public void ComputeCollision()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new TriangleShape(new Vector3F(0, 0, 0), new Vector3F(0, 1, 0), new Vector3F(0, 0, 1))
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1)
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.IsTrue(Numeric.AreEqual(1, set[0].PenetrationDepth));
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.9f, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0.1f, 0.2f), set[0].PositionAWorld, 0.02f));
}
public void ComputeCollision()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new TriangleShape(new Vector3F(0, 0, 0), new Vector3F(0, 1, 0), new Vector3F(0, 0, 1))
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1)
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.IsTrue(Numeric.AreEqual(1, set[0].PenetrationDepth));
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.9f, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0.1f, 0.2f), set[0].PositionAWorld, 0.02f));
}
public void Containment()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(2),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(3, set[0].PenetrationDepth);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 2, 3));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(2, set[0].PenetrationDepth);
}
public void TestNormals()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject box = new CollisionObject(new GeometricObject
{
Pose = new Pose(new Vector3F(1.99999f, 0, 0)),
Shape = new BoxShape(2, 2, 2),
});
CollisionObject sphere = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1)
});
ContactSet set;
set = algo.GetContacts(box, sphere);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0, set[0].PenetrationDepth));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-1, 0, 0), set[0].Normal, 0.001f));
((GeometricObject)sphere.GeometricObject).Pose = new Pose(new Vector3F(0.2f, 0, 0));
algo.UpdateContacts(set, 0);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.2f, set[0].PenetrationDepth));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-1, 0, 0), set[0].Normal, 0.001f));
}
public void Containment()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(2),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(3, set[0].PenetrationDepth);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 2, 3));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(2, set[0].PenetrationDepth);
}
public void TestNormals()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject box = new CollisionObject(new GeometricObject
{
Pose = new Pose(new Vector3F(1.99999f, 0, 0)),
Shape = new BoxShape(2, 2, 2),
});
CollisionObject sphere = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1)
});
ContactSet set;
set = algo.GetContacts(box, sphere);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0, set[0].PenetrationDepth));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-1, 0, 0), set[0].Normal, 0.001f));
((GeometricObject)sphere.GeometricObject).Pose = new Pose(new Vector3F(0.2f, 0, 0));
algo.UpdateContacts(set, 0);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.2f, set[0].PenetrationDepth));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-1, 0, 0), set[0].Normal, 0.001f));
}