547 lines
18 KiB
C++
547 lines
18 KiB
C++
#include <iostream>
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#include "catch.hpp"
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#include "sconvcol.h"
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using namespace std;
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TEST_CASE("Plane Distance", "[sconvcol]") {
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sch_plane plane = {
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simd4f_create(0.f, 0.f, 0.f, 0.f),
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simd4f_create(0.f, 1.f, 0.f, 0.f)};
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simd4f point = simd4f_create(0.f, 0.23f, 0.f, 0.f);
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float dist = sch_plane_distance(&plane, &point);
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REQUIRE(dist == 0.23f);
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}
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TEST_CASE("Edge Get Direction", "[sconvcol]") {
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simd4f vertices[4] = {
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simd4f_create(-1.f, -1.f, 0.f, 0.f),
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simd4f_create(1.f, -1.f, 0.f, 0.f),
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simd4f_create(1.f, 1.f, 0.f, 0.f),
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simd4f_create(-1.f, 1.f, 0.f, 0.f)};
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sch_face face = {nullptr};
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sch_create_face(4, vertices, &face);
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simd4f dir;
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sch_edge_get_dir(face.edge, &dir);
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simd4f dir_ref = simd4f_create(1.f, 0.f, 0.f, 0.f);
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REQUIRE(1.f == simd4f_dot3_scalar(dir, dir_ref));
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}
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TEST_CASE("HullBuilder", "[sconvcol]") {
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sch_hull_builder builder;
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builder.num_vertices = 3;
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GIVEN("A builder") {
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WHEN("is reset") {
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sch_builder_reset(&builder);
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THEN("number of vertices and faces is set to 0") {
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REQUIRE(builder.num_vertices == 0);
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REQUIRE(builder.num_faces == 0);
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}
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WHEN("adding a vertex") {
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int num_vertices = builder.num_vertices;
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simd4f vertex = simd4f_create(1.f, 0.f, 0.f, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex);
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THEN("number of vertices increased") {
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REQUIRE(builder.num_vertices > num_vertices);
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}
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}
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}
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}
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GIVEN("An empty builder") {
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sch_builder_reset(&builder);
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simd4f vertex0 = simd4f_create(0.f, 0.f, 0.f, 1.f);
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simd4f vertex1 = simd4f_create(1.f, 0.f, 0.f, 1.f);
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simd4f vertex2 = simd4f_create(0.5f, 1.f, 0.f, 1.f);
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WHEN("adding two vertices ") {
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex1);
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WHEN("ending the face") {
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sch_builder_face_end(&builder);
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THEN("face idx range goes from 0 to 1") {
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REQUIRE(builder.num_faces == 1);
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REQUIRE(builder.num_vertices == 2);
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REQUIRE(builder.face_vert_idx_start[0] == 0);
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REQUIRE(builder.face_vert_idx_end[0] == 1);
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}
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}
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WHEN("creating a triangle") {
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sch_builder_face_vertex(&builder, vertex2);
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sch_builder_face_end(&builder);
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THEN("face idx range goes from 0 to 2") {
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REQUIRE(builder.num_faces == 1);
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REQUIRE(builder.num_vertices == 3);
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REQUIRE(builder.face_vert_idx_start[0] == 0);
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REQUIRE(builder.face_vert_idx_end[0] == 2);
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}
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WHEN("creating a hull") {
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sch_hull hull;
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SchHullResult result = sch_builder_create_hull(&builder, &hull);
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THEN("verify triangle hull") {
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REQUIRE(result == SchHullResultOpenHull);
