--- /dev/null
+#include "IntersectTest.hpp"
+
+#include "../assert.hpp"
+
+#include "math/const.hpp"
+#include "math/geometry.hpp"
+
+#include <limits>
+#include <glm/gtx/transform.hpp>
+
+CPPUNIT_TEST_SUITE_REGISTRATION(blobs::math::test::IntersectTest);
+
+using blobs::test::AssertEqual;
+
+
+namespace blobs {
+namespace math {
+namespace test {
+
+void IntersectTest::setUp() {
+}
+
+void IntersectTest::tearDown() {
+}
+
+
+void IntersectTest::testRayBoxIntersection() {
+ 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::dmat4 M(1); // no transformation
+
+ const double delta = 1.0e-15;
+
+ double distance = 0;
+ glm::dvec3 normal(0);
+
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray at origin not intersecting box at origin",
+ Intersect(ray, box, M, normal, distance)
+ );
+ // normal undefined, so can't test
+
+ // move ray outside the box, but have it still point at it
+ // should be 4 units to the left now
+ ray.Origin({ -5, 0, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box to the right doesn't intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(-1, 0, 0), normal
+ );
+
+ // move ray to the other side, so it's pointing away now
+ ray.Origin({ 5, 0, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing away from box to the left still intersects",
+ !Intersect(ray, box, M, normal, distance)
+ );
+
+ // turn ray around
+ ray.Direction({ -1, 0, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box to the left does not intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(1, 0, 0), normal
+ );
+
+ // ray below
+ ray.Origin({ 0, -5, 0 });
+ ray.Direction({ 0, 1, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box above does not intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(0, -1, 0), normal
+ );
+
+ // turn ray around
+ ray.Direction({ 0, -1, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing away from box above still intersects",
+ !Intersect(ray, box, M, normal, distance)
+ );
+
+ // move ray above
+ ray.Origin({ 0, 5, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box below does not intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(0, 1, 0), normal
+ );
+
+ // ray behind
+ ray.Origin({ 0, 0, -5 });
+ ray.Direction({ 0, 0, 1 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box in front does not intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(0, 0, -1), normal
+ );
+
+ // turn ray around
+ ray.Direction({ 0, 0, -1 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing away from box in front still intersects",
+ !Intersect(ray, box, M, normal, distance)
+ );
+
+ // move ray in front
+ ray.Origin({ 0, 0, 5 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box behind does not intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 4.0, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(0, 0, 1), normal
+ );
+
+ // 45 deg down from 4 units away, so should be about 4 * sqrt(2)
+ ray.Origin({ -5, 4.5, 0 });
+ ray.Direction({ 0.70710678118654752440, -0.70710678118654752440, 0 });
+ CPPUNIT_ASSERT_MESSAGE(
+ "ray pointing at box doesn't intersect",
+ Intersect(ray, box, M, normal, distance)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "intersection distance way off",
+ 5.65685424949238019520, distance, delta
+ );
+ AssertEqual(
+ "wrong surface normal at intersection point",
+ glm::dvec3(-1, 0, 0), normal
+ );
+}
+
+void IntersectTest::testBoxBoxIntersection() {
+ const double delta = std::numeric_limits<double>::epsilon();
+ double depth = 0;
+ glm::dvec3 normal(0);
+
+ AABB box{ { -1, -1, -1 }, { 1, 1, 1 } }; // 2x2x2 cube centered around origin
+ glm::mat4 Ma(1); // identity
+ glm::mat4 Mb(1); // identity
+ // they're identical, so should probably intersect ^^
+
+ CPPUNIT_ASSERT_MESSAGE(
+ "identical OBBs don't intersect",
+ Intersect(box, Ma, box, Mb, normal, depth)
+ );
+ // depth is two, but normal can be any
+ // (will probably be the first axis of box a, but any is valid)
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "penetration depth of coincidental 2x2x2 boxes is not 2",
+ 2.0, depth, delta
+ );
+
+ Ma = glm::translate(glm::dvec3(-2, 0, 0)); // 2 to the left
+ Mb = glm::translate(glm::dvec3(2, 0, 0)); // 2 to the right
+ CPPUNIT_ASSERT_MESSAGE(
+ "distant OBBs intersect (2 apart, no rotation)",
+ !Intersect(box, Ma, box, Mb, normal, depth)
+ );
+ // depth and normal undefined for non-intersecting objects
+
+ Ma = glm::rotate(PI * 0.25, glm::dvec3(0, 0, 1)); // rotated 45° around Z
+ Mb = glm::translate(glm::dvec3(2.4, 0, 0)); // 2.4 to the right
+ // they should barely touch. intersect by about sqrt(2) - 1.4 if my head works
+ CPPUNIT_ASSERT_MESSAGE(
+ "OBBs don't intersect (one rotated by 45°)",
+ Intersect(box, Ma, box, Mb, normal, depth)
+ );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(
+ "bad penetration depth (with rotation)",
+ 0.0142134428024292, depth, delta
+ );
+ AssertEqual(
+ "bad intersection normal (with rotation)",
+ glm::dvec3(1, 0, 0), abs(normal) // normal can be in + or - x, therefore abs()
+ );
+
+ Mb = glm::translate(glm::dvec3(3, 0, 0)); // 3 to the right
+ CPPUNIT_ASSERT_MESSAGE(
+ "OBBs intersect (one rotated by 45°)",
+ !Intersect(box, Ma, box, Mb, normal, depth)
+ );
+}
+
+}
+}
+}
projects / blobs.git / blobdiff