public void TestDistanceTwoSpheres()
{
// Insertion
var tree = new NativeBVHTree(64, Allocator.Persistent);
int expectedIndex = tree.InsertLeaf(SphereCollider.Create(new float3(0, 2, 0), 2));
tree.InsertLeaf(SphereCollider.Create(new float3(0, 5, 0), 2));
// Distance query
var rayResult = new NativeList <int>(64, Allocator.Temp);
var query = new NativeBVHTree.DistanceQueryInput {
origin = new float3(0, -1, 0),
maxDistance = 3f
};
tree.DistanceQuery(query, rayResult);
// Debug
NativeBVHDebugDrawer.LastTree = tree;
NativeBVHDebugDrawer.LastTreeHits = rayResult.ToArray();
// Assert
Assert.AreEqual(1, rayResult.Length, "Expected only one hit");
Assert.AreEqual(expectedIndex, rayResult[0], "Expected nearer sphere to be the result");
}
public void TestDistanceTwoBoxesWithTransformPosition()
{
// Insertion
var tree = new NativeBVHTree(64, Allocator.Persistent);
var transform = RigidTransform.identity;
transform.pos = new float3(10, 1, 0);
var expectedIndex = tree.InsertLeaf(BoxCollider.Create(new float3(-10, 0, 0), new float3(2, 2, 2)), transform);
tree.InsertLeaf(BoxCollider.Create(new float3(-10, 0, 0), new float3(2, 2, 2)));
// Distance query
var rayResult = new NativeList <int>(64, Allocator.Temp);
var query = new NativeBVHTree.DistanceQueryInput {
origin = new float3(0, -1, 0),
maxDistance = 1.1f
};
tree.DistanceQuery(query, rayResult);
// Debug
NativeBVHDebugDrawer.LastTree = tree;
NativeBVHDebugDrawer.LastTreeHits = rayResult.ToArray();
// Assert
Assert.AreEqual(1, rayResult.Length, "Expected only one hit");
Assert.AreEqual(expectedIndex, rayResult[0], "Expected nearer box to be the result");
}
public void TestDistanceTwoBoxesWithTransformRotationAroundFarPivot()
{
// Insertion
var tree = new NativeBVHTree(64, Allocator.Persistent);
var transform = RigidTransform.identity;
transform.rot = quaternion.Euler(0, 0, 180);
var expectedIndex = tree.InsertLeaf(BoxCollider.Create(new float3(-10, 0, 0), new float3(2, 2, 2)), transform);
tree.InsertLeaf(BoxCollider.Create(new float3(-10, 0, 0), new float3(2, 2, 2)));
// Distance query
var rayResult = new NativeList <int>(64, Allocator.Temp);
var query = new NativeBVHTree.DistanceQueryInput {
origin = new float3(7, 7, 0),
maxDistance = 2f
};
tree.DistanceQuery(query, rayResult);
// Debug
NativeBVHDebugDrawer.LastTree = tree;
NativeBVHDebugDrawer.LastTreeHits = rayResult.ToArray();
// Assert
Assert.AreEqual(1, rayResult.Length, "Expected only one hit");
Assert.AreEqual(expectedIndex, rayResult[0], "Expected rotated box (to top-right) to be the hit");
}
