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WIP: adjusting sch_hull_sat API to allow providing transforms.

master
Martin Felis 2021-11-07 11:31:24 +01:00
parent c6daa7ec21
commit cf87db975c
2 changed files with 20 additions and 11 deletions
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7
src/sconvcol.h
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@ -162,7 +162,7 @@ void sch_create_face_contact (const sch_face_query* query_A_B, const sch_hull* h
void sch_create_edge_contact (const sch_edge_query* query_edge, const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result); void sch_create_edge_contact (const sch_edge_query* query_edge, const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result);
bool sch_hull_sat(const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result); bool sch_hull_sat(const sch_hull* hull_A, simd4x4f* trans_A, const sch_hull* hull_B, simd4x4f* trans_B, sch_manifold* result);
int sch_hull_is_vertex_concave(const sch_hull* hull, const simd4f p); int sch_hull_is_vertex_concave(const sch_hull* hull, const simd4f p);
@ -678,10 +678,7 @@ void sch_create_edge_contact (const sch_edge_query* query_edge, const sch_hull*
#endif #endif
} }
bool sch_hull_sat( bool sch_hull_sat(const sch_hull* hull_A, simd4x4f* trans_A, const sch_hull* hull_B, simd4x4f* trans_B, sch_manifold* result) {
const sch_hull* hull_A,
const sch_hull* hull_B,
sch_manifold* result) {
sch_face_query query_A_B; sch_face_query query_A_B;
sch_query_face_directions(hull_A, hull_B, &query_A_B); sch_query_face_directions(hull_A, hull_B, &query_A_B);
if (query_A_B.dist > 0.f) { if (query_A_B.dist > 0.f) {

24
tests/sconvcolTests.cc
View File

@ -341,7 +341,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_transform(&hull_B, translation); sch_hull_transform(&hull_B, translation);
THEN("Boxes separated") { THEN("Boxes separated") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(separated); REQUIRE(separated);
} }
} }
@ -351,7 +353,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_translate(&hull_B, 1.1f, 0.f, 0.f); sch_hull_translate(&hull_B, 1.1f, 0.f, 0.f);
THEN("Boxes overlap") { THEN("Boxes overlap") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(!separated); REQUIRE(!separated);
} }
} }
@ -362,7 +366,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_translate(&hull_B, sqrt(2.f), 0.f, 0.f); sch_hull_translate(&hull_B, sqrt(2.f), 0.f, 0.f);
THEN("Boxes overlap") { THEN("Boxes overlap") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(!separated); REQUIRE(!separated);
} }
@ -370,7 +376,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_translate(&hull_B, 0.001f, 0.f, 0.f); sch_hull_translate(&hull_B, 0.001f, 0.f, 0.f);
THEN("Boxes are separated") { THEN("Boxes are separated") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(separated); REQUIRE(separated);
} }
} }
@ -381,7 +389,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_translate(&hull_B, 0., 0.f, 0.97f); sch_hull_translate(&hull_B, 0., 0.f, 0.97f);
THEN("Boxes overlap") { THEN("Boxes overlap") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(!separated); REQUIRE(!separated);
REQUIRE(manifold.num_points == 8); REQUIRE(manifold.num_points == 8);
} }
@ -391,7 +401,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_hull_translate(&hull_B, 1., 0.f, 1.00f); sch_hull_translate(&hull_B, 1., 0.f, 1.00f);
THEN("Boxes overlap") { THEN("Boxes overlap") {
bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold); simd4x4f identity;
simd4x4f_identity(&identity);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
REQUIRE(!separated); REQUIRE(!separated);
REQUIRE(manifold.num_points == 8); REQUIRE(manifold.num_points == 8);
} }