47 lines
987 B
C++
47 lines
987 B
C++
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#include <iostream>
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#include "catch.hpp"
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#include "rbdlsim.h"
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using namespace std;
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using namespace RBDLSim;
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TEST_CASE("Simple Box vs Sphere Collision", "[Collision]") {
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SimShape box;
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box.mType = SimShape::Box;
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box.pos.set(0.0, 0.5, 0.);
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box.scale.set(1., 1., 1.);
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box.orientation.set(0., 0., 0., 1.);
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SimShape sphere;
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sphere.mType = SimShape::Sphere;
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sphere.scale.set(0.5, 0.5, 0.5);
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sphere.orientation.set(0., 0., 0., 1.);
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bool cresult = false;
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CollisionInfo cinfo;
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SECTION("Box and Sphere Touching") {
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sphere.pos.set(0., 1.5, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Box and Sphere Intersecting") {
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sphere.pos.set(0., 1.4, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Box and Sphere Separated") {
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sphere.pos.set(0., 1.5001, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == false);
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}
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}
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