public void CD_GJK_EPA_PenetrationDepth()
{
var pa = new Polygon(Diamond.Points.Select(x => 10 * x));
var pb = new RectangleF(9.5f, -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();
pv.Should().Be(new Vector2(0.5f, 0));
}
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}.");
}
}