Hit position is incorrect.");
}
public void RotatedColliderCast_Against_RotatedBox_Test(
[Values(0f, 10f, -20f, 30f, 40f)] float startX)
{
// Simulate the physics.
SimulatePhysics();
var aabb = RotatedBox.Aabb;
Assert.IsTrue(startX < aabb.Min.x);
var start = new float2(startX, 0f);
var expectedPosition = new float2(aabb.Min.x + ColliderEpsilon, 0f);
// Set-up the query.
var geometry = new BoxGeometry {
Size = new float2(BoxSize)
};
using (var colliderBlob = PhysicsBoxCollider.Create(geometry, CollisionFilter.Default, PhysicsMaterial.Default))
{
var input = new ColliderCastInput
{
Start = start,
End = expectedPosition,
Rotation = float2x2.Rotate(math.radians(BoxRotation)),
Collider = colliderBlob
};
// Perform the query.
var results = PhysicsWorld.CastCollider(input, out ColliderCastHit hit);
Assert.IsTrue(results);
Assert.IsTrue(hit.PhysicsBodyIndex != PhysicsBody.Constants.InvalidBodyIndex, "PhysicsBody Index is Invalid.");
Assert.AreEqual(hit.Entity, RotatedBox.Entity, "Entity is invalid.");
PhysicsAssert.AreEqual(expectedPosition, hit.Position, QueryEpsilon, "Hit position is incorrect.");
}
}
public void MassProperties_BuiltFromChildren_MatchesExpected()
{
void TestCompoundBox(PhysicsTransform transform)
{
// Create a unit box
var boxCollider = PhysicsBoxCollider.Create(new BoxGeometry
{
Size = new float2(1f),
Center = transform.Translation,
Angle = 0f,
BevelRadius = 0.0f
});
// Create a compound of mini boxes, matching the volume of the single box
var miniBox = PhysicsBoxCollider.Create(new BoxGeometry
{
Size = new float2(0.5f),
Center = float2.zero,
Angle = 0f,
BevelRadius = 0.0f
});
const uint UserData = 0xDEADBEEF;
const int ChildrenCount = 4;
var childrenTransforms = new NativeArray <PhysicsTransform>(ChildrenCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory)
{
[0] = new PhysicsTransform(new float2(-0.25f, -0.25f), float2x2.identity),
[1] = new PhysicsTransform(new float2(0.25f, -0.25f), float2x2.identity),
[2] = new PhysicsTransform(new float2(0.25f, 0.25f), float2x2.identity),
[3] = new PhysicsTransform(new float2(-0.25f, 0.25f), float2x2.identity),
};
var children = new NativeArray <PhysicsCompoundCollider.ColliderBlobInstance>(ChildrenCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
for (var i = 0; i < ChildrenCount; ++i)
{
children[i] = new PhysicsCompoundCollider.ColliderBlobInstance
{
Collider = miniBox,
CompoundFromChild = PhysicsMath.mul(transform, childrenTransforms[i])
};
}
var colliderBlob = PhysicsCompoundCollider.Create(children, UserData);
childrenTransforms.Dispose();
children.Dispose();
ref var collider = ref colliderBlob.GetColliderRef <PhysicsCompoundCollider>();
Assert.AreEqual(ColliderType.Compound, collider.ColliderType);
Assert.AreEqual(CollisionType.Composite, collider.CollisionType);
Assert.AreEqual(UserData, collider.UserData);
var boxMassProperties = boxCollider.Value.MassProperties;
var compoundMassProperties = colliderBlob.Value.MassProperties;
Assert.AreEqual(boxMassProperties.Area, compoundMassProperties.Area, 1e-3f, "Area incorrect.");
Assert.AreEqual(boxMassProperties.AngularExpansionFactor, compoundMassProperties.AngularExpansionFactor, 1e-3f, "AngularExpansionFactor incorrect.");
PhysicsAssert.AreEqual(boxMassProperties.MassDistribution.LocalCenterOfMass, compoundMassProperties.MassDistribution.LocalCenterOfMass, 1e-3f, "LocalCenterOfMass incorrect.");
Assert.AreEqual(boxMassProperties.MassDistribution.InverseInertia, compoundMassProperties.MassDistribution.InverseInertia, 1e-3f, "InverseInertia incorrect.");
boxCollider.Dispose();
colliderBlob.Dispose();
}
public void FrictionCombinePolicyTest()
{
var mat1 = new PhysicsMaterial();
var mat2 = new PhysicsMaterial();
// GeometricMean Tests
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.GeometricMean;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.GeometricMean;
mat1.Friction = 1.0f;
mat2.Friction = 0.0f;
var combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.0f);
mat1.Friction = 0.5f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.Friction = 1.0f;
mat2.Friction = 0.25f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
// Minimum Tests
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Minimum;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Minimum;
mat1.Friction = 1.0f;
mat2.Friction = 0.0f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.0f);
mat1.Friction = 0.5f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.Friction = 1.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
// Maximum Tests
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Maximum;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Maximum;
mat1.Friction = 1.0f;
mat2.Friction = 0.0f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 1.0f);
mat1.Friction = 0.5f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 2.0f);
// ArithmeticMean Tests
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.ArithmeticMean;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.ArithmeticMean;
mat1.Friction = 1.0f;
mat2.Friction = 0.0f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.Friction = 0.25f;
mat2.Friction = 0.75f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
// Mixed CombinePolicy Tests - Note that max(CombinePolicy of both materials) is used
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.GeometricMean;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.ArithmeticMean; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.GeometricMean;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Maximum; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 2.0f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 2.0f);
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.GeometricMean;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Minimum; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 0.5f);
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Minimum;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Maximum; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 2.0f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 2.0f);
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Minimum;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.ArithmeticMean; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
mat1.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.Maximum;
mat2.FrictionCombinePolicy = PhysicsMaterial.CombinePolicy.ArithmeticMean; // this policy should be used
mat1.Friction = 2.0f;
mat2.Friction = 0.5f;
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat1, mat2);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
//switch order
combinedFriction = PhysicsMaterial.GetCombinedFriction(mat2, mat1);
PhysicsAssert.AreEqual(combinedFriction, 1.25f);
}