TEST( Transform, inversion )
{
// let's create a transform, then create its inverse and multiply the two.
// they should add up to an identity transformation
Transform transform;
{
transform.m_rotation.setAxisAngle( Quad_1000, FastFloat::fromFloat( DEG2RAD( 45.0f ) ) );
transform.m_translation.set( 2, 0, 0 );
}
Transform invTransform;
invTransform.setInverse( transform );
Transform concatenatedTransformA;
concatenatedTransformA.setMul( transform, invTransform );
// no matter what order we multiply the component transforms in, it should always result in an identity transform
Transform concatenatedTransformB;
concatenatedTransformB.setMul( invTransform , transform );
COMPARE_QUAT( concatenatedTransformA.m_rotation, concatenatedTransformB.m_rotation );
COMPARE_QUAT( Quaternion::IDENTITY, concatenatedTransformB.m_rotation );
COMPARE_VEC( concatenatedTransformA.m_translation, concatenatedTransformB.m_translation );
COMPARE_VEC( Vector( Quad_0 ), concatenatedTransformB.m_translation );
}
TEST( BoneSRTAnimation, simpleTranslationAnim )
{
BoneSRTAnimation anim;
anim.addTranslationKey( 0, Quad_0 );
anim.addTranslationKey( 1, Quad_1000 );
CPPUNIT_ASSERT_EQUAL( 1.0f, anim.getDuration() );
BoneSRTAnimationPlayer player( anim );
Vector result;
CPPUNIT_ASSERT( player.getTranslation( 0.0f, result ) );
COMPARE_VEC( Vector( 0, 0, 0 ), result );
CPPUNIT_ASSERT( player.getTranslation( 1.0f, result ) );
COMPARE_VEC( Vector( 1, 0, 0 ), result );
CPPUNIT_ASSERT( player.getTranslation( 0.5f, result ) );
COMPARE_VEC( Vector( 0.5f, 0, 0 ), result );
// outside the boundaries access - return the boundary values, don't perform any looped lookups
CPPUNIT_ASSERT( player.getTranslation( -0.1f, result ) );
COMPARE_VEC( Vector( 0, 0, 0 ), result );
CPPUNIT_ASSERT( player.getTranslation( 1.1f, result ) );
COMPARE_VEC( Vector( 1, 0, 0 ), result );
}
TEST( TriangleSplitter, nonStandardTriangle )
{
Triangle vol(Vector(-1.5f, 0, 1),
Vector( 2.5f, 0, 2.5f),
Vector( 0.5f, 0,-2.5f));
Array<Triangle*> frontSplit;
Array<Triangle*> backSplit;
Plane plane;
plane.set( Quad_1000, FastFloat::fromFloat( -1.5f ) );
vol.split( plane, frontSplit, backSplit );
CPPUNIT_ASSERT_EQUAL((unsigned int)1, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)2, backSplit.size());
COMPARE_VEC(Vector(1.5f, 0, 2.125f), frontSplit[0]->vertex(0));
COMPARE_VEC(Vector(2.5f, 0, 2.5f), frontSplit[0]->vertex(1));
COMPARE_VEC(Vector(1.5f, 0, 0), frontSplit[0]->vertex(2));
COMPARE_VEC(Vector(-1.5f, 0, 1), backSplit[0]->vertex(0));
COMPARE_VEC(Vector( 1.5f, 0, 2.125f), backSplit[0]->vertex(1));
COMPARE_VEC(Vector( 1.5f, 0, 0), backSplit[0]->vertex(2));
COMPARE_VEC(Vector(-1.5f, 0, 1), backSplit[1]->vertex(0));
COMPARE_VEC(Vector( 1.5f, 0, 0), backSplit[1]->vertex(1));
COMPARE_VEC(Vector( 0.5f, 0,-2.5f), backSplit[1]->vertex(2));
delete backSplit[0];
delete backSplit[1];
delete frontSplit[0];
}
TEST( TriangleSplitter, cuttingTriangleThroughTwoEdges )
{
Triangle vol(Vector(-1, 0, 1), Vector(1, 0, 1), Vector(-1, 0, -1));
Array<Triangle*> frontSplit;
Array<Triangle*> backSplit;
Plane plane;
plane.set( Float_1, Float_0, Float_0, Float_0 );
vol.split( plane, frontSplit, backSplit );
CPPUNIT_ASSERT_EQUAL((unsigned int)1, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)2, backSplit.size());
