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@@ -0,0 +1,361 @@
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+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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+// SPDX-License-Identifier: MIT
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+
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+#include "UnitTestFramework.h"
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+#include "PhysicsTestContext.h"
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+#include <Physics/Collision/Shape/SphereShape.h>
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+#include <Physics/Collision/Shape/TriangleShape.h>
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+#include <Physics/Collision/Shape/MeshShape.h>
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+#include <Physics/Collision/CollideShape.h>
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+#include <Physics/Collision/CollisionCollectorImpl.h>
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+#include <Physics/Collision/CollideConvexVsTriangles.h>
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+#include <Physics/Collision/CollideSphereVsTriangles.h>
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+#include "Layers.h"
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+#include "PhysicsTestContext.h"
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+
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+TEST_SUITE("ConvexVsTrianglesTest")
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+{
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+ static constexpr float cEdgeLength = 4.0f;
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+
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+ template <class Collider>
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+ static void sCheckCollisionNoHit(const CollideShapeSettings &inSettings, Vec3Arg inCenter, float inRadius, uint8 inActiveEdges)
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+ {
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+ // Our sphere
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+ Ref<SphereShape> sphere = new SphereShape(inRadius);
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+
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+ // Our default triangle
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+ Vec3 v1(0, 0, 0);
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+ Vec3 v2(0, 0, cEdgeLength);
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+ Vec3 v3(cEdgeLength, 0, 0);
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+
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+ {
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ Collider collider(sphere, Vec3::sReplicate(1.0f), Vec3::sReplicate(1.0f), Mat44::sTranslation(inCenter), Mat44::sIdentity(), SubShapeID(), inSettings, collector);
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+ collider.Collide(v1, v2, v3, inActiveEdges, SubShapeID());
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+ CHECK(!collector.HadHit());
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+ }
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+
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+ // A triangle shape has all edges active, so only test if all edges are active
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+ if (inActiveEdges == 0b111)
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+ {
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+ // Create the triangle shape
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+ PhysicsTestContext context;
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+ context.CreateBody(new TriangleShapeSettings(v1, v2, v3), Vec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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+
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ context.GetSystem()->GetNarrowPhaseQuery().CollideShape(sphere, Vec3::sReplicate(1.0f), Mat44::sTranslation(inCenter), inSettings, collector);
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+ CHECK(!collector.HadHit());
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+ }
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+
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+ // A mesh shape with a single triangle has all edges active, so only test if all edges are active
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+ if (inActiveEdges == 0b111)
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+ {
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+ // Create a mesh with a single triangle
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+ TriangleList triangles;
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+ triangles.push_back(Triangle(v1, v2, v3));
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+ PhysicsTestContext context;
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+ context.CreateBody(new MeshShapeSettings(triangles), Vec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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+
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ context.GetSystem()->GetNarrowPhaseQuery().CollideShape(sphere, Vec3::sReplicate(1.0f), Mat44::sTranslation(inCenter), inSettings, collector);
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+ CHECK(!collector.HadHit());
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+ }
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+ }
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+
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+ template <class Collider>
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+ static void sCheckCollision(const CollideShapeSettings &inSettings, Vec3Arg inCenter, float inRadius, uint8 inActiveEdges, Vec3Arg inExpectedContactOn1, Vec3Arg inExpectedContactOn2, Vec3Arg inExpectedPenetrationAxis, float inExpectedPenetrationDepth)
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+ {
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+ // Our sphere
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+ Ref<SphereShape> sphere = new SphereShape(inRadius);
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+
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+ // Our default triangle
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+ Vec3 v1(0, 0, 0);
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+ Vec3 v2(0, 0, cEdgeLength);
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+ Vec3 v3(cEdgeLength, 0, 0);
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+
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+ // A semi random transform for the triangle
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+ Vec3 translation = Vec3(1, 2, 3);
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+ Quat rotation = Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI);
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+ Mat44 transform = Mat44::sRotationTranslation(rotation, translation);
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+ Mat44 inv_transform = transform.InversedRotationTranslation();
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+
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+ // The transform for the sphere
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+ Mat44 sphere_transform = transform * Mat44::sTranslation(inCenter);
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+
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+ // Transform incoming settings
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+ CollideShapeSettings settings = inSettings;
