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 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 TestFindContactsOnOrientedBox()
{
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 boxRadius = (float)Math.Sqrt(5 * 5 + 5 * 5 + 5 * 5);
float outRadius = boxRadius + Specifications.HullAccuracy;
float[] contacts =
new Line3(new Vector3(0.0f, 15.0f, 15.0f), Vector3.Right).FindContacts(box);
Assert.AreEqual(
15.0f - boxRadius, contacts[0], Specifications.MaximumDeviation,
"Contact locations on box for X sweep found"
);
Assert.AreEqual(
15.0f + boxRadius, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for X sweep found"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f - outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f + outRadius, 15.0f), Vector3.Right).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f, 15.0f - outRadius), Vector3.Right).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(0.0f, 15.0f, 15.0f + outRadius), Vector3.Right).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
contacts =
new Line3(new Vector3(15.0f, 0.0f, 15.0f), Vector3.Up).FindContacts(box);
Assert.AreEqual(
15.0f - boxRadius, contacts[0], Specifications.MaximumDeviation,
"Contact locations on box for Y sweep found"
);
Assert.AreEqual(
15.0f + boxRadius, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for Y sweep found"
);
Assert.IsNull(
new Line3(new Vector3(15.0f - outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f + outRadius, 0.0f, 15.0f), Vector3.Up).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 0.0f, 15.0f - outRadius), Vector3.Up).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 0.0f, 15.0f + outRadius), Vector3.Up).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
contacts =
new Line3(new Vector3(15.0f, 15.0f, 0.0f), Vector3.Backward).FindContacts(box);
Assert.AreEqual(
15.0f - boxRadius, contacts[0], Specifications.MaximumDeviation,
"Contact locations on box for Z sweep found"
);
Assert.AreEqual(
15.0f + boxRadius, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for Z sweep found"
);
Assert.IsNull(
new Line3(new Vector3(15.0f - outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f + outRadius, 15.0f, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 15.0f - outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Line3(new Vector3(15.0f, 15.0f + outRadius, 0.0f), Vector3.Backward).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
}
public void TestFindContactsOnOrientedBox() {
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 boxRadius = (float)Math.Sqrt(5 * 5 + 5 * 5 + 5 * 5);
float outRadius = boxRadius + Specifications.MaximumDeviation;
float[] contacts = new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box);
Assert.AreEqual(
(15.0f - boxRadius) / 30.0f, contacts[0], Specifications.MaximumDeviation,
"Contact locations on box for X sweep found"
);
Assert.AreEqual(
(15.0f + boxRadius) / 30.0f, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for X sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f),
new Vector3(15.0f - outRadius, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 15.0f),
new Vector3(30.0f, 15.0f, 15.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f - outRadius, 15.0f),
new Vector3(30.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f + outRadius, 15.0f),
new Vector3(30.0f, 15.0f + outRadius, 15.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f - outRadius),
new Vector3(30.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(0.0f, 15.0f, 15.0f + outRadius),
new Vector3(30.0f, 15.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
contacts = new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box);
Assert.AreEqual(
(15.0f - boxRadius) / 30.0f, contacts[0], Specifications.MaximumDeviation,
"Contact locations on box for Y sweep found"
);
Assert.AreEqual(
(15.0f + boxRadius) / 30.0f, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for Y sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f),
new Vector3(15.0f, 15.0f - outRadius, 15.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 15.0f),
new Vector3(15.0f, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 0.0f, 15.0f),
new Vector3(15.0f - outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 0.0f, 15.0f),
new Vector3(15.0f + outRadius, 30.0f, 15.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f - outRadius),
new Vector3(15.0f, 30.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 0.0f, 15.0f + outRadius),
new Vector3(15.0f, 30.0f, 15.0f + outRadius)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
contacts = new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box);
Assert.AreEqual(
(15.0f - boxRadius) / 30.0, contacts[0], Specifications.MaximumDeviation,
"Contact locations on boxf for Z sweep found"
);
Assert.AreEqual(
(15.0f + boxRadius) / 30.0f, contacts[1], Specifications.MaximumDeviation,
"Contact locations on box for Z sweep found"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 0.0f),
new Vector3(15.0f, 15.0f, 15.0f - outRadius)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f, 15.0f + outRadius),
new Vector3(15.0f, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of box on Z axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f - outRadius, 15.0f, 0.0f),
new Vector3(15.0f - outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f + outRadius, 15.0f, 0.0f),
new Vector3(15.0f + outRadius, 15.0f, 30.0f)
).FindContacts(box),
"Close miss of box on X axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f - outRadius, 0.0f),
new Vector3(15.0f, 15.0f - outRadius, 30.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
Assert.IsNull(
new Segment3(
new Vector3(15.0f, 15.0f + outRadius, 0.0f),
new Vector3(15.0f, 15.0f + outRadius, 30.0f)
).FindContacts(box),
"Close miss of box on Y axis properly handled"
);
}