COMPARE_VEC(Vector( 0, 0, 1), frontSplit[0]->vertex(0));
COMPARE_VEC(Vector( 1, 0, 1), frontSplit[0]->vertex(1));
COMPARE_VEC(Vector( 0, 0, 0), frontSplit[0]->vertex(2));
COMPARE_VEC(Vector(-1, 0, 1), backSplit[0]->vertex(0));
COMPARE_VEC(Vector( 0, 0, 1), backSplit[0]->vertex(1));
COMPARE_VEC(Vector( 0, 0, 0), backSplit[0]->vertex(2));
COMPARE_VEC(Vector(-1, 0, 1), backSplit[1]->vertex(0));
COMPARE_VEC(Vector( 0, 0, 0), backSplit[1]->vertex(1));
COMPARE_VEC(Vector(-1, 0, -1), backSplit[1]->vertex(2));
delete backSplit[0];
delete backSplit[1];
delete frontSplit[0];
}
TEST( TriangleSplitter, bugTriangle )
{
Triangle vol(Vector( 11, -29, 2),
Vector( 11, -29, -2),
Vector( 0, -29, -2));
Array<Triangle*> frontSplit;
Array<Triangle*> backSplit;
Plane plane;
plane.set( Float_0, Float_0, Float_1, Float_0 );
vol.split(plane, frontSplit, backSplit);
CPPUNIT_ASSERT_EQUAL((unsigned int)1, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)2, backSplit.size());
COMPARE_VEC(Vector( 11, -29, 2), frontSplit[0]->vertex(0));
COMPARE_VEC(Vector( 11, -29, 0), frontSplit[0]->vertex(1));
COMPARE_VEC(Vector(5.5f, -29, 0), frontSplit[0]->vertex(2));
COMPARE_VEC(Vector( 11, -29, 0), backSplit[0]->vertex(0));
COMPARE_VEC(Vector( 11, -29, -2), backSplit[0]->vertex(1));
COMPARE_VEC(Vector( 0, -29, -2), backSplit[0]->vertex(2));
COMPARE_VEC(Vector( 11, -29, 0), backSplit[1]->vertex(0));
COMPARE_VEC(Vector( 0, -29, -2), backSplit[1]->vertex(1));
COMPARE_VEC(Vector(5.5f, -29, 0), backSplit[1]->vertex(2));
delete backSplit[0];
delete backSplit[1];
delete frontSplit[0];
}
TEST(Camera, createRay)
{
RendererImplementationMock renderer;
Camera camera( "camera", renderer, Camera::PT_PERSPECTIVE);
Frustum frustum;
camera.calculateFrustum( frustum );
Vector expectedNormal;
// a basic plane running straight through the screen's center
Ray result;
camera.createRay( 0, 0, result );
COMPARE_VEC( Vector(0, 0, 0), result.origin );
COMPARE_VEC( Vector(0, 0, 1), result.direction );
// test the rays running through the frustum's clipping planes:
// - bottom plane
Vector planeNormal;
frustum.planes[FP_BOTTOM].getNormal( planeNormal );
expectedNormal.setCross( planeNormal, Quad_Neg_1000 );
expectedNormal.normalize();
camera.createRay( 0, -1, result );
COMPARE_VEC(Vector(0, 0, 0), result.origin);
COMPARE_VEC(expectedNormal, result.direction);
// - top plane
frustum.planes[FP_TOP].getNormal( planeNormal );
expectedNormal.setCross( planeNormal, Quad_1000 );
expectedNormal.normalize();
camera.createRay( 0, 1, result );
COMPARE_VEC(Vector(0, 0, 0), result.origin);
COMPARE_VEC(expectedNormal, result.direction);
// - left plane
frustum.planes[FP_LEFT].getNormal( planeNormal );
expectedNormal.setCross( Quad_Neg_0100, planeNormal );
expectedNormal.normalize();
camera.createRay( -1, 0, result );
COMPARE_VEC(Vector(0, 0, 0), result.origin);
COMPARE_VEC(expectedNormal, result.direction);
// - right plane
frustum.planes[FP_RIGHT].getNormal( planeNormal );
expectedNormal.setCross( Quad_0100, planeNormal );
expectedNormal.normalize();
camera.createRay( 1, 0, result );
COMPARE_VEC(Vector(0, 0, 0), result.origin);
COMPARE_VEC(expectedNormal, result.direction);
}
TEST( Transform, matrixConversion )
{
// construct a transformation matrix we'll use for testing
