public void Clone()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiDifferenceShape minkowskiDifferenceShape = new MinkowskiDifferenceShape(geometryA, geometryB);
MinkowskiDifferenceShape clone = minkowskiDifferenceShape.Clone() as MinkowskiDifferenceShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiDifferenceShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void GetScreenSizeException()
{
var viewport = new Viewport(10, 10, 200, 100);
var geometricObject = new GeometricObject(new SphereShape());
GraphicsHelper.GetScreenSize(null, viewport, geometricObject);
}
private void SynchronizeShape()
{
Debug.Assert(ParticleSystem != null);
// Note: Scene does not allow TransformedShapes with infinite shapes.
// --> Handle infinite shapes explicitly. (The code below only checks for InfiniteShape.
// LineShape or PlaneShape will raise an exception in Scene!)
if (ParticleSystem.ReferenceFrame == ParticleReferenceFrame.Local || ParticleSystem.Shape is InfiniteShape)
{
Shape = ParticleSystem.Shape;
}
else
{
// Particles are simulated in world space. ParticleSystem.Shape must not be scale by
// SceneNode.ScaleWorld. --> Add a TransformedShape that negates the scale.
var transformedShape = Shape as TransformedShape;
if (transformedShape == null)
{
transformedShape = new TransformedShape(new GeometricObject());
Shape = transformedShape;
}
var geometricObject = transformedShape.Child as GeometricObject;
if (geometricObject == null)
{
geometricObject = new GeometricObject();
transformedShape.Child = geometricObject;
}
geometricObject.Shape = ParticleSystem.Shape;
geometricObject.Scale = Vector3F.One / ScaleWorld;
}
}
private bool HasLedgeContact()
{
// Here is a primitive way to detect ledges and edges where the character can climb:
// We use a box that is ~10 cm high and wider than the character capsule. We check for
// collisions in the top part of the character and a second time on a lower positions.
// If the top part is free of collisions and the lower part collides with something, then
// we have found a ledge and let the character hang onto it.
// Note: This objects should not be allocated in each frame. Create them once, add them
// to the collision domain and move them with the character controller - like the ray
// of the DynamicCharacterController.
BoxShape box = new BoxShape(CharacterController.Width + 0.2f, 0.1f, CharacterController.Width + 0.2f);
GeometricObject geometricObject = new GeometricObject(box)
{
Pose = new Pose(CharacterController.Position + new Vector3(0, 1.6f, 0))
};
var collisionObject = new CollisionObject(geometricObject)
{
CollisionGroup = 4, // Should not collide with character.
Type = CollisionObjectType.Trigger, // Use a trigger because we do not need to compute detailed
}; // collision information.
// First test:
if (_simulation.CollisionDomain.HasContact(collisionObject))
return false;
// Second test:
geometricObject.Pose = new Pose(CharacterController.Position + new Vector3(0, 1.5f, 0));
if (_simulation.CollisionDomain.HasContact(collisionObject))
return true;
return false;
}
public void End3D()
{
var gobj = init_drawing();
if (gobj == null)
{
return;
}
gobj.End();
// recalculates the bound of collider
var cl = gobj.gameObject.GetComponent <BoxCollider>();
if (cl != null)
{
var mr = gobj.gameObject.GetComponent <MeshRenderer>();
cl.center = mr.bounds.center;
cl.size = mr.bounds.size;
if (testmode)
{
Manager.DebugLog("CindyJS::End3D : collider size = " + cl.size.x + " / " + cl.size.y + " / " + cl.size.z);
}
}
gobj_drawing = null;
}
public void DelayedActivationOfLookupTable()
{
IGeometricObject geometricObjectA = new GeometricObject();
IGeometricObject geometricObjectB = new GeometricObject();
IGeometricObject geometricObjectC = new GeometricObject();
CollisionObject collisionObjectA = new CollisionObject(geometricObjectA);
CollisionObject collisionObjectB = new CollisionObject(geometricObjectB);
CollisionObject collisionObjectC = new CollisionObject(geometricObjectC);
var collisionObjectCollection = new CollisionObjectCollection();
Assert.IsFalse(collisionObjectCollection.EnableLookupTable);
collisionObjectCollection.EnableLookupTable = false; // Set to false again, just for code coverage.
collisionObjectCollection.Add(collisionObjectA);
collisionObjectCollection.EnableLookupTable = true;
collisionObjectCollection.Add(collisionObjectB);
collisionObjectCollection.Add(collisionObjectC);
Assert.IsTrue(collisionObjectCollection.EnableLookupTable);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.AreEqual(collisionObjectB, collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Remove(collisionObjectB);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.EnableLookupTable = false;
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
}
public void Clone()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiSumShape minkowskiSumShape = new MinkowskiSumShape(geometryA, geometryB);
MinkowskiSumShape clone = minkowskiSumShape.Clone() as MinkowskiSumShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
/// <summary>
/// Initializes a new instance of the <see cref="Wheel"/> class.
