public void CanApplyCollisionForce()
{
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(1, Allocator.Persistent);
NativeArray <float3> steering = new NativeArray <float3>(1, Allocator.Persistent);
NativeArray <int> agentMovementTypes = new NativeArray <int>(1, Allocator.Persistent);
NativeArray <AgentMovement> movementTypes = new NativeArray <AgentMovement>(1, Allocator.Persistent);
movementTypes[0] = new AgentMovement()
{
mass = 1f, topSpeed = 1f, turnSpeed = 1f
};
int height = 1;
CollisionBehavior job = new CollisionBehavior()
{
minDistance = 0.01f,
movement = agentMovementTypes,
movementConfigs = movementTypes,
collision = new AgentCollision()
{
radius = 0.5f, height = height
},
steering = steering,
agents = agents,
};
/// test no steering forces are applied
/// when the target and source are the same
SpatialMapData target = new SpatialMapData()
{
position = float3.zero, height = height
};
job.ApplyCollisionForce(0, target);
Assert.AreEqual(float3.zero, steering[0]);
steering[0] = float3.zero;
/// test steering forces can be applied
/// when the agents are within collision distance
target = new SpatialMapData()
{
mass = 1f, radius = 0.5f,
position = new float3(1f, 0, 0),
height = height
};
job.ApplyCollisionForce(0, target);
Assert.AreEqual(new float3(-1f, 0, 0), steering[0]);
agents.Dispose();
steering.Dispose();
movementTypes.Dispose();
agentMovementTypes.Dispose();
}
public void CanCheckForCollisions()
{
int height = 1;
float radius = 1f;
float3 start = new float3(0.25f, 0, 0);
AgentKinematics self = new AgentKinematics()
{
position = float3.zero
};
SpatialMapData target = new SpatialMapData()
{
position = start, height = height
};
CollisionBehavior job = new CollisionBehavior()
{
minDistance = 0.01f,
collision = new AgentCollision()
{
radius = radius, height = height
}
};
/// test 2D circle intersection
bool result;
result = job.Collision(self, target);
Assert.AreEqual(true, result); // inside
target.position += new float3(0.25f, 0, 0);
result = job.Collision(self, target);
Assert.AreEqual(true, result); // on the edge
target.position += new float3(1f, 0, 0);
result = job.Collision(self, target);
Assert.AreEqual(false, result); // outside
/// test height intersection
target.position = new float3(0, 0.5f, 0);
result = job.Collision(self, target);
Assert.AreEqual(true, result); // inside (collision)
target.position = new float3(0, 1f, 0);
result = job.Collision(self, target);
Assert.AreEqual(false, result); // above (no collision)
target.position = new float3(0, -1f, 0);
result = job.Collision(self, target);
Assert.AreEqual(false, result); // below (no collision)
}
