public void TestMovingBoxImpactPoint()
{
AxisAlignedBox3 leftBox = new AxisAlignedBox3(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(10.0f, 10.0f, 10.0f)
);
AxisAlignedBox3 rightBox = new AxisAlignedBox3(
new Vector3(100.0f, 0.0f, 0.0f), new Vector3(110.0f, 10.0f, 10.0f)
);
/*
* Assert.AreEqual(
* new float[] { 0.0f },
* leftBox.LocateImpact(new Vector3(0.0f, 0.0f, 0.0f), leftBox),
* "Contact with clone occured immediately"
* );
*
* Assert.AreEqual(
* new float[] { 0.45f },
* leftBox.LocateImpact(new Vector3(200.0f, 0.0f, 0.0f), rightBox),
* "Fast moving contact with right box is determined exactly"
* );
*
* Assert.AreEqual(
* new float[] { 0.45f },
* rightBox.LocateImpact(new Vector3(-200.0f, 0.0f, 0.0f), leftBox),
* "Fast moving contact with left box is determined exactly"
* );
*/
}
public void TestBoundingBox()
{
Volumes.Box3 box = new Volumes.Box3(
MatrixHelper.Create(
new Vector3(15.0f, 15.0f, 15.0f),
Vector3.Normalize(new Vector3(1.0f, -1.0f, -1.0f)),
Vector3.Normalize(new Vector3(1.0f, 1.0f, -1.0f)),
Vector3.Normalize(new Vector3(1.0f, 1.0f, 1.0f))
),
new Vector3(5.0f, 5.0f, 5.0f)
);
float growth = (float)Math.Sqrt(75.0f);
AxisAlignedBox3 expectedBoundingBox = new AxisAlignedBox3(
new Vector3(15.0f - growth, 15.0f - growth, 15.0f - growth),
new Vector3(15.0f + growth, 15.0f + growth, 15.0f + growth)
);
GeoAssertHelper.AreAlmostEqual(
expectedBoundingBox, box.BoundingBox,
Specifications.MaximumDeviation,
"Bounding box for oriented box is correctly determined"
);
}
public void TestMovingBoxImpactPoint() {
AxisAlignedBox3 leftBox = new AxisAlignedBox3(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(10.0f, 10.0f, 10.0f)
);
AxisAlignedBox3 rightBox = new AxisAlignedBox3(
new Vector3(100.0f, 0.0f, 0.0f), new Vector3(110.0f, 10.0f, 10.0f)
);
/*
Assert.AreEqual(
new float[] { 0.0f },
leftBox.LocateImpact(new Vector3(0.0f, 0.0f, 0.0f), leftBox),
"Contact with clone occured immediately"
);
Assert.AreEqual(
new float[] { 0.45f },
leftBox.LocateImpact(new Vector3(200.0f, 0.0f, 0.0f), rightBox),
"Fast moving contact with right box is determined exactly"
);
Assert.AreEqual(
new float[] { 0.45f },
rightBox.LocateImpact(new Vector3(-200.0f, 0.0f, 0.0f), leftBox),
"Fast moving contact with left box is determined exactly"
);
*/
}
public void TestBoundingBox() {
AxisAlignedBox3 box = new AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
AxisAlignedBox3 boundingBox = box.BoundingBox;
Assert.AreEqual(
box, boundingBox,
"Bounding box for axis aligned box is identical to the box itself"
);
}
public void TestMassProperties()
{
AxisAlignedBox3 testBox =
new AxisAlignedBox3(new Vector3(100, 100, 100), new Vector3(110, 120, 130));
Assert.AreEqual(
new Vector3(105, 110, 115), testBox.CenterOfMass,
"Center of mass is correctly positioned"
);
Assert.AreEqual(6000, testBox.Mass, "Mass of box is exactly determined");
Assert.AreEqual(2200, testBox.SurfaceArea, "Surface area of box is exactly determined");
}
public void TestMassProperties() {
AxisAlignedBox3 testBox =
new AxisAlignedBox3(new Vector3(100, 100, 100), new Vector3(110, 120, 130));
Assert.AreEqual(
new Vector3(105, 110, 115), testBox.CenterOfMass,
"Center of mass is correctly positioned"
);
Assert.AreEqual(6000, testBox.Mass, "Mass of box is exactly determined");
Assert.AreEqual(2200, testBox.SurfaceArea, "Surface area of box is exactly determined");
}
public void TestBoundingBox()
{
AxisAlignedBox3 box = new AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
AxisAlignedBox3 boundingBox = box.BoundingBox;
Assert.AreEqual(
box, boundingBox,
"Bounding box for axis aligned box is identical to the box itself"
);
}
/// <summary>Determines if an object is identical to the axis aligned box</summary>
/// <param name="obj">Object to compare to</param>
/// <returns>True if the object is identical to the axis aligned box</returns>
public override bool Equals(object obj)
{
AxisAlignedBox3 box = obj as AxisAlignedBox3;
if (!ReferenceEquals(box, null))