/// </summary>
public Wheel()
{
Radius = 0.4f;
SuspensionRestLength = 0.6f;
MinSuspensionLength = float.NegativeInfinity;
SuspensionLength = SuspensionRestLength;
PreviousSuspensionLength = SuspensionRestLength;
SuspensionStiffness = 20;
SuspensionCompressionDamping = 4f;
SuspensionRelaxationDamping = 3f;
MaxSuspensionForce = 6000;
RollingFrictionForce = 500;
Friction = 0.9f;
RollReduction = 0.3f;
Vector3 rayOrigin = Vector3.Zero;
Vector3 rayDirection = -Vector3.UnitY;
float rayLength = Radius + SuspensionRestLength;
Ray = new RayShape(rayOrigin, rayDirection, rayLength)
{
StopsAtFirstHit = true,
};
GeometricObject = new GeometricObject(Ray);
CollisionObject = new CollisionObject(GeometricObject);
}
public void TestException()
{
var sphere0 = new SphereShape(1);
var geo0 = new GeometricObject(sphere0);
var geo1 = new GeometricObject(sphere0);
var co0 = new CollisionObject(geo0);
var co1 = new CollisionObject(geo1);
geo0.Pose = Pose.Identity;
geo1.Pose = new Pose(new Vector3(10, 0, 0));
float toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3(4, 0, 0)), co1, new Pose(new Vector3(6, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3(4, 0, 0)), co1, new Pose(new Vector3(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3(4, 0, 0)), co1, new Pose(new Vector3(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3(4f, 0, 0)), co1, new Pose(new Vector3(6f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3(4f, 0, 0)), co1, new Pose(new Vector3(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3(4f, 0, 0)), co1, new Pose(new Vector3(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3(7f, 0, 0)), co1, new Pose(new Vector3(4f, 0, 0)), 0.01f);
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3(7f, 0, 0)), co1, new Pose(new Vector3(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3(7f, 0, 0)), co1, new Pose(new Vector3(4f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
// Moving away
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3(-1f, 0, 0)), co1, new Pose(new Vector3(11f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3(-1f, 0, 0)), co1, new Pose(new Vector3(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3(-1f, 0, 0)), co1, new Pose(new Vector3(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
// Touching at start. => GetTimeOfImpact result is invalid when objects touch at the start.
//geo0.Pose = new Pose(new Vector3(9, 0, 0));
//toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3(10f, 0, 0)), co1, new Pose(new Vector3(5f, 0, 0)), 0.01f);
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3(10f, 0, 0)), co1, new Pose(new Vector3(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3(10f, 0, 0)), co1, new Pose(new Vector3(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
}
public void Clone()
{
CompositeShape compositeShape = new CompositeShape();
for (int i = 0; i < 10; i++)
{
Pose pose = new Pose(new Vector3F(i, i, i));
PointShape point = new PointShape(i, i, i);
GeometricObject geometry = new GeometricObject(point, pose);
compositeShape.Children.Add(geometry);
}
CompositeShape clone = compositeShape.Clone() as CompositeShape;
Assert.IsNotNull(clone);
Assert.AreEqual(10, clone.Children.Count);
for (int i = 0; i < 10; i++)
{
Assert.IsNotNull(clone.Children[i]);
Assert.AreNotSame(compositeShape.Children[i], clone.Children[i]);
Assert.IsTrue(clone.Children[i] is GeometricObject);
Assert.AreEqual(compositeShape.Children[i].Pose, clone.Children[i].Pose);
Assert.IsNotNull(clone.Children[i].Shape);
Assert.AreNotSame(compositeShape.Children[i].Shape, clone.Children[i].Shape);
Assert.IsTrue(clone.Children[i].Shape is PointShape);
Assert.AreEqual(((PointShape)compositeShape.Children[i].Shape).Position, ((PointShape)clone.Children[i].Shape).Position);
}
Assert.AreEqual(compositeShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(compositeShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void Begin3D(string name)
{
if (gobj_drawing != null)
{
End3D();
}
gobj_drawing = gobjs.FirstOrDefault(item => item.Value.name == name).Value;
if (gobj_drawing == null)
{
idx_uc3dBuffer = 0;
var active = readBoolean();
var o = Instantiate(GeometricObjectPrefab);
o.name = name;
o.SetActive(active);
gobj_drawing = registerGobj(o);
if (testmode)
{
Manager.DebugLog("CindyJS::Begin3D : Instantiate " + o.name + " id = " + gobj_drawing.id);
}
}
uc3dBuffer[0] = gobj_drawing.id;
}
public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiDifferenceShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiDifferenceShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
public void Clone()
{
CompositeShape compositeShape = new CompositeShape();
for (int i = 0; i < 10; i++)
{
Pose pose = new Pose(new Vector3(i, i, i));
PointShape point = new PointShape(i, i, i);
GeometricObject geometry = new GeometricObject(point, pose);
compositeShape.Children.Add(geometry);
}
CompositeShape clone = compositeShape.Clone() as CompositeShape;
Assert.IsNotNull(clone);
Assert.AreEqual(10, clone.Children.Count);
for (int i = 0; i < 10; i++)
{
Assert.IsNotNull(clone.Children[i]);
Assert.AreNotSame(compositeShape.Children[i], clone.Children[i]);
Assert.IsTrue(clone.Children[i] is GeometricObject);
Assert.AreEqual(compositeShape.Children[i].Pose, clone.Children[i].Pose);
Assert.IsNotNull(clone.Children[i].Shape);
Assert.AreNotSame(compositeShape.Children[i].Shape, clone.Children[i].Shape);
Assert.IsTrue(clone.Children[i].Shape is PointShape);
Assert.AreEqual(((PointShape)compositeShape.Children[i].Shape).Position, ((PointShape)clone.Children[i].Shape).Position);
}
Assert.AreEqual(compositeShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(compositeShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void TestException()
{
var sphere0 = new SphereShape(1);
var geo0 = new GeometricObject(sphere0);
var geo1 = new GeometricObject(sphere0);
var co0 = new CollisionObject(geo0);
var co1 = new CollisionObject(geo1);
geo0.Pose = Pose.Identity;
geo1.Pose = new Pose(new Vector3F(10, 0, 0));
float toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f);
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
// Moving away
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
// Touching at start. => GetTimeOfImpact result is invalid when objects touch at the start.