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+ settings.mActiveEdgeMovementDirection = transform.Multiply3x3(inSettings.mActiveEdgeMovementDirection);
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+
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+ // Test the specified collider
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+ {
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+ SubShapeID sub_shape_id1, sub_shape_id2;
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+ sub_shape_id1.SetValue(123);
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+ sub_shape_id2.SetValue(456);
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+
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ Collider collider(sphere, Vec3::sReplicate(1.0f), Vec3::sReplicate(1.0f), sphere_transform, transform, sub_shape_id1, settings, collector);
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+ collider.Collide(v1, v2, v3, inActiveEdges, sub_shape_id2);
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+
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+ // Test result
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+ CHECK(collector.mHits.size() == 1);
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+ const CollideShapeResult &hit = collector.mHits[0];
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+ CHECK(hit.mBodyID2 == BodyID());
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+ CHECK(hit.mSubShapeID1.GetValue() == sub_shape_id1.GetValue());
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+ CHECK(hit.mSubShapeID2.GetValue() == sub_shape_id2.GetValue());
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+ Vec3 contact1 = inv_transform * hit.mContactPointOn1;
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+ Vec3 contact2 = inv_transform * hit.mContactPointOn2;
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+ Vec3 pen_axis = transform.Multiply3x3Transposed(hit.mPenetrationAxis).Normalized();
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+ Vec3 expected_pen_axis = inExpectedPenetrationAxis.Normalized();
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+ CHECK_APPROX_EQUAL(contact1, inExpectedContactOn1, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(contact2, inExpectedContactOn2, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(pen_axis, expected_pen_axis, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(hit.mPenetrationDepth, inExpectedPenetrationDepth, 1.0e-4f);
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+ }
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+
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+ // A triangle shape has all edges active, so only test if all edges are active
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+ if (inActiveEdges == 0b111)
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+ {
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+ // Create the triangle shape
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+ PhysicsTestContext context;
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+ Body &body = context.CreateBody(new TriangleShapeSettings(v1, v2, v3), translation, rotation, EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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+
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ context.GetSystem()->GetNarrowPhaseQuery().CollideShape(sphere, Vec3::sReplicate(1.0f), sphere_transform, settings, collector);
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+
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+ // Test result
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+ CHECK(collector.mHits.size() == 1);
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+ const CollideShapeResult &hit = collector.mHits[0];
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+ CHECK(hit.mBodyID2 == body.GetID());
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+ CHECK(hit.mSubShapeID1.GetValue() == SubShapeID().GetValue());
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+ CHECK(hit.mSubShapeID2.GetValue() == SubShapeID().GetValue());
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+ Vec3 contact1 = inv_transform * hit.mContactPointOn1;
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+ Vec3 contact2 = inv_transform * hit.mContactPointOn2;
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+ Vec3 pen_axis = transform.Multiply3x3Transposed(hit.mPenetrationAxis).Normalized();
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+ Vec3 expected_pen_axis = inExpectedPenetrationAxis.Normalized();
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+ CHECK_APPROX_EQUAL(contact1, inExpectedContactOn1, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(contact2, inExpectedContactOn2, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(pen_axis, expected_pen_axis, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(hit.mPenetrationDepth, inExpectedPenetrationDepth, 1.0e-4f);
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+ }
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+
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+ // A mesh shape with a single triangle has all edges active, so only test if all edges are active
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+ if (inActiveEdges == 0b111)
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+ {
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+ // Create a mesh with a single triangle
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+ TriangleList triangles;
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+ triangles.push_back(Triangle(v1, v2, v3));
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+ PhysicsTestContext context;
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+ Body &body = context.CreateBody(new MeshShapeSettings(triangles), translation, rotation, EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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+
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+ // Collide sphere
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+ AllHitCollisionCollector<CollideShapeCollector> collector;
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+ context.GetSystem()->GetNarrowPhaseQuery().CollideShape(sphere, Vec3::sReplicate(1.0f), sphere_transform, settings, collector);
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+
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+ // Test result
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+ CHECK(collector.mHits.size() == 1);
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+ const CollideShapeResult &hit = collector.mHits[0];
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+ CHECK(hit.mBodyID2 == body.GetID());
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+ CHECK(hit.mSubShapeID1.GetValue() == SubShapeID().GetValue());
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+ CHECK(hit.mSubShapeID2.GetValue() != SubShapeID().GetValue()); // We don't really know what SubShapeID a triangle in the mesh will get, but it should not be invalid
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+ Vec3 contact1 = inv_transform * hit.mContactPointOn1;
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+ Vec3 contact2 = inv_transform * hit.mContactPointOn2;
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+ Vec3 pen_axis = transform.Multiply3x3Transposed(hit.mPenetrationAxis).Normalized();
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+ Vec3 expected_pen_axis = inExpectedPenetrationAxis.Normalized();
