void ShapeColliderTests::capsuleMissesCapsule() {
// non-overlapping capsules
float radiusA = 2.f;
float halfHeightA = 3.f;
float radiusB = 3.f;
float halfHeightB = 4.f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusA, halfHeightA);
CollisionList collisions(16);
// side by side
capsuleB.setPosition((1.01f * totalRadius) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
// end to end
capsuleB.setPosition((1.01f * totalHalfLength) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size()
<< std::endl;
}
}
void ShapeColliderTests::capsuleTouchesCapsule() {
// overlapping capsules
float radiusA = 2.f;
float halfHeightA = 3.f;
float radiusB = 3.f;
float halfHeightB = 4.f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
int numCollisions = 0;
{ // side by side
capsuleB.setPosition((0.99f * totalRadius) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // end to end
capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // again, but this time check collision details
float overlap = 0.1f;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = overlap * xAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
// capsuleB vs capsuleA
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - overlap * xAxis;
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
expectedContactPoint = capsuleB.getPosition() - (radiusB + halfHeightB) * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
{ // collide cylinder wall against cylinder wall
float overlap = 0.137f;
float shift = 0.317f * halfHeightA;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = overlap * zAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * zAxis + shift * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
}
void VerletShapeTests::capsuleMissesCapsule() {
// non-overlapping capsules
float radiusA = 2.0f;
float halfHeightA = 3.0f;
float radiusB = 3.0f;
float halfHeightB = 4.0f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
// create points for the shapes
VerletPoint points[4];
for (int i = 0; i < 4; ++i) {
points[i]._position = glm::vec3(0.0f);
}
// give the points to the shapes
VerletCapsuleShape capsuleA(radiusA, points+0, points+1);
VerletCapsuleShape capsuleB(radiusB, points+2, points+3);
capsuleA.setHalfHeight(halfHeightA);
capsuleA.setHalfHeight(halfHeightB);
CollisionList collisions(16);
// side by side
capsuleB.setTranslation((1.01f * totalRadius) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// end to end
capsuleB.setTranslation((1.01f * totalHalfLength) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setTranslation((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
}
}