//geo0.Pose = new Pose(new Vector3F(9, 0, 0));
//toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f);
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
}
public void TestEnabledDisabledStochastic()
{
// Test random Enabled and Pose values.
int numberOfObjects = 20;
int numberOfSteps = 1000;
Shape shape = new SphereShape(1);
//var meshShape = new TriangleMeshShape(shape.GetMesh(0.01f, 4));
//meshShape.Partition = new AabbTree<int>();
//shape = meshShape;
var geometricObjects = new GeometricObject[numberOfObjects];
var collisionObjects = new CollisionObject[numberOfObjects];
var domain = new CollisionDomain(new CollisionDetection());
for (int i = 0; i < numberOfObjects; i++)
{
geometricObjects[i] = new GeometricObject(shape);
collisionObjects[i] = new CollisionObject(geometricObjects[i]);
domain.CollisionObjects.Add(collisionObjects[i]);
}
for (int i = 0; i < numberOfSteps; i++)
{
for (int j = 0; j < numberOfObjects; j++)
{
collisionObjects[j].Enabled = RandomHelper.Random.NextBool();
domain.Update(0);
if (RandomHelper.Random.NextFloat(0, 1) > 0.5f)
{
geometricObjects[j].Pose = new Pose(RandomHelper.Random.NextVector3(-2, 2));
}
domain.Update(0);
}
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
// Compare result with brute-force check.
for (int j = 0; j < numberOfObjects; j++)
{
for (int k = j + 1; k < numberOfObjects; k++)
{
var haveContact = domain.CollisionDetection.HaveContact(collisionObjects[j], collisionObjects[k]);
Assert.AreEqual(haveContact, domain.ContactSets.GetContacts(collisionObjects[j], collisionObjects[k]) != null);
}
}
}
}
public Instance(GeometricObject obj) :
this(obj, obj.Material)
{
this.obj = obj;
invMatrix = Mat4.NewIdentity();
transformTheTexture = true;
forwardMatrix = Mat4.NewIdentity();
}
public void ICloneableClone()
{
var o = new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3(1, 2, 3)));
var clone = (GeometricObject)((IGeometricObject)o).Clone();
Assert.AreEqual(o.Pose, clone.Pose);
Assert.AreEqual(((BoxShape)o.Shape).Extent, ((BoxShape)clone.Shape).Extent);
}
public void ICloneableClone()
{
var o = new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3F(1, 2, 3)));
var clone = (GeometricObject)((IGeometricObject)o).Clone();
Assert.AreEqual(o.Pose, clone.Pose);
Assert.AreEqual(((BoxShape)o.Shape).Extent, ((BoxShape)clone.Shape).Extent);
}
public void CopyObjects(List <GeometricObject> objects)
{
for (int i = 0; i < Objects.Count; i++)
{
GeometricObject obj = Objects[i].Clone();
objects.Add(obj);
}
}
private void CreateCompositeShape()
{
// Convert islands into CompositeShape with convex children.
_decomposition = new CompositeShape();
if (_islands == null)
{
return;
}
foreach (var island in _islands)
{
if (island.Vertices.Length <= 0)
{
continue;
}
// ReSharper disable EmptyGeneralCatchClause
try
{
// ----- Get convex hull mesh.
DcelMesh convexHullMesh;
if (island.ConvexHullBuilder == null)
{
// Create convex hull from scratch.
// Get all vertices of all island triangles.
var points = island.Triangles.SelectMany(t => t.Vertices);
// Create convex hull.
convexHullMesh = GeometryHelper.CreateConvexHull(points, VertexLimit, SkinWidth);
}
else
{
// Use existing convex hull.
convexHullMesh = island.ConvexHullBuilder.Mesh;
if (convexHullMesh.Vertices.Count > VertexLimit || SkinWidth != 0)
{
convexHullMesh.ModifyConvex(VertexLimit, SkinWidth);
}
}
// ----- Add a ConvexPolyhedron to CompositeShape.
if (convexHullMesh.Vertices.Count > 0)
{
var convexHullPoints = convexHullMesh.Vertices.Select(v => v.Position);
var convexPolyhedron = new ConvexPolyhedron(convexHullPoints);
var geometricObject = new GeometricObject(convexPolyhedron);
_decomposition.Children.Add(geometricObject);
}
}
catch
{
// Could not generate convex hull. Ignore object.