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REQUIRE(hull.num_faces == 1);
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sch_face* face = &hull.faces[0];
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sch_vert* hull_vert0 = face->edge->vert;
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sch_vert* hull_vert1 = face->edge->next->vert;
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sch_vert* hull_vert2 = face->edge->next->next->vert;
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REQUIRE(sch_simd4f_equal(hull_vert0->p, vertex0));
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REQUIRE(sch_simd4f_equal(hull_vert1->p, vertex1));
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REQUIRE(sch_simd4f_equal(hull_vert2->p, vertex2));
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REQUIRE(face->edge->next->next->next == face->edge);
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}
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sch_hull_free_memory(&hull);
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}
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WHEN("adding concave face") {
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sch_hull hull;
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SchHullResult result = sch_builder_create_hull(&builder, &hull);
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simd4f vertex3 = simd4f_create(0.5f, 0.25f, 0.1337f, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_vertex(&builder, vertex3);
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sch_builder_face_end(&builder);
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THEN("check face and vertex definitions") {
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REQUIRE(builder.num_faces == 2);
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REQUIRE(builder.num_vertices == 4);
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REQUIRE(builder.face_vert_idx_start[0] == 0);
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REQUIRE(builder.face_vert_idx_end[0] == 2);
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REQUIRE(builder.face_vert_idx_start[1] == 3);
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REQUIRE(builder.face_vert_idx_end[1] == 5);
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}
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THEN("hull creation fails") {
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sch_hull concave_hull;
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SchHullResult result = sch_builder_create_hull(&builder, &concave_hull);
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REQUIRE(result == SchHullResultConcaveVertex);
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sch_hull_free_memory(&concave_hull);
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}
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sch_hull_free_memory(&hull);
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}
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WHEN("adding adjacent clockwise winded face") {
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simd4f vertex4 = simd4f_create(0.5f, -0.25f, 0, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_vertex(&builder, vertex4);
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sch_builder_face_end(&builder);
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THEN("hull creation fails") {
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sch_hull hull;
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SchHullResult result = sch_builder_create_hull(&builder, &hull);
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REQUIRE(result == SchHullResultWrongWinding);
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sch_hull_free_memory(&hull);
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}
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}
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WHEN("adding adjacent counter clockwise winded face") {
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simd4f vertex4 = simd4f_create(0.5f, -0.25f, 0, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex4);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_end(&builder);
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THEN("edge v0-v1 has twin edge v1-v0") {
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sch_hull hull;
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SchHullResult result = sch_builder_create_hull(&builder, &hull);
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REQUIRE(result == SchHullResultOpenHull);
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sch_edge* edge_v0_v1 = sch_hull_find_edge(&hull, vertex0, vertex1);
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sch_edge* edge_v1_v0 = sch_hull_find_edge(&hull, vertex1, vertex0);
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REQUIRE (edge_v0_v1 != NULL);
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REQUIRE (edge_v1_v0->twin == edge_v0_v1);
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sch_hull_free_memory(&hull);
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}
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}
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}
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}
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WHEN("creating a tetrahedron ") {
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simd4f vertex3 = simd4f_create (0.5f, 0.f, -0.5f, 1.f);
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// +z facing triangle
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_vertex(&builder, vertex2);
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sch_builder_face_end(&builder);
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// +x,-z facing triangle
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_vertex(&builder, vertex3);
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sch_builder_face_vertex(&builder, vertex2);
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sch_builder_face_end(&builder);
