X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;ds=sidebyside;f=tst%2Fgeometry%2FIntersectionTest.cpp;h=550c0f257c65fc2bf33325d59b4aa7c939215031;hb=48d34439f3d5bc8bebabe9f0ee35970359e61bfa;hp=7aac189f58fda280209cd5677f23c7cdb85aa708;hpb=0e069351615f1315a5c7103fe5c849a242f72683;p=gong.git

diff --git a/tst/geometry/IntersectionTest.cpp b/tst/geometry/IntersectionTest.cpp
index 7aac189..550c0f2 100644
--- a/tst/geometry/IntersectionTest.cpp
+++ b/tst/geometry/IntersectionTest.cpp
@@ -21,7 +21,65 @@ void IntersectionTest::tearDown() {
 }
 
 
-void IntersectionTest::testSimpleRayBoxIntersection() {
+void IntersectionTest::testAABB() {
+	AABB a{ { -1, -1, -1 }, { 1, 1, 1 } };
+	AABB b(a);
+
+	CPPUNIT_ASSERT_MESSAGE(
+		"coincidental AABBs should intersect",
+		Intersection(a, b)
+	);
+
+	b.Move({ 1, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should intersect",
+		Intersection(a, b)
+	);
+
+	b.Move({ 2, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should not intersect",
+		!Intersection(a, b)
+	);
+
+	b.Move({ -4, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should intersect",
+		Intersection(a, b)
+	);
+
+	b.Move({ -2, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should not intersect",
+		!Intersection(a, b)
+	);
+
+	b.Move({ 3, 1, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should intersect",
+		Intersection(a, b)
+	);
+
+	b.Move({ 0, 2, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should not intersect",
+		!Intersection(a, b)
+	);
+
+	b.Move({ 2, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should not intersect",
+		!Intersection(a, b)
+	);
+
+	b.Move({ 0, 0, 2 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"AABBs should not intersect",
+		!Intersection(a, b)
+	);
+}
+
+void IntersectionTest::testSimpleRayBox() {
 	Ray ray{ { 0, 0, 0 }, { 1, 0, 0 }, { } }; // at origin, pointing right
 	ray.Update();
 	AABB box{ { -1, -1, -1 }, { 1, 1, 1 } }; // 2x2x2 cube centered around origin
@@ -68,7 +126,7 @@ void IntersectionTest::testSimpleRayBoxIntersection() {
 	);
 }
 
-void IntersectionTest::testRayBoxIntersection() {
+void IntersectionTest::testRayBox() {
 	Ray ray{ { 0, 0, 0 }, { 1, 0, 0 }, { } }; // at origin, pointing right
 	AABB box{ { -1, -1, -1 }, { 1, 1, 1 } }; // 2x2x2 cube centered around origin
 	glm::mat4 M(1); // no transformation
@@ -215,7 +273,7 @@ void IntersectionTest::testRayBoxIntersection() {
 	);
 }
 
-void IntersectionTest::testBoxBoxIntersection() {
+void IntersectionTest::testBoxBox() {
 	const float delta = std::numeric_limits<float>::epsilon();
 	float depth = 0;
 	glm::vec3 normal(0);
@@ -267,6 +325,183 @@ void IntersectionTest::testBoxBoxIntersection() {
 	);
 }
 