}
// ReSharper restore EmptyGeneralCatchClause
}
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3(0, 5, 0), Quaternion.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new CircleShape(3), new Pose(new Vector3(0, -5, 0), Quaternion.CreateRotationX(ConstantsF.PiOver2)));
cs = new CompositeShape();
cs.Children.Add(child0);
cs.Children.Add(child1);
}
public Instance(GeometricObject obj, IMaterial material) :
base()
{
this.obj = obj;
this.material = material;
invMatrix = Mat4.NewIdentity();
transformTheTexture = true;
forwardMatrix = Mat4.NewIdentity();
}
public void GetScreenSizeWithPerspective()
{
// Camera
var projection = new PerspectiveProjection();
projection.SetFieldOfView(MathHelper.ToRadians(90), 2.0f / 1.0f, 1.0f, 100f);
var camera = new Camera(projection);
var cameraNode = new CameraNode(camera);
cameraNode.PoseWorld = new Pose(new Vector3(123, 456, -789), Matrix.CreateRotation(new Vector3(1, -2, 3), MathHelper.ToRadians(75)));
// 2:1 viewport
var viewport = new Viewport(10, 10, 200, 100);
// Test object
var shape = new SphereShape();
var geometricObject = new GeometricObject(shape);
// Empty sphere at camera position.
shape.Radius = 0;
geometricObject.Pose = cameraNode.PoseWorld;
Vector2F screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.AreEqual(0, screenSize.X);
Assert.AreEqual(0, screenSize.Y);
// Empty sphere centered at near plane.
shape.Radius = 0;
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3(0.123f, -0.543f, -1));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.AreEqual(0, screenSize.X);
Assert.AreEqual(0, screenSize.Y);
// Create sphere which as a bounding sphere of ~1 unit diameter:
// Since the bounding sphere is based on the AABB, we need to make the
// actual sphere a bit smaller.
shape.Radius = 1 / (2 * (float)Math.Sqrt(3)) + Numeric.EpsilonF;
// Sphere at camera position.
geometricObject.Pose = cameraNode.PoseWorld;
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.Greater(screenSize.X, 200);
Assert.Greater(screenSize.Y, 100);
// Sphere at near plane.
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3(0.123f, -0.543f, -1));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.IsTrue(Numeric.AreEqual(screenSize.X, 50.0f, 10f));
Assert.IsTrue(Numeric.AreEqual(screenSize.Y, 50.0f, 10f));
// Double distance --> half size
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3(0.123f, -0.543f, -2));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.IsTrue(Numeric.AreEqual(screenSize.X, 25.0f, 5f));
Assert.IsTrue(Numeric.AreEqual(screenSize.Y, 25.0f, 5f));
}
public SpatialPartitionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.Gray;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3(0, 1, 10), 0, 0);
// Create a spatial partition. DigitalRune Geometry supports several types, see also
// http://digitalrune.github.io/DigitalRune-Documentation/html/e32cab3b-cc7c-42ee-8ec9-23dd4467edd0.htm#WhichPartition
// An AabbTree is useful for static objects. A DynamicAabbTree is good for moving objects.
// The spatial partition can manage different types of items. In this case it manages
// GeometricObjects. A delegate has to inform the spatial partition how to get the AABB
// of an object.
//_spatialPartition = new DynamicAabbTree<GeometricObject>
_spatialPartition = new AabbTree <GeometricObject>
{
GetAabbForItem = geometricObject => geometricObject.Aabb,
// Optional: The tree is automatically built using a mixed top-down/bottom-up approach.
// Bottom-up building is slower but produces better trees. If the tree building takes too
// long, we can lower the BottomUpBuildThreshold (default is 128).
//BottomUpBuildThreshold = 0,
// Optional: A filter can be set to disable certain kind of overlaps.
//Filter = ...
};
// Create a triangle mesh.
var triangleMesh = new SphereShape(1).GetMesh(0.01f, 4);
var triangleMeshShape = new TriangleMeshShape(triangleMesh)
{
// TriangleMeshShapes can also use a spatial partition to manage triangle.
// The items in the spatial partition are the triangle indices. The GetAabbForItem
// delegate is set automatically.
Partition = new AabbTree <int>(),
};
// Spatial partitions are built automatically when needed. However, it is still recommended
// to call Update to initialize the spatial partition explicitly.
triangleMeshShape.Partition.Update(false);
// Add a lot of triangle mesh objects to _spatialPartition.
var random = new Random();
for (int i = 0; i < 50; i++)
{
var randomPosition = new Vector3(random.NextFloat(-6, 6), random.NextFloat(-3, 3), random.NextFloat(-10, 0));
var geometricObject = new GeometricObject(triangleMeshShape, new Pose(randomPosition));
_spatialPartition.Add(geometricObject);
}
_spatialPartition.Update(false);
}
public CollisionDetectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// ----- Initialize collision detection and create objects.
// Create a geometric object with a box shape.
// Position it on the left with an arbitrary rotation.
var geometricObjectA = new GeometricObject(
new BoxShape(1, 2, 3),
new Pose(new Vector3F(-2, -1, 0), Matrix33F.CreateRotationZ(0.1f)));
// Create a geometric object with a capsule shape.
