TEST(ReachabilitySphere, fitCylinder_2)
{
Capability cylinder1(CYLINDER_2, 90.0, 90.0, 20.0);
ReachabilitySphere sphere = createReachabilitySphereFromCapability(cylinder1, 200);
// convert phi and theta to coordinates
double phiInRad = 90.0 * M_PI / 180.0;
double thetaInRad = 90.0 * M_PI / 180.0;
Vector axis;
axis.x = sin(thetaInRad) * cos(phiInRad);
axis.y = sin(thetaInRad) * sin(phiInRad);
axis.z = cos(thetaInRad);
std::pair<double, double> angleAndSFE = sphere.fitCylinder_2(axis);
ASSERT_TRUE(angleAndSFE.first < 20.01);
ASSERT_TRUE(angleAndSFE.first > 19.0);
ASSERT_EQ(angleAndSFE.second, 0.0);
Capability cylinder2(CYLINDER_2, 320.0, 35.0, 40.0);
sphere = createReachabilitySphereFromCapability(cylinder2, 200);
// convert phi and theta to coordinates
phiInRad = 320.0 * M_PI / 180.0;
thetaInRad = 35.0 * M_PI / 180.0;
axis.x = sin(thetaInRad) * cos(phiInRad);
axis.y = sin(thetaInRad) * sin(phiInRad);
axis.z = cos(thetaInRad);
angleAndSFE = sphere.fitCylinder_2(axis);
ASSERT_TRUE(angleAndSFE.first < 40.01 && angleAndSFE.first > 39.0);
ASSERT_EQ(angleAndSFE.second, 0.0);
// check that cylinder_1 is matched too if axis points to opposite direction
Capability cylinder3(CYLINDER_2, 0.0, 0.0, 20.0);
sphere = createReachabilitySphereFromCapability(cylinder3, 200);
// convert phi and theta to coordinates
phiInRad = 0.0 * M_PI / 180.0;
thetaInRad = 180.0 * M_PI / 180.0;
axis.x = sin(thetaInRad) * cos(phiInRad);
axis.y = sin(thetaInRad) * sin(phiInRad);
axis.z = cos(thetaInRad);
angleAndSFE = sphere.fitCylinder_2(axis);
ASSERT_TRUE(angleAndSFE.first < 20.0);
ASSERT_EQ(angleAndSFE.second, 0.0);
// check if SFE grows if axis is not alligned correctly
Capability cylinder4(CYLINDER_2, 0.0, 0.0, 20.0);
sphere = createReachabilitySphereFromCapability(cylinder4, 200);
// convert phi and theta to coordinates
phiInRad = 0.0 * M_PI / 180.0;
thetaInRad = 10.0 * M_PI / 180.0;
axis.x = sin(thetaInRad) * cos(phiInRad);
axis.y = sin(thetaInRad) * sin(phiInRad);
axis.z = cos(thetaInRad);
angleAndSFE = sphere.fitCylinder_2(axis);
ASSERT_TRUE(angleAndSFE.second > 0.0);
}
INT WINAPI wWinMain( HINSTANCE, HINSTANCE, LPWSTR, INT )
{
srand( static_cast<unsigned>( time(NULL) ) );
SkinningVertex * cylinder_vertices = NULL;
Index * cylinder_indices = NULL;
Vertex * tesselated_vertices = NULL;
Index * tesselated_indices = NULL;
try
{
Application app;
VertexShader skinning_shader(app.get_device(), SKINNING_VERTEX_DECL_ARRAY, SKINNING_SHADER_FILENAME);
VertexShader morphing_shader(app.get_device(), VERTEX_DECL_ARRAY, MORPHING_SHADER_FILENAME);
// -------------------------- C y l i n d e r -----------------------
cylinder_vertices = new SkinningVertex[CYLINDER_VERTICES_COUNT];
cylinder_indices = new Index[CYLINDER_INDICES_COUNT];
float height = 2.0f;
cylinder( 0.7f, height,
colors, colors_count,
cylinder_vertices, cylinder_indices );
SkinningModel cylinder1(app.get_device(),
D3DPT_TRIANGLESTRIP,
skinning_shader,
cylinder_vertices,
CYLINDER_VERTICES_COUNT,
cylinder_indices,
CYLINDER_INDICES_COUNT,
CYLINDER_INDICES_COUNT - 2,
D3DXVECTOR3(0.5f, 0.5f, -height/2),
D3DXVECTOR3(0,0,0),
D3DXVECTOR3(0,0,-1));
height = 2.3f;
cylinder( 0.3f, height,
&SECOND_CYLINDER_COLOR, 1,
cylinder_vertices, cylinder_indices );
SkinningModel cylinder2(app.get_device(),
D3DPT_TRIANGLESTRIP,
skinning_shader,
cylinder_vertices,
CYLINDER_VERTICES_COUNT,
cylinder_indices,
CYLINDER_INDICES_COUNT,
CYLINDER_INDICES_COUNT - 2,
D3DXVECTOR3(-1.0f, 0.5f, height/2),
D3DXVECTOR3(D3DX_PI,0,-D3DX_PI/4),
D3DXVECTOR3(0,0,1));
// -------------------------- P y r a m i d -----------------------
const Index PLANES_PER_PYRAMID = 8;
const D3DXVECTOR3 normal_up(0,0,1);
const Vertex pyramid_vertices[]=
{
Vertex(D3DXVECTOR3( 0.5f, -0.5f, 0.00f ),normal_up),
Vertex(D3DXVECTOR3( -0.5f, -0.5f, 0.00f ),normal_up),
Vertex(D3DXVECTOR3( -0.5f, 0.5f, 0.00f ),normal_up),
Vertex(D3DXVECTOR3( 0.5f, 0.5f, 0.00f ),normal_up),
Vertex(D3DXVECTOR3( 0.0f, 0.0f, 0.7071f ),normal_up),
Vertex(D3DXVECTOR3( 0.0f, 0.0f, -0.7071f ),normal_up),
};
const Index pyramid_indices[PLANES_PER_PYRAMID*VERTICES_PER_TRIANGLE] =
{
0, 4, 3,
3, 4, 2,
2, 4, 1,
1, 4, 0,
0, 3, 5,
3, 2, 5,
2, 1, 5,
1, 0, 5,
};
const Index ALL_TESSELATED_VERTICES_COUNT = PLANES_PER_PYRAMID*TESSELATED_VERTICES_COUNT; // per 8 tessellated triangles
const DWORD ALL_TESSELATED_INDICES_COUNT = PLANES_PER_PYRAMID*TESSELATED_INDICES_COUNT; // per 8 tessellated triangles
tesselated_vertices = new Vertex[ALL_TESSELATED_VERTICES_COUNT];
tesselated_indices = new Index[ALL_TESSELATED_INDICES_COUNT];
for( DWORD i = 0; i < PLANES_PER_PYRAMID; ++i )
