public void GetAxisAlignedBoundingBox()
{
Assert.AreEqual(new Aabb(new Vector3(0, -100, 0), new Vector3(1000, 0, 1000)),
new HeightField().GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3(1000, -101, 2000), new Vector3(1100, 5, 2200)),
_field.GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3(0, -1, 0), new Vector3(10, 5, 20)),
new HeightField(0, 0, 10, 20, _samples, 3, 8)
{
Depth = 0
}.GetAabb(Pose.Identity));
// Now with pose.
Quaternion rotation = Quaternion.CreateRotationX(0.2f);
Pose pose = new Pose(new Vector3(1, 1, 1), rotation);
_field.Depth = 0;
var box = new TransformedShape(
new GeometricObject(new BoxShape(100, 6, 200), new Pose(new Vector3(1050, 2, 2100))));
Assert.IsTrue(Vector3.AreNumericallyEqual(box.GetAabb(pose).Minimum, _field.GetAabb(pose).Minimum));
_field.Depth = 4;
box = new TransformedShape(
new GeometricObject(new BoxShape(100, 10, 200), new Pose(new Vector3(1000, 0, 2000))));
Assert.IsTrue(Vector3.AreNumericallyEqual(box.GetAabb(pose).Minimum + rotation.Rotate(new Vector3(50, 0, 100)), _field.GetAabb(pose).Minimum));
}
public void GetAabb()
{
Assert.AreEqual(new Vector3F(0, 0, 0), new TransformedShape().GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(new Vector3F(0, 0, 0), new TransformedShape().GetAabb(Pose.Identity).Maximum);
TransformedShape t = new TransformedShape
{
Child = new GeometricObject
{
Pose = new Pose(new Vector3F(0, 1, 0)),
Shape = new SphereShape(10),
},
};
Assert.AreEqual(new Vector3F(-10, -9, -10), t.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(new Vector3F(10, 11, 10), t.GetAabb(Pose.Identity).Maximum);
Assert.AreEqual(new Vector3F(-8, -9, -10), t.GetAabb(new Pose(new Vector3F(2, 0, 0))).Minimum);
Assert.AreEqual(new Vector3F(12, 11, 10), t.GetAabb(new Pose(new Vector3F(2, 0, 0))).Maximum);
}
public void Clone()
{
Pose pose = new Pose(new Vector3F(1, 2, 3));
PointShape pointShape = new PointShape(3, 4, 5);
GeometricObject geometry = new GeometricObject(pointShape, pose);
TransformedShape transformedShape = new TransformedShape(geometry);
TransformedShape clone = transformedShape.Clone() as TransformedShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.Child);
Assert.AreNotSame(geometry, clone.Child);
Assert.IsTrue(clone.Child is GeometricObject);
Assert.AreEqual(pose, clone.Child.Pose);
Assert.IsNotNull(clone.Child.Shape);
Assert.AreNotSame(pointShape, clone.Child.Shape);
Assert.IsTrue(clone.Child.Shape is PointShape);
Assert.AreEqual(pointShape.Position, ((PointShape)clone.Child.Shape).Position);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void GetAabb()
{
Assert.AreEqual(new Vector3(0, 0, 0), new TransformedShape().GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(new Vector3(0, 0, 0), new TransformedShape().GetAabb(Pose.Identity).Maximum);
TransformedShape t = new TransformedShape
{
Child = new GeometricObject
{
Pose = new Pose(new Vector3(0, 1, 0)),
Shape = new SphereShape(10),
},
};
Assert.AreEqual(new Vector3(-10, -9, -10), t.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(new Vector3(10, 11, 10), t.GetAabb(Pose.Identity).Maximum);
Assert.AreEqual(new Vector3(-8, -9, -10), t.GetAabb(new Pose(new Vector3(2, 0, 0))).Minimum);
Assert.AreEqual(new Vector3(12, 11, 10), t.GetAabb(new Pose(new Vector3(2, 0, 0))).Maximum);
}
public void Clone()
{
Pose pose = new Pose(new Vector3(1, 2, 3));
PointShape pointShape = new PointShape(3, 4, 5);
GeometricObject geometry = new GeometricObject(pointShape, pose);
TransformedShape transformedShape = new TransformedShape(geometry);
TransformedShape clone = transformedShape.Clone() as TransformedShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.Child);
Assert.AreNotSame(geometry, clone.Child);
Assert.IsTrue(clone.Child is GeometricObject);
Assert.AreEqual(pose, clone.Child.Pose);
Assert.IsNotNull(clone.Child.Shape);
Assert.AreNotSame(pointShape, clone.Child.Shape);
Assert.IsTrue(clone.Child.Shape is PointShape);
Assert.AreEqual(pointShape.Position, ((PointShape)clone.Child.Shape).Position);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(transformedShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void GetAxisAlignedBoundingBox()
{
Assert.AreEqual(new Aabb(new Vector3F(0, -100, 0), new Vector3F(1000, 0, 1000)),
new HeightField().GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3F(1000, -101, 2000), new Vector3F(1100, 5, 2200)),
_field.GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3F(0, -1, 0), new Vector3F(10, 5, 20)),
new HeightField(0, 0, 10, 20, _samples, 3, 8) { Depth = 0 }.GetAabb(Pose.Identity));
// Now with pose.
QuaternionF rotation = QuaternionF.CreateRotationX(0.2f);
Pose pose = new Pose(new Vector3F(1, 1, 1), rotation);
_field.Depth = 0;
var box = new TransformedShape(
new GeometricObject(new BoxShape(100, 6, 200), new Pose(new Vector3F(1050, 2, 2100))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(box.GetAabb(pose).Minimum, _field.GetAabb(pose).Minimum));
_field.Depth = 4;
box = new TransformedShape(
new GeometricObject(new BoxShape(100, 10, 200), new Pose(new Vector3F(1000, 0, 2000))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(box.GetAabb(pose).Minimum + rotation.Rotate(new Vector3F(50, 0, 100)), _field.GetAabb(pose).Minimum));
}