{
return(this == box);
}
else
{
return(false);
}
}
public void TestAlmostEqualWithAxisAlignedBoxes()
{
Vector3 exactVector = new Vector3(exactFloat, exactFloat, exactFloat);
Vector3 minusOneVector = new Vector3(minusOneFloat, minusOneFloat, minusOneFloat);
Vector3 plusOneVector = new Vector3(plusOneFloat, plusOneFloat, plusOneFloat);
Volumes.AxisAlignedBox3 oneOffAabb = new Volumes.AxisAlignedBox3(
minusOneVector, plusOneVector
);
Volumes.AxisAlignedBox3 exactAabb = new Volumes.AxisAlignedBox3(
exactVector, exactVector
);
GeoAssertHelper.AreAlmostEqual(exactAabb, oneOffAabb, 1);
}
public void TestBoundingSphere()
{
AxisAlignedBox3 box = new AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
Sphere3 boundingSphere = box.BoundingSphere;
Assert.AreEqual(
new Vector3(15.0f, 15.0f, 15.0f), boundingSphere.Center,
"Center of bounding sphere correctly determined"
);
Assert.AreEqual(
(float)Math.Sqrt(75.0f), boundingSphere.Radius,
"Radius of bounding sphere exactly encloses the box"
);
}
public void TestThrowOnAlmostEqualWithTooLargeAxisAlignedBox()
{
Vector3 exactVector = new Vector3(exactFloat, exactFloat, exactFloat);
Vector3 minusTwoVector = new Vector3(minusTwoFloat, minusTwoFloat, minusTwoFloat);
Vector3 plusTwoVector = new Vector3(plusTwoFloat, plusTwoFloat, plusTwoFloat);
Volumes.AxisAlignedBox3 twoOffAabb = new Volumes.AxisAlignedBox3(
minusTwoVector, plusTwoVector
);
Volumes.AxisAlignedBox3 exactAabb = new Volumes.AxisAlignedBox3(
exactVector, exactVector
);
Assert.Throws <AssertionException>(
delegate() { GeoAssertHelper.AreAlmostEqual(exactAabb, twoOffAabb, 1); }
);
}
public void TestBoundingBox()
{
Sphere3 sphere = new Sphere3(
new Vector3(15.0f, 15.0f, 15.0f), 5.0f
);
AxisAlignedBox3 boundingBox = sphere.BoundingBox;
Assert.AreEqual(
new Vector3(10.0f, 10.0f, 10.0f), boundingBox.Min,
"Minimum corner of bounding box correctly determined"
);
Assert.AreEqual(
new Vector3(20.0f, 20.0f, 20.0f), boundingBox.Max,
"Maximum corner of bounding box correctly determined"
);
}
public void TestBoundingBox() {
Volumes.Box3 box = new Volumes.Box3(
MatrixHelper.Create(
new Vector3(15.0f, 15.0f, 15.0f),
Vector3.Normalize(new Vector3(1.0f, -1.0f, -1.0f)),
Vector3.Normalize(new Vector3(1.0f, 1.0f, -1.0f)),
Vector3.Normalize(new Vector3(1.0f, 1.0f, 1.0f))
),
new Vector3(5.0f, 5.0f, 5.0f)
);
float growth = (float)Math.Sqrt(75.0f);
AxisAlignedBox3 expectedBoundingBox = new AxisAlignedBox3(
new Vector3(15.0f - growth, 15.0f - growth, 15.0f - growth),
new Vector3(15.0f + growth, 15.0f + growth, 15.0f + growth)
);
GeoAssertHelper.AreAlmostEqual(
expectedBoundingBox, box.BoundingBox,
Specifications.MaximumDeviation,
"Bounding box for oriented box is correctly determined"
);
}
/// <summary>Ensures that two axis aligned boxes are equal</summary>
/// <param name="expected">Expected box</param>
/// <param name="actual">Actual box</param>
/// <param name="deltaUlps">Allowed deviation in representable floating point values</param>
/// <param name="message">Message to display when the boxes are not equal</param>
public static void AreAlmostEqual(
Volumes.AxisAlignedBox3 expected, Volumes.AxisAlignedBox3 actual,
int deltaUlps, string message
)
{
bool almostEqual =
FloatHelper.AreAlmostEqual(expected.Min.X, actual.Min.X, deltaUlps) &&
FloatHelper.AreAlmostEqual(expected.Min.Y, actual.Min.Y, deltaUlps) &&
FloatHelper.AreAlmostEqual(expected.Min.Z, actual.Min.Z, deltaUlps) &&
FloatHelper.AreAlmostEqual(expected.Max.X, actual.Max.X, deltaUlps) &&
FloatHelper.AreAlmostEqual(expected.Max.Y, actual.Max.Y, deltaUlps) &&
FloatHelper.AreAlmostEqual(expected.Max.Z, actual.Max.Z, deltaUlps);
if (almostEqual)
{
return;
}
// Now we already know that the two boxes are not equal even within the allowed
// deviation (delta argument). In order to force NUnit to output a good error
// message, we now let NUnit do the job again fully well knowing that it will
// fail. This allows for deltas and good NUnit integration at the same time.