Matrix templateTranslationMtx;
Quaternion testRot;
Vector testTrans;
{
testRot.setAxisAngle( Quad_1000, FastFloat::fromFloat( DEG2RAD( 90.0f ) ) );
templateTranslationMtx.setRotation( testRot );
Matrix translationMtx;
testTrans.set( 10, 20, 30 );
translationMtx.setTranslation( testTrans );
templateTranslationMtx.mul( translationMtx );
}
// first create a transform from the matrix
Transform transform;
transform.set( templateTranslationMtx );
COMPARE_QUAT( testRot, transform.m_rotation );
COMPARE_VEC( testTrans, transform.m_translation );
// and then convert that transform back to a matrix form
Matrix recoveredMtx;
transform.toMatrix( recoveredMtx );
COMPARE_MTX( templateTranslationMtx, recoveredMtx );
}
TEST( Box, offsetCollision )
{
Box b1, b2;
Matrix transform;
IntersectionResult contactPointsArr[8];
transform.setAxisAnglePos( Vector_OX, FastFloat::fromFloat( DEG2RAD( 45.0f ) ), Vector( 0.0f, 0.0f, 4.0f ) );
b1.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
transform.setTranslation( Vector( 0.0f, 0.0f, 3.0f ) );
b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( ( uint ) 2, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( -0.5f, 0.0f, 3.2929f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_OZ, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.0f, 3.2929f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_OZ, contactPointsArr[1].m_contactNormal );
}
TEST( MatrixUtils, generateLookAtLH )
{
Matrix tamyLookAtMtx;
Vector cameraOriginPos( 10, 20, -30 );
Vector lookAtPos( 15, 20, -30 );
Vector upAxis; upAxis.set( Quad_0100 );
MatrixUtils::generateLookAtLH( cameraOriginPos, lookAtPos, upAxis, tamyLookAtMtx );
Vector expectedLookVec;
expectedLookVec.setSub( lookAtPos, cameraOriginPos );
expectedLookVec.normalize();
Vector transformedLookVec;
tamyLookAtMtx.transformNorm( Vector( 0, 0, 1 ), transformedLookVec );
COMPARE_VEC( cameraOriginPos, tamyLookAtMtx.position() );
COMPARE_VEC( expectedLookVec, transformedLookVec );
}
TEST( Box, edgeCollision )
{
Box b1, b2;
Matrix transform;
IntersectionResult contactPointsArr[8];
Quaternion rot;
rot.setAxisAngle( Vector_OZ, FastFloat::fromFloat( DEG2RAD( 45.0f ) ) );
transform.setRotation( rot );
transform.setPosition<3>( Vector( 0.75f, 0.0f, 0.0f ) );
b1.set( Vector( 1.0f, 1.0f, 0.2f ) );
b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( ( uint )2, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, 0.0f, -0.1f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.0f, 0.1f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[1].m_contactNormal );
}
TEST( TriangleSplitter, planeIsOnOneOfTheVertices )
{
Triangle vol(Vector(-1, 0, 1), Vector(1, 0, 1), Vector(0, 0, 0));
Array<Triangle*> frontSplit;
Array<Triangle*> backSplit;
Plane plane;
plane.set( Float_0, Float_0, Float_1, Float_0 );
vol.split(plane, frontSplit, backSplit);
CPPUNIT_ASSERT_EQUAL((unsigned int)1, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)0, backSplit.size());
COMPARE_VEC(Vector(-1, 0, 1), frontSplit[0]->vertex(0));
COMPARE_VEC(Vector( 1, 0, 1), frontSplit[0]->vertex(1));
COMPARE_VEC(Vector( 0, 0, 0), frontSplit[0]->vertex(2));
delete frontSplit[0];
}
TEST( BoneSRTAnimation, replacingAnimKeys )
{
BoneSRTAnimation anim;
anim.addTranslationKey( 0, Vector( 0, 0, 0 ) );
