public void PoseTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.IsNotNull(cameraInstance.PoseWorld);
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
// Set new Pose
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(3, 4, 5), 0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix44F(), cameraInstance.ViewInverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix44F(), cameraInstance.View));
// Set Position and Orientation
position = new Vector3F(5, 6, 7);
orientation = QuaternionF.CreateRotation(new Vector3F(1, -1, 6), -0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix44F(), cameraInstance.View));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix44F(), cameraInstance.ViewInverse));
}
public void SetProjectionFieldOfViewTest()
{
PerspectiveProjection projection = new PerspectiveProjection();
projection.SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 9.0f, 1, 10);
PerspectiveProjection projection2 = new PerspectiveProjection();
projection2.SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 9.0f);
projection2.Near = 1;
projection2.Far = 10;
Projection projection3 = new PerspectiveProjection
{
Left = -2.0528009f / 2.0f,
Right = 2.0528009f / 2.0f,
Bottom = -1.1547005f / 2.0f,
Top = 1.1547005f / 2.0f,
Near = 1,
Far = 10,
};
Matrix44F expected = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 9.0f, 1, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection2));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection3.ToMatrix44F()));
}
public void SetProjectionTest()
{
OrthographicProjection projection = new OrthographicProjection();
projection.Set(4, 3, 2, 10);
OrthographicProjection camera2 = new OrthographicProjection();
camera2.Set(4, 3);
camera2.Near = 2;
camera2.Far = 10;
OrthographicProjection camera3 = new OrthographicProjection
{
Left = -2,
Right = 2,
Bottom = -1.5f,
Top = 1.5f,
Near = 2,
Far = 10,
};
Matrix44F expected = Matrix44F.CreateOrthographic(4, 3, 2, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, camera2));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, camera3.ToMatrix44F()));
}
public void SetProjectionOffCenterTest()
{
OrthographicProjection projection = new OrthographicProjection();
projection.SetOffCenter(0, 4, 1, 4, 2, 10);
OrthographicProjection camera2 = new OrthographicProjection();
camera2.SetOffCenter(0, 4, 1, 4);
camera2.Near = 2;
camera2.Far = 10;
Projection camera3 = new OrthographicProjection
{
Left = 0,
Right = 4,
Bottom = 1,
Top = 4,
Near = 2,
Far = 10,
};
Matrix44F expected = Matrix44F.CreateOrthographicOffCenter(0, 4, 1, 4, 2, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, camera2));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, camera3.ToMatrix44F()));
}
public void SetProjectionTest()
{
PerspectiveProjection projection = new PerspectiveProjection();
projection.Set(4, 3, 2, 10);
PerspectiveProjection projection2 = new PerspectiveProjection();
projection2.Set(4, 3);
projection2.Near = 2;
projection2.Far = 10;
Projection projection3 = new PerspectiveProjection
{
Left = -2,
Right = 2,
Bottom = -1.5f,
Top = 1.5f,
Near = 2,
Far = 10,
};
Matrix44F expected = Matrix44F.CreatePerspective(4, 3, 2, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection2));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection3.ToMatrix44F()));
}
public void RotationMatrix44()
{
float angle = -1.6f;
Vector3F axis = new Vector3F(1.0f, 2.0f, -3.0f);
QuaternionF q = QuaternionF.CreateRotation(axis, angle);
Matrix44F m44 = Matrix44F.CreateRotation(axis, angle);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(q.ToRotationMatrix44(), m44));
}
public void Multiply()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(-3, 9, -2), new QuaternionF(3, -2, 1, 9).Normalized, new Vector3F(7, -4, 2));
var result1 = SrtTransform.Multiply(a, b).ToMatrix44F();
var result2 = a * b;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithUniformScaleIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(-3), new QuaternionF(3, -2, 1, 9).Normalized, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithoutRotationIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(1, 2, 3), QuaternionF.Identity, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(5, 6, -3), QuaternionF.Identity, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void SetProjectionOffCenterTest()
{
PerspectiveProjection projection = new PerspectiveProjection();
projection.SetOffCenter(0, 4, 1, 4, 2, 10);
PerspectiveProjection projection2 = new PerspectiveProjection();
projection2.SetOffCenter(0, 4, 1, 4);
projection2.Near = 2;
projection2.Far = 10;
Matrix44F expected = Matrix44F.CreatePerspectiveOffCenter(0, 4, 1, 4, 2, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(expected, projection2.ToMatrix44F()));
}
public void InverseViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix44F.Identity, cameraInstance.View);
Assert.AreEqual(Matrix44F.Identity, cameraInstance.ViewInverse);
Vector3F position = new Vector3F(1, 2, 3);
Vector3F target = new Vector3F(2, 5, 4);
Vector3F upVector = new Vector3F(1, 1, 1);
Matrix44F view = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.ViewInverse = view.Inverse;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view, cameraInstance.View));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view.Inverse, cameraInstance.ViewInverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view.Inverse, cameraInstance.PoseWorld.ToMatrix44F()));
}
public void SetProjectionTest()
{
Matrix44F projectionMatrix = Matrix44F.CreateOrthographicOffCenter(1, 4, 2, 5, 6, 11);
OrthographicProjection orthographicProjection = new OrthographicProjection();
orthographicProjection.Set(projectionMatrix);
CameraInstance cameraInstance = new CameraInstance(new Camera(orthographicProjection));
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(1f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(6, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(11, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Depth));
Assert.That(Matrix44F.AreNumericallyEqual(orthographicProjection, cameraInstance.Camera.Projection));
Assert.That(Matrix44F.AreNumericallyEqual(orthographicProjection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
PerspectiveProjection perspectiveProjection = new PerspectiveProjection();
perspectiveProjection.Inverse = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10).Inverse;
cameraInstance = new CameraInstance(new Camera(perspectiveProjection));
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(10, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(9, cameraInstance.Camera.Projection.Depth));
Assert.IsNotNull(cameraInstance.BoundingShape);
}
public void GetWidthAndHeightTest()
{
float width, height;
PerspectiveViewVolume.GetWidthAndHeight(MathHelper.ToRadians(90), 1, 1, out width, out height);
Assert.IsTrue(Numeric.AreEqual(2, width));
Assert.IsTrue(Numeric.AreEqual(2, height));
PerspectiveViewVolume.GetWidthAndHeight(MathHelper.ToRadians(60), 16.0f / 9.0f, 1, out width, out height);
Assert.IsTrue(Numeric.AreEqual(2.0528009f, width));
Assert.IsTrue(Numeric.AreEqual(1.1547005f, height));
// We are pretty confident that the Projection.CreateProjectionXxx() works.