{
tessellate( pyramid_vertices, pyramid_indices, i*VERTICES_PER_TRIANGLE,
&tesselated_vertices[i*TESSELATED_VERTICES_COUNT], i*TESSELATED_VERTICES_COUNT,
&tesselated_indices[i*TESSELATED_INDICES_COUNT], SPHERE_COLOR );
}
MorphingModel pyramid( app.get_device(),
D3DPT_TRIANGLELIST,
morphing_shader,
tesselated_vertices,
ALL_TESSELATED_VERTICES_COUNT,
tesselated_indices,
ALL_TESSELATED_INDICES_COUNT,
ALL_TESSELATED_INDICES_COUNT/VERTICES_PER_TRIANGLE,
D3DXVECTOR3(0, -1.3f, -0.2f),
D3DXVECTOR3(0,0,0),
0.7071f);
app.add_model(cylinder1);
app.add_model(cylinder2);
app.add_model(pyramid);
app.run();
delete_array(&tesselated_indices);
delete_array(&tesselated_vertices);
delete_array(&cylinder_indices);
delete_array(&cylinder_vertices);
}
catch(RuntimeError &e)
{
delete_array(&tesselated_indices);
delete_array(&tesselated_vertices);
delete_array(&cylinder_indices);
delete_array(&cylinder_vertices);
const TCHAR *MESSAGE_BOX_TITLE = _T("Lighting error!");
MessageBox(NULL, e.message(), MESSAGE_BOX_TITLE, MB_OK | MB_ICONERROR);
return -1;
}
return 0;
}
TEST(ReachabilitySphere, getPrincipalComponents)
{
ReachabilitySphere sphere;
std::vector<Vector> vectors;
std::vector<Vector> components;
// a line in x direction should give the main principal component lying in x direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(2.0, 0.0, 0.0));
vectors.push_back(Vector(3.0, 0.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 1.0);
ASSERT_TRUE(components[2].y == 0.0);
ASSERT_TRUE(components[2].z == 0.0);
vectors.clear();
// a line in y direction should give the main principal component lying in y direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 0.0));
vectors.push_back(Vector(0.0, 2.0, 0.0));
vectors.push_back(Vector(0.0, 3.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 0.0);
ASSERT_TRUE(components[2].y == 1.0);
ASSERT_TRUE(components[2].z == 0.0);
vectors.clear();
// a line in z direction should give the main principal component lying in z direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 0.0, 2.0));
vectors.push_back(Vector(0.0, 0.0, 3.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 0.0);
ASSERT_TRUE(components[2].y == 0.0);
ASSERT_TRUE(components[2].z == 1.0);
vectors.clear();
// filling just x and y directions should give the least principal component in z direction
vectors.push_back(Vector(1.0, 2.0, 0.0));
vectors.push_back(Vector(2.0, 1.0, 0.0));
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 0.0);
ASSERT_TRUE(components[0].y == 0.0);
ASSERT_TRUE(components[0].z == 1.0);
vectors.clear();
// filling just y and z directions should give the least principal component in x direction
vectors.push_back(Vector(0.0, 2.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 2.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 1.0, 1.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 1.0);
ASSERT_TRUE(components[0].y == 0.0);
ASSERT_TRUE(components[0].z == 0.0);
vectors.clear();
// filling just x and z directions should give the least principal component in y direction
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(2.0, 0.0, 2.0));
vectors.push_back(Vector(2.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 0.0);
ASSERT_TRUE(components[0].y == 1.0);
ASSERT_TRUE(components[0].z == 0.0);
vectors.clear();
// a line in x-y direction should give the main principal component lying in x-y direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(1.0, 1.0, 0.0));
vectors.push_back(Vector(2.0, 2.0, 0.0));
vectors.push_back(Vector(3.0, 3.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(fuzzyEquals(std::abs(components[2].x), 0.707106781));
ASSERT_TRUE(fuzzyEquals(std::abs(components[2].y), 0.707106781));
ASSERT_TRUE(components[2].z == 0.0);
// test Capability of type cone
Capability cone(CONE, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cone, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI > 54.0);
// test Capability of type cylinder_1
Capability cylinder1(CYLINDER_1, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cylinder1, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[2].y, components[2].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[2].y, components[2].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[2].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[2].z) * 180.0 / M_PI > 54.0);
// test Capability of type cylinder_2
Capability cylinder2(CYLINDER_2, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cylinder2, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI > 54.0);
}