// Position it on the right with an arbitrary rotation.
var geometricObjectB = new GeometricObject(
new CapsuleShape(1, 3),
new Pose(new Vector3F(2, -1, 0), Matrix33F.CreateRotationZ(-0.2f)));
// Create a geometric object with a complex shape that is the convex hull of
// a circle and a rectangle. Position it on the top with an arbitrary rotation.
// (A ConvexHullOfShapes is a collection of different shapes with different
// positions and orientations. The ConvexHullOfShapes combines these shapes
// into a single shape by building their convex hull.)
var complexShape = new ConvexHullOfShapes();
complexShape.Children.Add(new GeometricObject(new RectangleShape(1, 1), new Pose(new Vector3F(0, 0, 1))));
complexShape.Children.Add(new GeometricObject(new CircleShape(1), new Pose(new Vector3F(0, 0, -1))));
var geometricObjectC = new GeometricObject(
complexShape,
new Pose(new Vector3F(0, 2, 0), QuaternionF.CreateRotation(Vector3F.UnitZ, new Vector3F(1, 1, 1))));
// Create collision objects for the geometric objects.
// (A collision object is just a wrapper around the geometric object that
// stores additional information that is required by the collision detection.)
_collisionObjectA = new CollisionObject(geometricObjectA);
_collisionObjectB = new CollisionObject(geometricObjectB);
_collisionObjectC = new CollisionObject(geometricObjectC);
// Create a collision detection.
// (The CollisionDetection stores general parameters and it can be used to
// perform closest-point and contact queries.)
_collisionDetection = new CollisionDetection();
// Create a new collision domain and add the collision objects.
// (A CollisionDomain manages multiple collision objects. It improves the
// performance of contact queries by reusing results of the last frame.)
_domain = new CollisionDomain(_collisionDetection);
_domain.CollisionObjects.Add(_collisionObjectA);
_domain.CollisionObjects.Add(_collisionObjectB);
_domain.CollisionObjects.Add(_collisionObjectC);
}
void OnCollisionEnter(Collision col)
{
if (collisionEnterCallback != null)
{
GeometricObject obj = col.gameObject.GetComponent <GeometricObject>();
if (obj != null)
{
collisionEnterCallback(id, obj.id);
}
}
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3(), Quaternion.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new LineSegmentShape(new Vector3(0, 5, 0), new Vector3(0, -5, 0)), Pose.Identity);
cs = new MinkowskiSumShape
{
ObjectA = child0,
ObjectB = child1
};
}
public void TestEnabledDisabled()
{
var shape = new SphereShape(1);
var goA = new GeometricObject(shape, Pose.Identity);
var coA = new CollisionObject(goA);
var goB = new GeometricObject(shape, Pose.Identity);
var coB = new CollisionObject(goB);
var cd = new CollisionDomain(new CollisionDetection());
cd.CollisionObjects.Add(coA);
cd.CollisionObjects.Add(coB);
// not touching
goB.Pose = new Pose(new Vector3(3, 3, 0));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// not touching, disabled
coB.Enabled = false;
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, disabled
goB.Pose = new Pose(new Vector3(1, 1, 1));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, enabled
coB.Enabled = true;
cd.Update(0);
Assert.AreEqual(1, cd.ContactSets.Count);
// not touching - but broadphase overlap, enabled
goB.Pose = new Pose(new Vector3(1.8f, 1.8f, 0));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// not touching, disabled
coB.Enabled = false;
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, disabled
goB.Pose = new Pose(new Vector3(1, 1, 1));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, enabled
coB.Enabled = true;
cd.Update(0);
Assert.AreEqual(1, cd.ContactSets.Count);
}
public void ValidateNewObjectWithInvalidShape()
{
GlobalSettings.ValidationLevel = 0xff;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
shape.Radius = float.NaN;
Assert.Throws <GeometryException>(() => cd.CollisionObjects.Add(co));
}
public void ValidateInvalidScaleChange()
{
GlobalSettings.ValidationLevel = 0xff;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
cd.CollisionObjects.Add(co);
Assert.Throws <GeometryException>(() => geometricObject.Scale = new Vector3(1, 1, float.NaN));
}
static void removeObject(GeometricObject go)
{
if (go is Compound)
{
Compound com = (Compound)go;
foreach (GeometricObject g in com.Objects)
{
removeObject(g);
}
}
GeometricObject.Remove(go.Name);
}
public SimpleFixture(GeometricObject geometricObject, List <UniformMaterial> materialCollection, UniformMaterial material, FixtureDescriptor descriptor, Matrix4x4 realParentPose)
{
_wrappedGeometricObject = geometricObject;
_materialCollection = materialCollection;
_material = material;
UserData = descriptor.UserData;
ShapeFactory = new SimpleFixtureShapeFactory(this);
MaterialFactory = new SimpleFixtureMaterialFactory(this);
_pose = descriptor.Pose;
_root = false;
_realParentPose = realParentPose;
}
SimpleFixture(DR.RigidBody wrappedRigidBody, FixtureDescriptor descriptor)
{
_wrappedRigidBody = wrappedRigidBody;
_wrappedGeometricObject = new GeometricObject(new EmptyShape(), descriptor.Pose.ToDigitalRune());
_wrappedRigidBody.Shape = new TransformedShape(_wrappedGeometricObject);
_wrappedRigidBody.Material = new UniformMaterial();
UserData = descriptor.UserData;
_pose = descriptor.Pose;
ShapeFactory = new SimpleFixtureShapeFactory(this);
_root = true;
MaterialFactory = new SimpleFixtureMaterialFactory(this);
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
public CharacterController(CollisionDomain domain)
{
_collisionDomain = domain;
// Create a game object for the character controller.