anim.addTranslationKey( 1, Vector( 1, 0, 0 ) );
anim.addTranslationKey( 1, Vector( 2, 0, 0 ) );
CPPUNIT_ASSERT_EQUAL( 1.0f, anim.getDuration() );
BoneSRTAnimationPlayer player( anim );
Vector result;
CPPUNIT_ASSERT( player.getTranslation( 0.0f, result ) );
COMPARE_VEC( Vector( 0, 0, 0 ), result );
CPPUNIT_ASSERT( player.getTranslation( 0.5f, result ) );
COMPARE_VEC( Vector( 1.0f, 0, 0 ), result );
CPPUNIT_ASSERT( player.getTranslation( 1.0f, result ) );
COMPARE_VEC( Vector( 2.0f, 0, 0 ), result );
}
TEST( AxisAlignedBox, transformation )
{
AxisAlignedBox centralBB( Vector( -1, -1, -1 ), Vector( 1, 1, 1 ) );
Transform transform;
Matrix transformMtx;
AxisAlignedBox transformedBB;
{
transform.m_rotation.setAxisAngle( Vector_OZ, FastFloat::fromFloat( DEG2RAD( 45.0f ) ) );
transform.toMatrix( transformMtx );
centralBB.transform( transformMtx, transformedBB );
COMPARE_VEC( Vector( -1.4142135f, -1.4142135f, -1 ), transformedBB.min );
COMPARE_VEC( Vector( 1.4142135f, 1.4142135f, 1 ), transformedBB.max );
}
{
transform.m_rotation.setAxisAngle( Vector_OX, FastFloat::fromFloat( DEG2RAD( 45.0f ) ) );
transform.toMatrix( transformMtx );
centralBB.transform( transformMtx, transformedBB );
COMPARE_VEC( Vector( -1, -1.4142135f, -1.4142135f ), transformedBB.min );
COMPARE_VEC( Vector( 1, 1.4142135f, 1.4142135f ), transformedBB.max );
}
{
transform.m_rotation.setAxisAngle( Vector_OY, FastFloat::fromFloat( DEG2RAD( 45.0f ) ) );
transform.toMatrix( transformMtx );
centralBB.transform( transformMtx, transformedBB );
COMPARE_VEC( Vector( -1.4142135f, -1, -1.4142135f ), transformedBB.min );
COMPARE_VEC( Vector( 1.4142135f, 1, 1.4142135f ), transformedBB.max );
}
}
TEST(CompositeSteeringBehavior, mixingBehaviors)
{
Vector testPos;
CompositeSteeringBehavior composite;
testPos.set( 10, 0, 0 );
composite.add( new SteeringBehaviorMock( testPos ), 0.5 );
testPos.set( 0, 10, 0 );
composite.add( new SteeringBehaviorMock( testPos ), 1 );
Vector outVel;
composite.calculateVelocity( 1, outVel );
testPos.set( 5, 10, 0 );
COMPARE_VEC( testPos, outVel );
}
TEST( Frustum, frustumBoundingBox )
{
RendererImplementationMock renderer;
Camera camera( "camera", renderer, Camera::PT_PERSPECTIVE );
camera.setNearPlaneDimensions(10, 10);
camera.setClippingPlanes(10, 100);
camera.setFOV(90);
Frustum frustum;
AABoundingBox frustumBounds;
Transform cameraTransform;
// identity matrix
camera.calculateFrustum( frustum );
frustum.calculateBoundingBox( frustumBounds );
COMPARE_VEC( Vector( -100.0f, -100.0f, 10.0f ), frustumBounds.min );
COMPARE_VEC( Vector( 100.0f, 100.0f, 100.0f ), frustumBounds.max );
// changed position
cameraTransform.m_translation.set( 10, 20, 30 );
cameraTransform.toMatrix( camera.accessLocalMtx() );
camera.calculateFrustum( frustum );
frustum.calculateBoundingBox( frustumBounds );
COMPARE_VEC( Vector( -90.0f, -80.0f, 40.0f ), frustumBounds.min );
COMPARE_VEC( Vector( 110.0f, 120.0f, 130.0f ), frustumBounds.max );
// rotated & translated camera
cameraTransform.m_rotation.setAxisAngle( Vector_OY, FastFloat::fromFloat( DEG2RAD( 90 ) ) );
cameraTransform.toMatrix( camera.accessLocalMtx() );
camera.calculateFrustum( frustum );
frustum.calculateBoundingBox( frustumBounds );
COMPARE_VEC( Vector( 20.0f, -80.0f, -70.0f ), frustumBounds.min );
