public void CubeCubeNoOverlap()
{
Cube cube1 = new Cube(new Float4(0), new Float4(5), Quaternion.Default);
Cube cube2 = new Cube(new Float4(10), new Float4(5), Quaternion.Default);
SeparatingAxisTheorem sat = new SeparatingAxisTheorem();
var b1 = new SatBodyData();
var b2 = new SatBodyData();
b1.CreateFrom(cube1);
b2.CreateFrom(cube2);
var data = sat.Test(b1, b2);
Assert.AreEqual(false, data.Intersecting);
}
public void AABBAABBNoOverlap()
{
AABB aabb1 = new AABB(new Float4(0), new Float4(10));
AABB aabb2 = new AABB(new Float4(10), new Float4(20));
SeparatingAxisTheorem sat = new SeparatingAxisTheorem();
var b1 = new SatBodyData();
var b2 = new SatBodyData();
b1.CreateFrom(aabb1);
b2.CreateFrom(aabb2);
var data = sat.Test(b1, b2);
Assert.AreEqual(false, data.Intersecting);
}
public void CubeCubeOverlap()
{
Cube aabb1 = new Cube(new Float4(0, 9, 0, 0), new Float4(5), Quaternion.Default);
Cube aabb2 = new Cube(new Float4(0), new Float4(5), Quaternion.Default);
SeparatingAxisTheorem sat = new SeparatingAxisTheorem();
var b1 = new SatBodyData();
var b2 = new SatBodyData();
b1.CreateFrom(aabb1);
b2.CreateFrom(aabb2);
var data = sat.Test(b1, b2);
Assert.AreEqual(true, data.Intersecting);
Assert.AreEqual(1, data.Depth);
Assert.AreEqual(new Float3(0, 1, 0), data.Normal);
}
public void AABBAABBNegYOverlap()
{
AABB aabb1 = new AABB(new Float4(0, -9, 0, 0), new Float4(10, 1, 10, 10));
AABB aabb2 = new AABB(new Float4(0), new Float4(10));
SeparatingAxisTheorem sat = new SeparatingAxisTheorem();
var b1 = new SatBodyData();
var b2 = new SatBodyData();
b1.CreateFrom(aabb1);
b2.CreateFrom(aabb2);
var data = sat.Test(b1, b2);
Assert.AreEqual(true, data.Intersecting);
Assert.AreEqual(1, data.Depth);
Assert.AreEqual(new Float3(0, -1, 0), data.Normal);
}
static void TestSat()
{
var sat = new SeparatingAxisTheorem();
// shape1
var shape1 = new Polygon();
shape1.Vertices = new Vector2[4];
shape1.Vertices[0] = new Vector2(0.0, 0.0);
shape1.Vertices[1] = new Vector2(10.0, 0.0);
shape1.Vertices[2] = new Vector2(10.0, 10.0);
shape1.Vertices[3] = new Vector2(0.0, 10.0);
// shape2
var shape2 = new Polygon();
shape2.Vertices = new Vector2[4];
// overlaps
//shape2.Vertices[0] = new Vector2(5.0, 5.0);
//shape2.Vertices[1] = new Vector2(20.0, 5.0);
//shape2.Vertices[2] = new Vector2(20.0, 20.0);
//shape2.Vertices[3] = new Vector2(5.0, 20.0);
// do not overlaps
//shape2.Vertices[0] = new Vector2(15.0, 5.0);
//shape2.Vertices[1] = new Vector2(20.0, 5.0);
//shape2.Vertices[2] = new Vector2(20.0, 20.0);
//shape2.Vertices[3] = new Vector2(15.0, 20.0);
// shape1 contains shape2
shape2.Vertices[0] = new Vector2(2.0, 2.0);
shape2.Vertices[1] = new Vector2(8.0, 2.0);
shape2.Vertices[2] = new Vector2(8.0, 8.0);
shape2.Vertices[3] = new Vector2(2.0, 8.0);
// sat get axes
//var axes1 = sat.GetAxes(shape1.Vertices);
//var axes2 = sat.GetAxes(shape2.Vertices);
//Console.WriteLine("axes1:");
//foreach(var axis in axes1) Console.WriteLine(axis);
//Console.WriteLine("axes2:");
//foreach(var axis in axes2) Console.WriteLine(axis);
// sat overlap
bool overlap = sat.Overlap(shape1.Vertices, shape2.Vertices);
Console.WriteLine("overlap: " + overlap);
//TestSatProjectionGetOverlap();
// sat mtv
MinimumTranslationVector?mtv;
bool overlapMTV = sat.MinimumTranslationVector(
shape1.Vertices,
shape2.Vertices,
out mtv);
Console.WriteLine("overlapMTV: " + overlapMTV);
if (mtv.HasValue)
{
Console.WriteLine("mtv.overlap: " + mtv.Value.Overlap);
Console.WriteLine("mtv.smallest: " + mtv.Value.Smallest);
}
// sat mtv with containment
MinimumTranslationVector?mtvContainment;
bool overlapMTVContainment = sat.MinimumTranslationVectorWithContainment(
shape1.Vertices,
shape2.Vertices,
out mtvContainment);
Console.WriteLine("overlapMTVContainment: " + overlapMTVContainment);
if (mtv.HasValue)
{
Console.WriteLine("mtvContainment.overlap: " + mtvContainment.Value.Overlap);
Console.WriteLine("mtvContainment.smallest: " + mtvContainment.Value.Smallest);
}
}