+void IntersectionTest::testSphereSphere() {
+	const float delta = std::numeric_limits<float>::epsilon();
+
+	Sphere a{{ 0.0f, 0.0f, 0.0f }, 1.0f};
+	Sphere b{{ 0.0f, 0.0f, 0.0f }, 1.0f};
+	float depth;
+	glm::vec3 normal;
+
+	CPPUNIT_ASSERT_MESSAGE(
+		"coincidental spheres should intersect",
+		Intersection(a, b, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad intersection distance",
+		2.0f, depth, delta
+	);
+	// normal can be just about anything
+
+	b.Move({ 1, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"spheres should intersect",
+		Intersection(a, b, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad intersection distance",
+		1.0f, depth, delta
+	);
+	CPPUNIT_ASSERT_EQUAL_MESSAGE(
+		"bad intersection normal",
+		glm::vec3(1, 0, 0), normal
+	);
+
+	b.Position({ -1.5, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"spheres should intersect",
+		Intersection(a, b, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad intersection distance",
+		0.5f, depth, delta
+	);
+	CPPUNIT_ASSERT_EQUAL_MESSAGE(
+		"bad intersection normal",
+		glm::vec3(-1, 0, 0), normal
+	);
+
+	b.Move({ -1, 0, 0 });
+	CPPUNIT_ASSERT_MESSAGE(
+		"spheres should not intersect",
+		!Intersection(a, b, depth, normal)
+	);
+}
+
+void IntersectionTest::testSpherePlane() {
+	const float delta = std::numeric_limits<float>::epsilon();
+
+	// unit sphere at origin
+	Sphere sphere{{ 0.0f, 0.0f, 0.0f }, 1.0f};
+	// horizontal plane at origin (the XZ plane)
+	Plane plane{{ 0.0f, 1.0f, 0.0f }, 0.0f };
+	float depth;
+	glm::vec3 normal;
+
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere at origin does not intersect plane at origin",
+		Intersection(sphere, plane, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with plane",
+		1.0f, depth, delta
+	);
+	// normal is actually undefined in this case, but either will work
+	CPPUNIT_ASSERT_MESSAGE(
+		"bad contact normal of sphere intersecting plane",
+		normal == glm::vec3(0.0f, 1.0f, 0.0f) || normal == glm::vec3(0.0f, -1.0f, 0.0f)
+	);
+
+	// center above, but still intersecting
+	sphere.origin.y = 0.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere does not intersect plane",
+		Intersection(sphere, plane, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with plane",
+		0.5f, depth, delta
+	);
+	CPPUNIT_ASSERT_EQUAL_MESSAGE(
+		"bad contact normal of sphere intersecting plane",
+		glm::vec3(0.0f, 1.0f, 0.0f), normal
+	);
+
+	// center below, but still intersecting
+	sphere.origin.y = -0.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere does not intersect plane",
+		Intersection(sphere, plane, depth, normal)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with plane",
+		0.5f, depth, delta
+	);
+	CPPUNIT_ASSERT_EQUAL_MESSAGE(
+		"bad contact normal of sphere intersecting plane",
+		glm::vec3(0.0f, -1.0f, 0.0f), normal
+	);
+
+	// sphere completely above
+	sphere.origin.y = 1.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere above plane intersects",
+		!Intersection(sphere, plane, depth, normal)
+	);
+
+	// sphere completely below
+	sphere.origin.y = -1.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere below plane intersects",
+		!Intersection(sphere, plane, depth, normal)
+	);
+}
+
+void IntersectionTest::testSphereHalfSpace() {
+	const float delta = std::numeric_limits<float>::epsilon();
+
+	// unit sphere at origin
+	Sphere sphere{{ 0.0f, 0.0f, 0.0f }, 1.0f};
+	// horizontal plane at origin (the XZ plane)
+	Plane plane{{ 0.0f, 1.0f, 0.0f }, 0.0f };
+	float depth;
+
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere at origin does not intersect half space to origin",
+		Intersection(sphere, plane, depth)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with half space",
+		1.0f, depth, delta
+	);
+
+	sphere.origin.y = 0.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere does not intersect half space",
+		Intersection(sphere, plane, depth)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with half space",
+		0.5f, depth, delta
+	);
+
+	sphere.origin.y = -0.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere does not intersect half space",
+		Intersection(sphere, plane, depth)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with half space",
+		1.5f, depth, delta
+	);
+
+	sphere.origin.y = -1.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere inside half space does not intersect",
+		Intersection(sphere, plane, depth)
+	);
+	CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+		"bad penetration depth of sphere with half space",
+		2.5f, depth, delta
+	);
+
+	sphere.origin.y = 1.5f;
+	CPPUNIT_ASSERT_MESSAGE(
+		"sphere outside half space intersects",
+		!Intersection(sphere, plane, depth)
+	);
+}
+
 }
 }
 }