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// -x,-z facing triangle
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex2);
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sch_builder_face_vertex(&builder, vertex3);
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sch_builder_face_end(&builder);
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// -y facing triangle
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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sch_builder_face_vertex(&builder, vertex3);
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sch_builder_face_vertex(&builder, vertex1);
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sch_builder_face_end(&builder);
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THEN("results in a closed hull") {
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sch_hull hull;
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SchHullResult result = sch_builder_create_hull(&builder, &hull);
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REQUIRE (result == SchHullResultOK);
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sch_hull_free_memory(&hull);
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}
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}
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}
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}
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TEST_CASE("UnitCubeSupport", "[sconvcol]") {
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GIVEN("A unit cube hull") {
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sch_hull hull;
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sch_create_unitbox(&hull);
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WHEN("Querying support for 2, 2, 2") {
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simd4f support;
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simd4f normal = simd4f_create(2.f, 2.f, 2.f, 1.f);
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sch_hull_get_support(&hull, normal, &support);
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THEN ("support is 0.5, 0.5, 0.5") {
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simd4f reference = simd4f_create (0.5f, 0.5f, 0.5f, 1.f);
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REQUIRE (sch_simd4f_equal(reference, support));
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}
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}
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WHEN("Querying support for -2, -2, -2") {
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simd4f support;
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simd4f normal = simd4f_create(-2.f, -2.f, -2.f, 1.f);
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sch_hull_get_support(&hull, normal, &support);
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THEN ("support is -0.5, -0.5, -0.5") {
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simd4f reference = simd4f_create (-0.5f, -0.5f, -0.5f, 1.f);
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REQUIRE (sch_simd4f_equal(reference, support));
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}
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}
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WHEN("Querying support for 0, 1, 0") {
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simd4f support;
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simd4f normal = simd4f_create(0.f, 1.f, 0.f, 1.f);
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sch_hull_get_support(&hull, normal, &support);
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THEN ("y component of support is 0.5") {
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REQUIRE (simd4f_get_y(support) == 0.5);
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}
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}
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sch_hull_free_memory(&hull);
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}
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}
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TEST_CASE("UnitCubeTransform", "[sconvcol]") {
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GIVEN("A unit cube hull") {
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sch_hull hull;
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sch_create_unitbox(&hull);
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WHEN ("not transforming cube") {
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THEN ("center is at 0,0,0") {
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REQUIRE (sch_simd4f_equal(simd4f_create(0.f, 0.f, 0.f, 1.f), hull.center));
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}
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}
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WHEN ("translating by 1, 2, 3") {
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sch_hull_translate(&hull, 1.f, 2.f, 3.f);
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THEN ("center is at 1, 2, 3") {
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REQUIRE (sch_simd4f_equal(simd4f_create(1.f, 2.f, 3.f, 1.f), hull.center));
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}
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THEN ("is equivalent to transform by translation matrix") {
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sch_hull hull_trans_mat;
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sch_create_unitbox(&hull_trans_mat);
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simd4x4f trans_mat;
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simd4x4f_translation(&trans_mat, 1.f, 2.f, 3.f);
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sch_hull_transform(&hull_trans_mat, trans_mat);
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REQUIRE (sch_simd4f_equal(hull.center, hull_trans_mat.center));
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sch_hull_free_memory(&hull_trans_mat);
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}
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}