COMPARE_VEC( Vector( 110.0f, 120.0f, 130.0f ), frustumBounds.max );
// rotated camera
cameraTransform.m_translation.set( 0, 0, 0 );
cameraTransform.toMatrix( camera.accessLocalMtx() );
camera.calculateFrustum( frustum );
frustum.calculateBoundingBox( frustumBounds );
COMPARE_VEC( Vector( 10.0f, -100.0f, -100.0f ), frustumBounds.min );
COMPARE_VEC( Vector( 100.0f, 100.0f, 100.0f ), frustumBounds.max );
}
TEST( Box, faceCollision )
{
Box b1, b2;
Matrix transform;
IntersectionResult contactPointsArr[8];
transform.setTranslation( Vector( 0.75f, 0.0f, 0.0f ) );
b1.set( Vector( 1.0f, 5.0f, 5.0f ) );
b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( ( uint ) 4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, -0.5f, -0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, -0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[3].m_contactNormal );
}
TEST( Transform, normalTransformation )
{
// construct a transformation we'll use for testing
Transform trans;
{
trans.m_rotation.setAxisAngle( Quad_1000, FastFloat::fromFloat( DEG2RAD( 90.0f ) ) );
trans.m_translation.set( 10, 20, 30 );
}
// create the test vector
Vector testVec( 0, 1, 0 );
// transform the vector
Vector transformedVec;
trans.transformNorm( testVec, transformedVec );
// the transform should:
// 1. rotate the vector around the X axis, transforming it to ( 0, 0, 1 )
// 2. doesn't translate it
COMPARE_VEC( Vector( 0, 0, 1 ), transformedVec );
}
TEST( TriangleSplitter, notCuttingPlaneUsed )
{
Triangle vol(Vector(-1, 0, 1), Vector(1, 0, 1), Vector(-1, 0, -1));
// plane that the triangle is behind
Array<Triangle*> frontSplit;
Array<Triangle*> backSplit;
Plane plane;
plane.set( Float_0, Float_0, Float_1, Float_Minus2 );
vol.split(plane, frontSplit, backSplit);
CPPUNIT_ASSERT_EQUAL((unsigned int)0, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)1, backSplit.size());
CPPUNIT_ASSERT(NULL != backSplit[0]);
COMPARE_VEC(Vector(-1, 0, 1), backSplit[0]->vertex(0));
COMPARE_VEC(Vector( 1, 0, 1), backSplit[0]->vertex(1));
COMPARE_VEC(Vector(-1, 0, -1), backSplit[0]->vertex(2));
delete backSplit[0];
backSplit.clear();
// plane that the triangle is in front of
plane.set( Float_0, Float_0, Float_1, Float_2 );
vol.split( plane, frontSplit, backSplit);
CPPUNIT_ASSERT_EQUAL((unsigned int)1, frontSplit.size());
CPPUNIT_ASSERT_EQUAL((unsigned int)0, backSplit.size());
CPPUNIT_ASSERT(NULL != frontSplit[0]);
COMPARE_VEC(Vector(-1, 0, 1), frontSplit[0]->vertex(0));
COMPARE_VEC(Vector( 1, 0, 1), frontSplit[0]->vertex(1));
COMPARE_VEC(Vector(-1, 0, -1), frontSplit[0]->vertex(2));
delete frontSplit[0];
}
TEST( Box, vertexCollision )
{
Box b1, b2;
Matrix transform;
IntersectionResult contactPointsArr[8];
// axis aligned boxes, colliding
{
b1.set( Vector( 1.0f, 1.0f, 1.0f ) );
// face-face collision
// NOTE: when two bodies collide, two sets of contact points should be generated, that would affect each body individually.
// But the fact is that we can do only with one set of contact points just for one body, 'cause one for the other one
// is just a reflection of the first set.
// So the convention is that if we call bodyA.testIntersection( bodyB ), the returned contact points
// will refer to bodyA. If it's bodyB we want to move in response to the contact point, we just need