GeometricObject = new GeometricObject(
new CapsuleShape(Width / 2, Height),
new Pose(new Vector3F(0, Height / 2, 0)));
// Create a collision object for the game object and add it to the collision domain.
CollisionObject = new CollisionObject(GeometricObject);
_collisionDomain.CollisionObjects.Add(CollisionObject);
}
public void NoValidation1()
{
GlobalSettings.ValidationLevel = 0;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
// No exception with validation level 0.
shape.Radius = float.NaN;
cd.CollisionObjects.Add(co);
}
public void CloneWithPartition()
{
CompositeShape compositeShape = new CompositeShape();
for (int i = 0; i < 10; i++)
{
Pose pose = new Pose(new Vector3F(i, i, i));
PointShape point = new PointShape(i, i, i);
GeometricObject geometry = new GeometricObject(point, pose);
compositeShape.Children.Add(geometry);
}
CloneWithPartition(compositeShape, new AabbTree<int>());
CloneWithPartition(compositeShape, new AdaptiveAabbTree<int>());
CloneWithPartition(compositeShape, new CompressedAabbTree());
CloneWithPartition(compositeShape, new DynamicAabbTree<int>());
CloneWithPartition(compositeShape, new SweepAndPruneSpace<int>());
}
public void Clone()
{
Pose pose = new Pose(new Vector3F(1, 2, 3));
PointShape pointShape = new PointShape(3, 4, 5);
GeometricObject geometry = new GeometricObject(pointShape, pose);
TransformedShape transformedShape = new TransformedShape(geometry);
TransformedShape clone = transformedShape.Clone() as TransformedShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.Child);
Assert.AreNotSame(geometry, clone.Child);
Assert.IsTrue(clone.Child is GeometricObject);
Assert.AreEqual(pose, clone.Child.Pose);
Assert.IsNotNull(clone.Child.Shape);
Assert.AreNotSame(pointShape, clone.Child.Shape);
Assert.IsTrue(clone.Child.Shape is PointShape);
Assert.AreEqual(pointShape.Position, ((PointShape)clone.Child.Shape).Position);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void LookupWithoutTable()
{
IGeometricObject geometricObjectA = new GeometricObject();
IGeometricObject geometricObjectB = new GeometricObject();
IGeometricObject geometricObjectC = new GeometricObject();
CollisionObject collisionObjectA = new CollisionObject(geometricObjectA);
CollisionObject collisionObjectB = new CollisionObject(geometricObjectB);
CollisionObject collisionObjectC = new CollisionObject(geometricObjectC);
var collisionObjectCollection = new CollisionObjectCollection();
Assert.IsFalse(collisionObjectCollection.EnableLookupTable);
Assert.IsNull(collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Add(collisionObjectA);
collisionObjectCollection.Add(collisionObjectB);
collisionObjectCollection.Add(collisionObjectC);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.AreEqual(collisionObjectB, collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Remove(collisionObjectB);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Clear();
Assert.IsNull(collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Add(collisionObjectA);
collisionObjectCollection[0] = collisionObjectB;
Assert.IsNull(collisionObjectCollection.Get(geometricObjectA));
Assert.AreEqual(collisionObjectB, collisionObjectCollection.Get(geometricObjectB));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectC));
}
public virtual void AddObject(GeometricObject o)
{
bbox = BBox.Join(bbox, o.GetBoundingBox());
Objects.Add(o);
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
cs = new MinkowskiSumShape
{
ObjectA = child0,
ObjectB = child1
};
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(0, 5, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(0, -5, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
cs = new CompositeShape();
cs.Children.Add(child0);
cs.Children.Add(child1);
}
public void ValidateNewObjectWithInvalidShape()
{
GlobalSettings.ValidationLevel = 0xff;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
shape.Radius = float.NaN;
Assert.Throws<GeometryException>(() => cd.CollisionObjects.Add(co));
}
public void ValidateInvalidPoseChange()
{
GlobalSettings.ValidationLevel = 0xff;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
cd.CollisionObjects.Add(co);
var matrix = Matrix33F.Identity;
matrix.M11 = float.NaN;
Assert.Throws<GeometryException>(() => geometricObject.Pose = new Pose(new Vector3F(), matrix));
}
public void ComputeCapsuleWithRandomPoints()
{
float height;
float radius;
Pose pose;
const int numberOfTests = 100;
RandomHelper.Random = new Random(377);
for (int test = 0; test < numberOfTests; test++)
{
// Fill list with a random number of random points.
int numberOfPoints = RandomHelper.Random.NextInteger(2, 100);
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < numberOfPoints; i++)
points.Add(RandomHelper.Random.NextVector3F(-10, 100));
GeometryHelper.ComputeBoundingCapsule(points, out radius, out height, out pose);
// Check if sphere can be valid.