Assert.AreEqual(expected, actual, message);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box) {
return Collisions.AabbObbCollider.CheckContact(
box.Extents, this.Transform, this.Extents
);
}
public void TestThrowOnAlmostEqualWithTooLargeAxisAlignedBox() {
Vector3 exactVector = new Vector3(exactFloat, exactFloat, exactFloat);
Vector3 minusTwoVector = new Vector3(minusTwoFloat, minusTwoFloat, minusTwoFloat);
Vector3 plusTwoVector = new Vector3(plusTwoFloat, plusTwoFloat, plusTwoFloat);
Volumes.AxisAlignedBox3 twoOffAabb = new Volumes.AxisAlignedBox3(
minusTwoVector, plusTwoVector
);
Volumes.AxisAlignedBox3 exactAabb = new Volumes.AxisAlignedBox3(
exactVector, exactVector
);
Assert.Throws<AssertionException>(
delegate() { GeoAssertHelper.AreAlmostEqual(exactAabb, twoOffAabb, 1); }
);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box) {
return Collisions.AabbSphereCollider.CheckContact(
box.Min, box.Max, this.Center, this.Radius
);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box) {
return Collisions.AabbMeshCollider.CheckContact(
box.Min, box.Max, this
);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box)
{
return(Collisions.AabbObbCollider.CheckContact(
box.Extents, this.Transform, this.Extents
));
}
/// <summary>Ensures that two axis aligned boxes are equal</summary>
/// <param name="expected">Expected box</param>
/// <param name="actual">Actual box</param>
/// <param name="deltaUlps">Allowed deviation in representable floating point values</param>
public static void AreAlmostEqual(
Volumes.AxisAlignedBox3 expected, Volumes.AxisAlignedBox3 actual, int deltaUlps
)
{
AreAlmostEqual(expected, actual, deltaUlps, null);
}
/// <summary>Determines where the range clips an axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>The times at which the range enters or leaves the volume</returns>
/// <remarks>
/// Taken from the article "Simple Intersection Tests for Games" on
/// Gamasutra by Gomez et al.
/// </remarks>
public bool Intersects(AxisAlignedBox3 box) {
Vector3 lineDirection = (End - Start);
float lineHalfLength = lineDirection.Length();
lineDirection /= lineHalfLength;
lineHalfLength /= 2.0f;
// ALGORITHM: Use the separating axis theorem to see if the line segment and
// the box overlap. A line segment is a degenerate OBB.
Vector3 distance = box.Center - (Start + End) / 2.0f;
float r;
// Do any of the principal axes form a separating axis?
Vector3 scaledDimensions = new Vector3(
box.Dimensions.X * lineHalfLength * Math.Abs(lineDirection.X),
box.Dimensions.Y * lineHalfLength * Math.Abs(lineDirection.Y),
box.Dimensions.Z * lineHalfLength * Math.Abs(lineDirection.Z)
);
if(Math.Abs(distance.X) > scaledDimensions.X)
return false;
if(Math.Abs(distance.Y) > scaledDimensions.Y)
return false;
if(Math.Abs(distance.Z) > scaledDimensions.Z)
return false;
// NOTE: Since the separating axis is perpendicular to the line in these
// last four cases, the line does not contribute to the projection.