// to calculate a mirror reflection of it.
// box slides along the x axis
transform.setTranslation( Vector( -0.5f, 0.75f, 0.0f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( -0.5f, 0.5f, 0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.0f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.0f, 0.5f, -0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, 0.5f, -0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.0f, 0.75f, 0.0f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( -0.5f, 0.5f, -0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, -0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.5f, 0.75f, 0.0f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.0f, 0.5f, -0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, -0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.0f, 0.5f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OY, contactPointsArr[3].m_contactNormal );
// now it slides along the y axis
transform.setTranslation( Vector( 0.0f, -0.5f, 0.75f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.0f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, 0.0f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, -0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.0f, 0.0f, 0.75f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( -0.5f, -0.5f, 0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.0f, 0.5f, 0.75f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( -0.5f, 0.0f, 0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( -0.5f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.0f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OZ, contactPointsArr[3].m_contactNormal );
// and finally - along the z axis
transform.setTranslation( Vector( 0.75f, 0.0f, -0.5f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.0f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, -0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, -0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.0f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.75f, 0.0f, 0.0f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, -0.5f, -0.5f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.5f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, -0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[3].m_contactNormal );
transform.setTranslation( Vector( 0.75f, 0.0f, 0.5f ) ); b2.set( Vector( 1.0f, 1.0f, 1.0f ), transform );
CPPUNIT_ASSERT_EQUAL( (uint)4, b1.testIntersection( b2, contactPointsArr, 8 ) );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.0f ), contactPointsArr[0].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[0].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, -0.5f, 0.5f ), contactPointsArr[1].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[1].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.0f ), contactPointsArr[2].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[2].m_contactNormal );
COMPARE_VEC( Vector( 0.5f, 0.5f, 0.5f ), contactPointsArr[3].m_contactPoint );
COMPARE_VEC( Vector_NEG_OX, contactPointsArr[3].m_contactNormal );
}
}
TEST( SnapshotAnimation, build )
{
// build a test animation
const uint bonesCount = 2;
BoneSRTAnimation* keyframes = new BoneSRTAnimation[bonesCount];
