public void V2_Equals()
{
Vector2 a = Vector2.UnitX;
Vector2 b = Vector2.UnitX * 1.000001f;
Vector2X.Equals(a, b, 0.0001f).Should().BeTrue();
}
public void V2_RotateEquals()
{
Vector2 a = new Vector2(3, 4);
Vector2 b = a.RotateDegrees(90);
var expected = new Vector2(4, -3);
Vector2X.Equals(b, expected).Should().BeTrue();
}
public void Line_SegmentIntersectionLowSymmetry()
{
var result = LineAlgorithms.LineSegmentIntersection(
new Vector2(704, 336), new Vector2(569, 299),
new Vector2(436, 218), new Vector2(446, 357));
result.Should().NotBeNull();
Vector2X.Equals(result.IntersectionPoint, new Vector2(439.269f, 263.444f), 1e-3f).Should().BeTrue(
"Intersection was not in correct position.");
}
private static void ProjectionTest(Vector2 v, Vector2 direction, Vector2 expected)
{
Vector2 result = v.ProjectionOn(direction);
var perp = v - result;
Vector2.Dot(direction, perp).Should().BeApproximately(0, 1e-5f);
Vector2X.Equals(result, expected).Should().BeTrue(
$"Projection of {v} on {direction} should yield {expected} but got {result} instead.");
}
public void StarBuild_SixPointedStarCenter()
{
var center = new Vector2(10, 12);
var star = new StarBuilder().BuildStar(6, 8, 4, center, 1);
star.Points.Count.Should().Be(12);
var avg = star.Points.Average();
Vector2X.Equals(center, avg, 1e-6f).Should().BeTrue($"Expected {center}, actual {avg}");
}
public void Poly_Rotate()
{
var a = RectangleX.FromLTRB(0, 0, 10, 5).ToPolygon();
var b = a.RotateDegrees(90, new Vector2(10, 5));
b.Count.Should().Be(4);
b.Any(x => Vector2X.Equals(x, new Vector2(5, 5), 1e-5f)).Should().BeTrue();
b.Any(x => Vector2X.Equals(x, new Vector2(10, 5), 1e-5f)).Should().BeTrue();
b.Any(x => Vector2X.Equals(x, new Vector2(10, 15), 1e-5f)).Should().BeTrue();
b.Any(x => Vector2X.Equals(x, new Vector2(5, 15), 1e-5f)).Should().BeTrue();
}
public void V2_FromPolar()
{
Vector2 a = Vector2X.FromPolar(1, MathF.PI * 0.5f);
Vector2 b = Vector2X.FromPolar(1, MathF.PI * 1.0f);
Vector2 c = Vector2X.FromPolar(1, MathF.PI * 1.5f);
Vector2 d = Vector2X.FromPolar(1, MathF.PI * 2.0f);
Vector2X.Equals(a, Vector2.UnitY, .000001f);
Vector2X.Equals(b, Vector2.UnitX, .000001f);
Vector2X.Equals(c, Vector2.UnitY, .000001f);
Vector2X.Equals(d, Vector2.UnitX, .000001f);
}
public void Line_SegmentIntersectionHighSymmetry()
{
var result = LineAlgorithms.LineSegmentIntersection(
Vector2.UnitX,
-Vector2.UnitX,
Vector2.UnitY,
-Vector2.UnitY);
result.Should().NotBeNull();
result.U1.Should().BeApproximately(0.5f, 0.0001f);
result.U2.Should().BeApproximately(0.5f, 0.0001f);
Vector2X.Equals(Vector2.Zero, result.IntersectionPoint).Should().BeTrue("Lines should intersect at origin");
}
public void CD_ContactPoint()
{
var pa = Diamond;
var pb = new RectangleF(0.9f, -1, 1, 2).ToPolygon();
var contactPoint = collider.FindConvexContactPoint(pa, pb);
contactPoint.FirstPolygon.Should().BeEquivalentTo(pa);
contactPoint.SecondPolygon.Should().BeEquivalentTo(pb);
Vector2X.Equals(new Vector2(0.1f, 0), contactPoint.PenetrationDepth, 1e-6f).Should().BeTrue(
$"Penetration depth failed. Expected (0.1, 0) but got {contactPoint.PenetrationDepth}.");
contactPoint.FirstPolygonContactPoint.Should().Be(new Vector2(1, 0));
contactPoint.SecondPolygonContactPoint.Should().Be(new Vector2(-0.5f, 0));
}
public void CD_ContactPointGradual()
{
for (float d = 0.1f; d < 1; d += 0.05f)
{
var pa = new Polygon(Diamond.Points.Select(x => 10 * x));
var pb = new RectangleF(10 - d, -10, 10, 20).ToPolygon();
var contactPoint = collider.FindConvexContactPoint(pa, pb);
contactPoint.FirstPolygon.Should().BeEquivalentTo(pa);
contactPoint.SecondPolygon.Should().BeEquivalentTo(pb);
Vector2X.Equals(new Vector2(d, 0), contactPoint.PenetrationDepth, 1e-6f).Should().BeTrue($"Penetration depth test failed at {d}.");
Vector2X.Equals(new Vector2(10, 0), contactPoint.FirstPolygonContactPoint, 1e-6f).Should().BeTrue(
$"Contact point on diamond failed at {d}. Expected (10, 0) but got {contactPoint.FirstPolygonContactPoint}");
Vector2X.Equals(new Vector2(-5, 0), contactPoint.SecondPolygonContactPoint, 1e-6f).Should().BeTrue(
$"Contact point on rectangle failed at {d}. Expected (-5, 0) but got {contactPoint.SecondPolygonContactPoint}");
}
}
public void CD_GJK_EPA_GradualPenetrationDepth()
{
for (float d = 0.05f; d < 1; d += 0.05f)
{
var pa = new Polygon(Diamond.Points.Select(x => 10 * x));
var pb = new RectangleF(10 - d, -10, 10, 20).ToPolygon();
var gjk = new GilbertJohnsonKeerthiAlgorithm();
var simplex = gjk.FindMinkowskiSimplex(pa, pb);
var epa = new ExpandingPolytopeAlgorithm();
var pv = epa.PenetrationDepth(
v => GilbertJohnsonKeerthiAlgorithm.PolygonSupport(pa, v),
v => GilbertJohnsonKeerthiAlgorithm.PolygonSupport(pb, v),
simplex);
simplex.ContainsOrigin.Should().BeTrue($"Collision not detected by Minkowski simplex at {d}.");
Vector2X.Equals(new Vector2(d, 0), pv.Value, 1e-6f).Should().BeTrue($"Penetration depth test failed at {d}.");
}
}
