public void GjkBatteryTest()
{
Gjk gjk = new Gjk();
const int iterations = 10000;
//Point to point test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
Vector3 point1 = Utilities.GenerateVector3();
Vector3 point2 = Utilities.GenerateVector3();
float expected = Vector3.Distance(point1, point2);
float actual = gjk.GetMinimumDistance(v =>
{
return point1 - point2;
});
Utilities.AreEqual(expected, actual);
}
//Sphere to sphere test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
BoundingSphere shape1 = new BoundingSphere(Utilities.GenerateVector3(), Utilities.GenerateFloat());
BoundingSphere shape2 = new BoundingSphere(Utilities.GenerateVector3(), Utilities.GenerateFloat());
float expected = Collision.DistanceSphereSphere(ref shape1, ref shape2);
if (Collision.SphereIntersectsSphere(ref shape1, ref shape2))
{
i--;
continue;
}
float actual = gjk.GetMinimumDistance(v =>
{
Vector3 a = shape1.SupportMapping(v);
Vector3 b = shape2.SupportMapping(-v);
return a - b;
});
Utilities.AreEqual(expected, actual);
}
//Box to box test
for (int i = 0; i < iterations; ++i)
{
gjk.Reset();
BoundingBox shape1 = new BoundingBox(Utilities.GenerateVector3(), Utilities.GenerateVector3());
BoundingBox shape2 = new BoundingBox(Utilities.GenerateVector3(), Utilities.GenerateVector3());
float expected = Collision.DistanceBoxBox(ref shape1, ref shape2);
if (Collision.BoxIntersectsBox(ref shape1, ref shape2))
{
i--;
continue;
}
float actual = gjk.GetMinimumDistance(v =>
{
Vector3 a = shape1.SupportMapping(v);
Vector3 b = shape2.SupportMapping(-v);
return a - b;
});
Utilities.AreEqual(expected, actual);
}
}
public void GjkRealTest()
{
Gjk gjk = new Gjk();
BoundingSphere shape1 = new BoundingSphere(new Vector3(30, 52, 119), 91);
BoundingSphere shape2 = new BoundingSphere(new Vector3(139, 13, 35), 49);
float expected = Collision.DistanceSphereSphere(ref shape1, ref shape2);
//BoundingSphere shape1 = new BoundingSphere(new Vector3(-10.01f, 99f, 2.7f), 0.0001f);
//BoundingSphere shape2 = new BoundingSphere(new Vector3(12.7f, 2f, -120.07f), 0.0001f);
//BoundingSphere shape1 = new BoundingSphere(new Vector3(0, 15, 0), 1);
//BoundingBox shape1 = new BoundingBox(new Vector3(0, 0, 0), new Vector3(1, 1, 1));
//BoundingBox shape2 = new BoundingBox(new Vector3(0, 2, 0), new Vector3(3, 3, 3));
float distance = gjk.GetMinimumDistance(v =>
{
Vector3 a = shape1.SupportMapping(v);
Vector3 b = shape2.SupportMapping(-v);
return a - b;
}, maxIterations: 50);
}