Assert.IsTrue(radius >= 0);
Assert.IsTrue(height >= 2 * radius);
Assert.IsTrue(!float.IsNaN(pose.Position.Length));
Assert.IsTrue(pose.Orientation.IsRotation);
// Test if all points are in the shape.
var cd = new CollisionDetection();
GeometricObject geometry = new GeometricObject(new CapsuleShape(radius, height), pose);
CollisionObject boundingObject = new CollisionObject(geometry);
// Test if all points are in the bounding shape.
for (int i = 0; i < numberOfPoints; i++)
{
var point = points[i];
// Test against a sphere around the point. Some points are exactly on the surface
// and are very sensitive to tiny numerical errors.
var pointGeometry = new GeometricObject(new SphereShape(Numeric.EpsilonF * (height + 1)), new Pose(point));
Assert.IsTrue(cd.HaveContact(new CollisionObject(pointGeometry), boundingObject));
}
}
}
public void CreateBoundingShape()
{
int numberOfBoxes = 0;
int numberOfSpheres = 0;
const int numberOfTests = 100;
RandomHelper.Random = new Random(727);
for (int test = 0; test < numberOfTests; test++)
{
// Fill list with a random number of random points.
int numberOfPoints = RandomHelper.Random.NextInteger(2, 100);
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < numberOfPoints; i++)
points.Add(RandomHelper.Random.NextVector3F(-10, 100));
Shape shape = GeometryHelper.CreateBoundingShape(points);
GeometricObject geometry = new GeometricObject(shape);
CollisionObject boundingObject = new CollisionObject(geometry);
if (shape is BoxShape)
numberOfBoxes++;
if (shape is SphereShape)
numberOfSpheres++;
if (((TransformedShape)shape).Child.Shape is BoxShape)
numberOfBoxes++;
else
numberOfSpheres++;
Assert.IsNotNull(shape);
var cd = new CollisionDetection();
// Test if all points are in the bounding shape.
for (int i = 0; i < numberOfPoints; i++)
{
var point = points[i];
// Test against a sphere around the point. Some points are exactly on the surface
// and are very sensitive to tiny numerical errors.
var pointGeometry = new GeometricObject(new SphereShape(Numeric.EpsilonF * 10), new Pose(point));
Assert.IsTrue(cd.HaveContact(new CollisionObject(pointGeometry), boundingObject));
}
}
Console.WriteLine("ShapeHelper.CreateBoundingShape: Number of Boxes : Number of Spheres = " + numberOfBoxes + " : " + numberOfSpheres);
}
public void ComputeBoundingShapeCenteredSphere()
{
RandomHelper.Random = new Random(123);
var radius = new Vector3F(3, 0, 0);
var points = new List<Vector3F>
{
new Vector3F(3, 0, 0), new Vector3F(-3, 0, 0),
new Vector3F(0, 3, 0), new Vector3F(0, -3, 0),
new Vector3F(0, 0, 3), new Vector3F(0, 0, -3),
};
for (int i = 0; i < 40; i++)
points.Add(RandomHelper.Random.NextQuaternionF().Rotate(radius));
var shape = GeometryHelper.CreateBoundingShape(points);
SphereShape s = (SphereShape)shape;
Assert.IsTrue(Numeric.AreEqual(3, s.Radius));
var cd = new CollisionDetection();
GeometricObject geometry = new GeometricObject(shape);
CollisionObject boundingObject = new CollisionObject(geometry);
// Test if all points are in the bounding shape.
for (int i = 0; i < points.Count; i++)
{
var point = points[i];
// Test against a sphere around the point. Some points are exactly on the surface
// and are very sensitive to tiny numerical errors.
var pointGeometry = new GeometricObject(new SphereShape(Numeric.EpsilonF * 10), new Pose(point));
Assert.IsTrue(cd.HaveContact(new CollisionObject(pointGeometry), boundingObject));
}
}
public void TestEnabledDisabled()
{
var shape = new SphereShape(1);
var goA = new GeometricObject(shape, Pose.Identity);
var coA = new CollisionObject(goA);
var goB = new GeometricObject(shape, Pose.Identity);
var coB = new CollisionObject(goB);
var cd = new CollisionDomain(new CollisionDetection());
cd.CollisionObjects.Add(coA);
cd.CollisionObjects.Add(coB);
// not touching
goB.Pose = new Pose(new Vector3F(3, 3, 0));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// not touching, disabled
coB.Enabled = false;
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, disabled
goB.Pose = new Pose(new Vector3F(1, 1, 1));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, enabled
coB.Enabled = true;
cd.Update(0);
Assert.AreEqual(1, cd.ContactSets.Count);
// not touching - but broadphase overlap, enabled
goB.Pose = new Pose(new Vector3F(1.8f, 1.8f, 0));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// not touching, disabled
coB.Enabled = false;
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, disabled
goB.Pose = new Pose(new Vector3F(1, 1, 1));
cd.Update(0);
Assert.AreEqual(0, cd.ContactSets.Count);
// touching, enabled
coB.Enabled = true;
cd.Update(0);
Assert.AreEqual(1, cd.ContactSets.Count);
}
public void TestEnabledDisabledStochastic()
{
// Test random Enabled and Pose values.