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WHEN ("rotating around y by 90 degrees") {
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simd4f vert0 = simd4f_create (0.5f, -0.5f, 0.5f, 1.f);
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REQUIRE (sch_simd4f_equal(vert0, hull.vertices[0].p));
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simd4f vert0_rot = simd4f_create (0.5f, -0.5f, -0.5f, 1.f);
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sch_hull_rotate(&hull, M_PI * 0.5, simd4f_create (1.f, 0.f, 0.f, 1.f));
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THEN ("center is at 0, 0, 0") {
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REQUIRE (sch_simd4f_equal(simd4f_create(0.f, 0.f, 0.f, 1.f), hull.center));
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REQUIRE (sch_simd4f_close(vert0_rot, hull.vertices[0].p, 1.0e-5f));
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}
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}
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sch_hull_free_memory(&hull);
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}
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}
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TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull hull_A;
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sch_create_unitbox(&hull_A);
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sch_hull hull_B;
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sch_create_unitbox(&hull_B);
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sch_manifold manifold;
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sch_manifold_alloc(&manifold, SCH_BUILDER_MAX_NUM_FACE_VERTICES);
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GIVEN ("Two unit boxes separated by 1.1 along x axis") {
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simd4f r = simd4f_create(0.5f + 0.4f * sqrtf(2.), 0.f, 0.f, 1.f);
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simd4x4f translation;
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simd4x4f_translation(
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&translation,
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simd4f_get_x(r),
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simd4f_get_y(r),
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simd4f_get_z(r));
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sch_hull_transform(&hull_B, translation);
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THEN("Boxes separated") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(separated);
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}
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}
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GIVEN("Box B rotated by 45 degrees around y and translated along x by 1.1") {
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sch_hull_rotate(&hull_B, M_PI / 180.0f * 45.f, simd4f_create(0.f, 1.f, 0.f, 1.f));
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sch_hull_translate(&hull_B, 1.1f, 0.f, 0.f);
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THEN("Boxes overlap") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(!separated);
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}
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}
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GIVEN("Box A rotated by 45 deg around z, Box B rotated by 45 degrees around y and translated along x by sqrt(2)") {
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sch_hull_rotate(&hull_A, M_PI / 180.0f * 45.f, simd4f_create(0.f, 0.f, 1.f, 1.f));
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sch_hull_rotate(&hull_B, M_PI / 180.0f * 45.f, simd4f_create(0.f, 1.f, 0.f, 1.f));
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sch_hull_translate(&hull_B, sqrt(2.f), 0.f, 0.f);
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THEN("Boxes overlap") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(!separated);
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}
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WHEN("Shifted by another 0.001 along x") {
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sch_hull_translate(&hull_B, 0.001f, 0.f, 0.f);
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THEN("Boxes are separated") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(separated);
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}
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}
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}
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GIVEN("Box B translated by 1z and rotated 45 degrees around z") {
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sch_hull_rotate(&hull_B, M_PI / 180.0f * 45.f, simd4f_create(0.f, 0.f, 1.f, 1.f));
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sch_hull_translate(&hull_B, 0., 0.f, 0.97f);
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THEN("Boxes overlap") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(!separated);
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REQUIRE(manifold.num_points == 8);
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}
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}
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GIVEN("Box B translated by 1x, 1.001z") {
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sch_hull_translate(&hull_B, 1., 0.f, 1.00f);
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THEN("Boxes overlap") {
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simd4x4f identity;
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simd4x4f_identity(&identity);
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bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
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REQUIRE(!separated);
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REQUIRE(manifold.num_points == 8);
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}
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}
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sch_manifold_free_memory(&manifold);
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sch_hull_free_memory(&hull_A);
