public unsafe void TestConvexColliderCalculateAabbLocal([Values(0, 0.01f, 1.25f)] float maxShrinkMovement)
{
var points = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(points[0], points[1], points[2], points[3]));
expectedAabb.Include(points[4]);
expectedAabb.Include(points[5]);
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = maxShrinkMovement
}, CollisionFilter.Default
);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb();
float convexRadius = ((ConvexCollider *)collider.GetUnsafePtr())->ConvexHull.ConvexRadius;
float maxError = 1e-3f + maxShrinkMovement - convexRadius;
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, maxError);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, maxError);
}
public void TestConvexColliderCalculateAabbLocal()
{
var points = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float convexRadius = 1.25f;
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(points[0], points[1], points[2], points[3]));
expectedAabb.Include(points[4]);
expectedAabb.Include(points[5]);
// Currently the convex hull is not shrunk, so we have to expand by the convex radius
expectedAabb.Expand(convexRadius);
var collider = ConvexCollider.Create(points, convexRadius);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb();
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, 1e-3f);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, 1e-3f);
}
public void TestCalculateAabbTransformedQuad()
{
float3[] vertices =
{
new float3(-4.5f, 0.0f, 1.0f),
new float3(3.4f, 0.7f, 1.0f),
new float3(3.4f, 2.7f, 1.0f),
new float3(-3.4f, 1.2f, 1.0f)
};
float3 translation = new float3(-3.4f, -2.5f, -1.1f);
quaternion rotation = quaternion.AxisAngle(math.normalize(new float3(11.1f, 10.1f, -3.4f)), 178.0f);
var collider = PolygonCollider.CreateQuad(vertices[0], vertices[1], vertices[2], vertices[3]);
Aabb aabb = collider.Value.CalculateAabb(new RigidTransform(rotation, translation));
for (int i = 0; i < 4; ++i)
{
vertices[i] = translation + math.mul(rotation, vertices[i]);
}
Aabb expected = Aabb.CreateFromPoints(new float3x4(vertices[0], vertices[1], vertices[2], vertices[3]));
TestUtils.AreEqual(expected.Min, aabb.Min, 1e-3f);
TestUtils.AreEqual(expected.Max, aabb.Max, 1e-3f);
}
public void TestCalculateAabbLocalQuad()
{
float3[] quadVertices =
{
new float3(-4.5f, 0.0f, 1.0f),
new float3(3.4f, 0.7f, 1.0f),
new float3(3.4f, 2.7f, 1.0f),
new float3(-3.4f, 1.2f, 1.0f)
};
var collider = PolygonCollider.CreateQuad(quadVertices[0], quadVertices[1], quadVertices[2], quadVertices[3]);
Aabb aabb = collider.Value.CalculateAabb();
Aabb expected = Aabb.CreateFromPoints(new float3x4(quadVertices[0], quadVertices[1], quadVertices[2], quadVertices[3]));
TestUtils.AreEqual(expected.Min, aabb.Min, 1e-3f);
TestUtils.AreEqual(expected.Max, aabb.Max, 1e-3f);
}
public unsafe void TestConvexColliderCalculateAabbTransformed([Values(0, 0.01f, 1.25f)] float maxShrinkMovement)
{
var points = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float3 translation = new float3(43.56f, -87.32f, -0.02f);
quaternion rotation = quaternion.AxisAngle(math.normalize(new float3(8.45f, -2.34f, 0.82f)), 43.21f);
float3[] transformedPoints = new float3[points.Length];
for (int i = 0; i < points.Length; ++i)
{
transformedPoints[i] = translation + math.mul(rotation, points[i]);
}
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(transformedPoints[0], transformedPoints[1], transformedPoints[2], transformedPoints[3]));
expectedAabb.Include(transformedPoints[4]);
expectedAabb.Include(transformedPoints[5]);
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = maxShrinkMovement
}, CollisionFilter.Default
);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb(new RigidTransform(rotation, translation));
float convexRadius = ((ConvexCollider *)collider.GetUnsafePtr())->ConvexHull.ConvexRadius;
float maxError = 1e-3f + maxShrinkMovement - convexRadius;
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, maxError);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, maxError);
}
public void TestConvexColliderCalculateAabbTransformed()
{
var points = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float convexRadius = 1.25f;
float3 translation = new float3(43.56f, -87.32f, -0.02f);
quaternion rotation = quaternion.AxisAngle(math.normalize(new float3(8.45f, -2.34f, 0.82f)), 43.21f);
float3[] transformedPoints = new float3[points.Length];
for (int i = 0; i < points.Length; ++i)
{
transformedPoints[i] = translation + math.mul(rotation, points[i]);
}
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(transformedPoints[0], transformedPoints[1], transformedPoints[2], transformedPoints[3]));
expectedAabb.Include(transformedPoints[4]);
expectedAabb.Include(transformedPoints[5]);
// Currently the convex hull is not shrunk, so we have to expand by the convex radius
expectedAabb.Expand(convexRadius);
var collider = ConvexCollider.Create(points, convexRadius);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb(new RigidTransform(rotation, translation));
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, 1e-3f);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, 1e-3f);
}