//l.cross(x-axis)?
r =
box.Dimensions.Y * Math.Abs(lineDirection.Z) +
box.Dimensions.Z * Math.Abs(lineDirection.Y);
if(Math.Abs(distance.Y * lineDirection.Z - distance.Z * lineDirection.Y) > r)
return false;
//l.cross(y-axis)?
r =
box.Dimensions.X * Math.Abs(lineDirection.Z) +
box.Dimensions.Z * Math.Abs(lineDirection.X);
if(Math.Abs(distance.Z * lineDirection.X - distance.X * lineDirection.Z) > r)
return false;
//l.cross(z-axis)?
r =
box.Dimensions.X * Math.Abs(lineDirection.Y) +
box.Dimensions.Y * Math.Abs(lineDirection.X);
if(Math.Abs(distance.X * lineDirection.Y - distance.Y * lineDirection.X) > r)
return false;
return true;
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box) {
throw new NotImplementedException("Not implemented yet");
}
public AxisAlignedBox3(AxisAlignedBox3 other)
: this(other.Min, other.Max)
{
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box)
{
throw new NotImplementedException("Not implemented yet");
}
public void TestAlmostEqualWithAxisAlignedBoxes() {
Vector3 exactVector = new Vector3(exactFloat, exactFloat, exactFloat);
Vector3 minusOneVector = new Vector3(minusOneFloat, minusOneFloat, minusOneFloat);
Vector3 plusOneVector = new Vector3(plusOneFloat, plusOneFloat, plusOneFloat);
Volumes.AxisAlignedBox3 oneOffAabb = new Volumes.AxisAlignedBox3(
minusOneVector, plusOneVector
);
Volumes.AxisAlignedBox3 exactAabb = new Volumes.AxisAlignedBox3(
exactVector, exactVector
);
GeoAssertHelper.AreAlmostEqual(exactAabb, oneOffAabb, 1);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box)
{
return(Collisions.AabbSphereCollider.CheckContact(
box.Min, box.Max, this.Center, this.Radius
));
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box)
{
return(Collisions.AabbMeshCollider.CheckContact(
box.Min, box.Max, this
));
}
/// <summary>Visit an axis aligned box</summary> /// <param name="box">Box to visit</param> public abstract void Visit(AxisAlignedBox3 box);
public AxisAlignedBox3(AxisAlignedBox3 other)
: this(other.Min, other.Max) { }
/// <summary>Determines where the range clips an axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>The times at which the range enters or leaves the volume</returns>
public LineContacts FindContacts(AxisAlignedBox3 box) {
return Collisions.Ray3Aabb3Collider.FindContacts(
Origin - box.Center, Direction, box.Extents
);
}
public void TestBoundingSphere() {
AxisAlignedBox3 box = new AxisAlignedBox3(
new Vector3(10.0f, 10.0f, 10.0f), new Vector3(20.0f, 20.0f, 20.0f)
);
Sphere3 boundingSphere = box.BoundingSphere;
Assert.AreEqual(
new Vector3(15.0f, 15.0f, 15.0f), boundingSphere.Center,
"Center of bounding sphere correctly determined"
);
Assert.AreEqual(
(float)Math.Sqrt(75.0f), boundingSphere.Radius,
"Radius of bounding sphere exactly encloses the box"
);
}
/// <summary>Determines if the volume clips the axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>True if the objects overlap</returns>
public bool Intersects(AxisAlignedBox3 box) {
return Collisions.AabbAabbCollider.CheckContact(
this.Min, this.Max, box.Min, box.Max
);
}
/// <summary>Determines where the range clips an axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>The times at which the range enters or leaves the volume</returns>
public LineContacts FindContacts(AxisAlignedBox3 box) {
throw new NotImplementedException();
/*
return filterContacts(
Collisions.Line3Aabb3Collider.FindContacts(
this.Start - box.Center, this.End - this.Start, box.Dimensions / 2.0f
)
);
*/
}
/// <summary>Visit an axis aligned box</summary> /// <param name="box">Box to visit</param> public abstract void Visit(AxisAlignedBox3 box);
/// <summary>Determines where the range clips an axis aligned box</summary>
/// <param name="box">Box that will be checked for intersection</param>
/// <returns>The times at which the range enters or leaves the volume</returns>
public LineContacts FindContacts(AxisAlignedBox3 box) {
return Collisions.Line3Aabb3Collider.FindContacts(
Offset - box.Center, Direction, box.Dimensions / 2.0f
);
}