BoneSRTAnimation motion;
{
// frame 0
keyframes[0].addTranslationKey( 0.0f, Vector_ZERO );
keyframes[1].addTranslationKey( 0.0f, Vector_ZERO );
motion.addTranslationKey( 0.0f, Vector_ZERO );
keyframes[0].addTranslationKey( 0.75f, Vector( 3.75f, 0, 0 ) );
keyframes[1].addTranslationKey( 1.0f, Vector( 0, 5, 0 ) );
motion.addTranslationKey( 0.8f, Vector( 0, 0, 4 ) );
}
SnapshotAnimation animation;
SnapshotAnimation::build( animation, bonesCount, keyframes, motion );
{
CPPUNIT_ASSERT_EQUAL( 1.0f, animation.m_duration );
CPPUNIT_ASSERT_EQUAL( bonesCount, animation.m_bonesCount );
CPPUNIT_ASSERT_EQUAL( (uint)50, animation.m_poseTracks.size() ); // the animation is 1s long and we were sampling at 24 frames/sec, so we have 25 key frames per bone, which gives 50 frames for a skeleton that consists of 2 bones
CPPUNIT_ASSERT_EQUAL( (uint)25, animation.m_motionTrack.size() ); // and 25 keyframes in the motion track
}
// test the animation
{
Transform boneTransforms[2];
Transform motionTransform;
{
animation.samplePose( 0.0f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 0.0f, motionTransform );
COMPARE_VEC( Vector_ZERO, boneTransforms[0].m_translation );
COMPARE_VEC( Vector_ZERO, boneTransforms[1].m_translation );
COMPARE_VEC( Vector_ZERO, motionTransform.m_translation );
}
{
animation.samplePose( 0.25f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 0.25f, motionTransform );
COMPARE_VEC( Vector( 1.25f, 0, 0 ), boneTransforms[0].m_translation );
COMPARE_VEC( Vector( 0, 1.25f, 0 ), boneTransforms[1].m_translation );
COMPARE_VEC( Vector( 0, 0, 1.25f ), motionTransform.m_translation );
}
{
animation.samplePose( 0.5f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 0.5f, motionTransform );
COMPARE_VEC( Vector( 2.5f, 0, 0 ), boneTransforms[0].m_translation );
COMPARE_VEC( Vector( 0, 2.5f, 0 ), boneTransforms[1].m_translation );
COMPARE_VEC( Vector( 0, 0, 2.5f ), motionTransform.m_translation );
}
{
animation.samplePose( 0.75f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 0.75f, motionTransform );
COMPARE_VEC( Vector( 3.75f, 0, 0 ), boneTransforms[0].m_translation );
COMPARE_VEC( Vector( 0, 3.75f, 0 ), boneTransforms[1].m_translation );
COMPARE_VEC( Vector( 0, 0, 3.75f ), motionTransform.m_translation );
}
{
animation.samplePose( 1.0f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 1.0f, motionTransform );
COMPARE_VEC( Vector( 3.75f, 0, 0 ), boneTransforms[0].m_translation );
COMPARE_VEC( Vector( 0, 5, 0 ), boneTransforms[1].m_translation );
COMPARE_VEC( Vector( 0, 0, 4 ), motionTransform.m_translation );
}
// test outside of the boundaries
{
animation.samplePose( -0.1f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, -0.1f, motionTransform );
COMPARE_VEC( Vector_ZERO, boneTransforms[0].m_translation );
COMPARE_VEC( Vector_ZERO, boneTransforms[1].m_translation );
COMPARE_VEC( Vector_ZERO, motionTransform.m_translation );
}
{
animation.samplePose( 1.1f, boneTransforms, 2 );
animation.sampleMotion( 0.0f, 1.1f, motionTransform );
COMPARE_VEC( Vector( 3.75f, 0, 0 ), boneTransforms[0].m_translation );
COMPARE_VEC( Vector( 0, 5, 0 ), boneTransforms[1].m_translation );
COMPARE_VEC( Vector( 0, 0, 4 ), motionTransform.m_translation );
}
}
// cleanup
delete [] keyframes;
}