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sch_hull_free_memory(&hull_B);
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}
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TEST_CASE("PlaneTests", "[sconvcol]") {
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GIVEN("Z=0 Plane") {
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sch_plane plane;
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plane.n = simd4f_create(0.f, 0.f, 1.f, 1.f);
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plane.p = simd4f_create(1.f, 1.2354f, 0.f, 1.f);
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WHEN("Querying point with z = -0.1") {
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simd4f p = simd4f_create (1231.3f, 552.2f, -0.1f, 1.f);
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float dist = sch_plane_distance (&plane, &p);
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THEN ("distance is -0.1") {
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REQUIRE (dist == -0.1f);
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}
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}
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WHEN ("Intersecting with line (5., 3., 2.) - (12., 332., SCH_EPS") {
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simd4f p0 = simd4f_create (5.f, 3.f, 1.f, 1.f);
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simd4f p1 = simd4f_create (12.f, 332.f, SCH_EPS, 1.f);
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simd4f result;
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bool is_intersecting = sch_plane_intersection(&plane, &p0, &p1, &result);
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THEN ("have intersection") {
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REQUIRE (is_intersecting);
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}
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WHEN ("Reversing the query") {
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simd4f result;
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bool is_intersecting = sch_plane_intersection(&plane, &p1, &p0, &result);
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THEN ("have intersection") {
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REQUIRE (is_intersecting);
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}
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}
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}
|
|
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WHEN ("Intersecting with line (5., 3., 2.) - (12., 332., SCH_EPS * 2") {
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simd4f p0 = simd4f_create (5.f, 3.f, 1.f, 1.f);
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simd4f p1 = simd4f_create (12.f, 332.f, SCH_EPS * 2.f, 1.f);
|
|
simd4f result;
|
|
bool is_intersecting = sch_plane_intersection(&plane, &p0, &p1, &result);
|
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THEN ("have no intersection") {
|
|
REQUIRE (is_intersecting);
|
|
}
|
|
|
|
WHEN ("Reversing the query") {
|
|
simd4f result;
|
|
bool is_intersecting = sch_plane_intersection(&plane, &p1, &p0, &result);
|
|
THEN ("have no intersection") {
|
|
REQUIRE (is_intersecting);
|
|
}
|
|
}
|
|
}
|
|
|
|
WHEN("Projecting point (123.4, 332., 212.) onto plane") {
|
|
simd4f p = simd4f_create (123.4f, 332.f, 212.f, 1.f);
|
|
sch_plane_point_project(&plane, &p);
|
|
THEN ("z component is 0.") {
|
|
REQUIRE (simd4f_get_z(p) == 0.f);
|
|
}
|
|
|
|
WHEN("Using z = -212.0") {
|
|
p = simd4f_create(123.4f, 332.f, -212.f, 1.f);
|
|
sch_plane_point_project(&plane, &p);
|
|
THEN("projected z component is 0.") {
|
|
REQUIRE(simd4f_get_z(p) == 0.f);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
TEST_CASE ("ClipFaces", "[sconvcol]") {
|
|
sch_hull_builder builder;
|
|
sch_hull triangle_hull;
|
|
sch_hull quad_hull;
|
|
|
|
// Build triangle
|
|
sch_builder_reset(&builder);
|
|
|
|
// top
|
|
sch_builder_face_begin(&builder);
|
|
sch_builder_face_vertex(&builder, simd4f_create (0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( 0.0f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( -0.5f, -0.5f, 0.f, 1.f));
|
|
|
|
sch_builder_face_end(&builder);
|
|
|
|
// bottom
|
|
sch_builder_face_begin(&builder);
|
|
sch_builder_face_vertex(&builder, simd4f_create (0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( -0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( 0.0f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_end(&builder);
|
|
|
|
int hull_result = sch_builder_create_hull(&builder, &triangle_hull);
|
|
triangle_hull.center = simd4f_create(0.f, 0.f, 0.f, 1.f);
|
|
REQUIRE (hull_result == SchHullResultOK);
|
|
|
|
// Build quad
|
|
sch_builder_reset(&builder);
|
|
|
|
// top
|
|
sch_builder_face_begin(&builder);
|
|
sch_builder_face_vertex(&builder, simd4f_create (-0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( 0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create ( 0.5f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create (-0.5f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_end(&builder);
|
|
|
|
// bottom
|
|
sch_builder_face_begin(&builder);
|
|
sch_builder_face_vertex(&builder, simd4f_create(0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create(-0.5f, -0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create(-0.5f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_vertex(&builder, simd4f_create(0.5f, 0.5f, 0.f, 1.f));
|
|
sch_builder_face_end(&builder);
|
|
|
|
hull_result = sch_builder_create_hull(&builder, &quad_hull);
|
|
quad_hull.center = simd4f_create(0.f, 0.f, 0.f, 1.f);
|
|
REQUIRE (hull_result == SchHullResultOK);
|
|
|
|
GIVEN ("A Triangle and a Quad") {
|
|
WHEN ("Translating the Quad along +Y") {
|
|
sch_hull_translate(&quad_hull, 0.f, 0.5f, 0.f);
|
|
sch_manifold manifold;
|
|
sch_manifold_alloc(&manifold, SCH_BUILDER_MAX_NUM_FACE_VERTICES);
|
|
sch_manifold_reset(&manifold);
|
|
|
|
sch_clip_faces(&triangle_hull.faces[0], &quad_hull.faces[1], &manifold);
|
|
REQUIRE (manifold.num_points == 3);
|
|
sch_manifold_free_memory(&manifold);
|
|
}
|
|
}
|
|
} |