// Use Projection.CreateProjectionXxx() to test GetWidthAndHeight().
Matrix44F projection = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 9.0f, 1, 10);
Matrix44F projection2 = Matrix44F.CreatePerspective(width, height, 1, 10);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, projection2));
}
public void FromToMatrixTest()
{
var t = new Vector3F(1, 2, 3);
var r = new QuaternionF(1, 2, 3, 4).Normalized;
var s = new Vector3F(2, 7, 9);
var m = Matrix44F.CreateTranslation(t) * Matrix44F.CreateRotation(r) * Matrix44F.CreateScale(s);
var srt = SrtTransform.FromMatrix(m);
Assert.IsTrue(Vector3F.AreNumericallyEqual(t, srt.Translation));
Assert.IsTrue(QuaternionF.AreNumericallyEqual(r, srt.Rotation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(s, srt.Scale));
// XNA:
srt = SrtTransform.FromMatrix((Matrix)m);
Assert.IsTrue(Vector3F.AreNumericallyEqual(t, srt.Translation));
Assert.IsTrue(QuaternionF.AreNumericallyEqual(r, srt.Rotation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(s, srt.Scale));
// With negative scale, the decomposition is not unique (many possible combinations of
// axis mirroring + rotation).
t = new Vector3F(1, 2, 3);
r = new QuaternionF(1, 2, 3, 4).Normalized;
s = new Vector3F(2, -7, 9);
m = Matrix44F.CreateTranslation(t) * Matrix44F.CreateRotation(r) * Matrix44F.CreateScale(s);
srt = SrtTransform.FromMatrix(m);
var m2 = (Matrix44F)srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
m2 = srt.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
m2 = srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
Matrix mXna = srt.ToXna();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, (Matrix44F)mXna));
mXna = srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, (Matrix44F)mXna));
}
public void LookAtTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Vector3F position = new Vector3F(1, 2, 3);
Vector3F target = new Vector3F(2, 5, 4);
Vector3F upVector = new Vector3F(1, 1, 1);
cameraInstance.PoseWorld = new Pose(new Vector3F(1, 2, 3));
Matrix44F expected = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(target, upVector);
Assert.That(Matrix44F.AreNumericallyEqual(expected, cameraInstance.View));
position = new Vector3F(-2, 3, -7.5f);
expected = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(position, target, upVector);
Assert.That(Vector3F.AreNumericallyEqual(position, cameraInstance.PoseWorld.Position));
Assert.That(Matrix44F.AreNumericallyEqual(expected, cameraInstance.View));
}
public void OrthographicOffCenterTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new OrthographicProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((OrthographicProjection)cameraInstance.Camera.Projection).SetOffCenter(0, 16, 0, 9, 2, 10);
Matrix44F projection = Matrix44F.CreateOrthographicOffCenter(0, 16, 0, 9, 2, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(16, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(16.0f / 9.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(0, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(16, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(0, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(8, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3F(0, 0, -2);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.1f, -0.1f, -1.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(16, 9, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(16.1f, 9.1f, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
cameraInstance.Camera.Projection.Left = -2;
cameraInstance.Camera.Projection.Right = 4;
cameraInstance.Camera.Projection.Bottom = 10;
cameraInstance.Camera.Projection.Top = 14;
cameraInstance.Camera.Projection.Near = 15;
cameraInstance.Camera.Projection.Far = 100;
projection = Matrix44F.CreateOrthographicOffCenter(-2, 4, 10, 14, 15, 100);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3F(-2, 10, -15);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-2.1f, -10.1f, -14.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4, 14, -100);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4.1f, 14.1f, -100.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void PerspectiveTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(MathHelper.ToRadians(60), cameraInstance.Camera.Projection.FieldOfViewY);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(85.4601055f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.AreEqual(16.0f / 10.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.IsTrue(Numeric.AreEqual(1.8475209f, cameraInstance.Camera.Projection.Width));
Assert.IsTrue(Numeric.AreEqual(1.1547005f, cameraInstance.Camera.Projection.Height));
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.IsTrue(Numeric.AreEqual(-0.9237604f, cameraInstance.Camera.Projection.Left));
Assert.IsTrue(Numeric.AreEqual(0.9237604f, cameraInstance.Camera.Projection.Right));
Assert.IsTrue(Numeric.AreEqual(-0.5773503f, cameraInstance.Camera.Projection.Bottom));
Assert.IsTrue(Numeric.AreEqual(0.5773503f, cameraInstance.Camera.Projection.Top));
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(0, 0, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.924f, -0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.924f, 0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.24f, -5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.24f, 5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void PerspectiveOffCenterTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetOffCenter(1, 5, 2, 5, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(3, 3, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(3, 3, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 2, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9f, 2, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 1.9f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5.1f, 5, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5.1f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 20, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.9f, 20, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 19.9f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50.1f, 50, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50.1f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