int numberOfObjects = 20;
int numberOfSteps = 1000;
Shape shape = new SphereShape(1);
//var meshShape = new TriangleMeshShape(shape.GetMesh(0.01f, 4));
//meshShape.Partition = new AabbTree<int>();
//shape = meshShape;
var geometricObjects = new GeometricObject[numberOfObjects];
var collisionObjects = new CollisionObject[numberOfObjects];
var domain = new CollisionDomain(new CollisionDetection());
for (int i = 0; i < numberOfObjects; i++)
{
geometricObjects[i] = new GeometricObject(shape);
collisionObjects[i] = new CollisionObject(geometricObjects[i]);
domain.CollisionObjects.Add(collisionObjects[i]);
}
for (int i = 0; i < numberOfSteps; i++)
{
for (int j = 0; j < numberOfObjects; j++)
{
collisionObjects[j].Enabled = RandomHelper.Random.NextBool();
domain.Update(0);
if (RandomHelper.Random.NextFloat(0, 1) > 0.5f)
geometricObjects[j].Pose = new Pose(RandomHelper.Random.NextVector3F(-2, 2));
domain.Update(0);
}
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
domain.Update(0);
// Compare result with brute-force check.
for (int j = 0; j < numberOfObjects; j++)
{
for (int k = j + 1; k < numberOfObjects; k++)
{
var haveContact = domain.CollisionDetection.HaveContact(collisionObjects[j], collisionObjects[k]);
Assert.AreEqual(haveContact, domain.ContactSets.GetContacts(collisionObjects[j], collisionObjects[k]) != null);
}
}
}
}
public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiSumShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiSumShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
private void CreateCompositeShape()
{
// Convert islands into CompositeShape with convex children.
_decomposition = new CompositeShape();
if (_islands == null)
return;
foreach (var island in _islands)
{
if (island.Vertices.Length <= 0)
continue;
// ReSharper disable EmptyGeneralCatchClause
try
{
// ----- Get convex hull mesh.
DcelMesh convexHullMesh;
if (island.ConvexHullBuilder == null)
{
// Create convex hull from scratch.
// Get all vertices of all island triangles.
var points = island.Triangles.SelectMany(t => t.Vertices);
// Create convex hull.
convexHullMesh = GeometryHelper.CreateConvexHull(points, VertexLimit, SkinWidth);
}
else
{
// Use existing convex hull.
convexHullMesh = island.ConvexHullBuilder.Mesh;
if (convexHullMesh.Vertices.Count > VertexLimit || SkinWidth != 0)
convexHullMesh.ModifyConvex(VertexLimit, SkinWidth);
}
// ----- Add a ConvexPolyhedron to CompositeShape.
if (convexHullMesh.Vertices.Count > 0)
{
var convexHullPoints = convexHullMesh.Vertices.Select(v => v.Position);
var convexPolyhedron = new ConvexPolyhedron(convexHullPoints);
var geometricObject = new GeometricObject(convexPolyhedron);
_decomposition.Children.Add(geometricObject);
}
}
catch
{
// Could not generate convex hull. Ignore object.
}
// ReSharper restore EmptyGeneralCatchClause
}
}
public void NoValidation1()
{
GlobalSettings.ValidationLevel = 0;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
// No exception with validation level 0.
shape.Radius = float.NaN;
cd.CollisionObjects.Add(co);
}
public void ValidateInvalidScaleChange()
{
GlobalSettings.ValidationLevel = 0xff;
CollisionDomain cd = new CollisionDomain(new CollisionDetection());
var shape = new SphereShape(1);
var geometricObject = new GeometricObject(shape, Pose.Identity);
var co = new CollisionObject(geometricObject);
cd.CollisionObjects.Add(co);
Assert.Throws<GeometryException>(() => geometricObject.Scale = new Vector3F(1, 1, float.NaN));
}
public void Grow()
{
var a = new Aabb(new Vector3F(1, 2, 3), new Vector3F(3, 4, 5));
a.Grow(new Aabb(new Vector3F(1, 2, 3), new Vector3F(3, 4, 5)));
Assert.AreEqual(new Aabb(new Vector3F(1, 2, 3), new Vector3F(3, 4, 5)), a);
a.Grow(new Aabb(new Vector3F(-1, 2, 3), new Vector3F(3, 4, 5)));
Assert.AreEqual(new Aabb(new Vector3F(-1, 2, 3), new Vector3F(3, 4, 5)), a);
a.Grow(new Aabb(new Vector3F(1, 2, 3), new Vector3F(3, 5, 5)));
Assert.AreEqual(new Aabb(new Vector3F(-1, 2, 3), new Vector3F(3, 5, 5)), a);
var geo = new GeometricObject(new SphereShape(3), new Pose(new Vector3F(1, 0, 0)));
a.Grow(geo);
Assert.AreEqual(new Aabb(new Vector3F(-2, -3, -3), new Vector3F(4, 5, 5)), a);
}
public override void AddObject(GeometricObject o)
{
bbox.Union(o.GetBoundingBox());
Objects.Add(o);
}