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+ CHECK_APPROX_EQUAL(contact1, inExpectedContactOn1, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(contact2, inExpectedContactOn2, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(pen_axis, expected_pen_axis, 1.0e-4f);
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+ CHECK_APPROX_EQUAL(hit.mPenetrationDepth, inExpectedPenetrationDepth, 1.0e-4f);
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+ }
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+ }
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+
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+ // Compares CollideShapeResult for two spheres with given positions and radii
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+ template <class Collider>
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+ static void sTestConvexVsTriangles()
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+ {
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+ const float cRadius = 0.5f;
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+ const float cRadiusRS2 = cRadius / sqrt(2.0f);
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+ const float cDistanceToTriangle = 0.1f;
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+ const float cDistanceToTriangleRS2 = cDistanceToTriangle / sqrt(2.0f);
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+ const float cEpsilon = 1.0e-6f; // A small epsilon to ensure we hit the front side
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+ const float cMaxSeparationDistance = 0.5f;
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+ const float cSeparationDistance = 0.1f;
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+
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+ // Loop over all possible active edge combinations
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+ for (uint8 active_edges = 0; active_edges <= 0b111; ++active_edges)
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+ {
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+ // Create settings
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+ CollideShapeSettings settings;
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+ settings.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
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+
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+ // Settings with ignore back faces
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+ CollideShapeSettings settings_no_bf;
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+ settings_no_bf.mBackFaceMode = EBackFaceMode::IgnoreBackFaces;
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+
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+ // Settings with max seperation distance
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+ CollideShapeSettings settings_max_distance;
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+ settings_max_distance.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
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+ settings_max_distance.mMaxSeparationDistance = cMaxSeparationDistance;
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+
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+ {
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+ // There should be no hit in front of the triangle
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+ Vec3 sphere_center(0.25f * cEdgeLength, cRadius + cSeparationDistance, 0.25f * cEdgeLength);
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+ sCheckCollisionNoHit<Collider>(settings, sphere_center, cRadius, active_edges);
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+
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+ // But if there's a max separation distance there should be
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+ Vec3 expected1 = sphere_center + Vec3(0, -cRadius, 0);
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+ Vec3 expected2(0.25f * cEdgeLength, 0, 0.25f * cEdgeLength);
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+ Vec3 pen_axis(0, -1, 0);
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+ float pen_depth = -cSeparationDistance;
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+ sCheckCollision<Collider>(settings_max_distance, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // But if we go beyond the separation distance we should again have no hit
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+ Vec3 sphere_center(0.25f * cEdgeLength, cRadius + cMaxSeparationDistance + cSeparationDistance, 0.25f * cEdgeLength);
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+ sCheckCollisionNoHit<Collider>(settings_max_distance, sphere_center, cRadius, active_edges);
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+ }
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+
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+ {
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+ // There should be no hit in behind the triangle
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+ Vec3 sphere_center(0.25f * cEdgeLength, -cRadius - cSeparationDistance, 0.25f * cEdgeLength);
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+ sCheckCollisionNoHit<Collider>(settings, sphere_center, cRadius, active_edges);
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+
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+ // But if there's a max separation distance there should be
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+ Vec3 expected1 = sphere_center + Vec3(0, cRadius, 0);
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+ Vec3 expected2(0.25f * cEdgeLength, 0, 0.25f * cEdgeLength);
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+ Vec3 pen_axis(0, 1, 0);
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+ float pen_depth = -cSeparationDistance;
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+ sCheckCollision<Collider>(settings_max_distance, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // But if we go beyond the separation distance we should again have no hit
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+ Vec3 sphere_center(0.25f * cEdgeLength, -cRadius - cMaxSeparationDistance - cSeparationDistance, 0.25f * cEdgeLength);
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+ sCheckCollisionNoHit<Collider>(settings_max_distance, sphere_center, cRadius, active_edges);
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+ }
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+
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+ {
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+ // Hit interior from front side
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+ Vec3 expected2(0.25f * cEdgeLength, 0, 0.25f * cEdgeLength);
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+ Vec3 sphere_center = expected2 + Vec3(0, cDistanceToTriangle, 0);
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+ Vec3 expected1 = sphere_center + Vec3(0, -cRadius, 0);
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+ Vec3 pen_axis(0, -1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+
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+ // Ignore back faces should not matter
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+ sCheckCollision<Collider>(settings_no_bf, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // Hit interior from back side
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+ Vec3 expected2(0.25f * cEdgeLength, 0, 0.25f * cEdgeLength);
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+ Vec3 sphere_center = expected2 + Vec3(0, -cDistanceToTriangle, 0);
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+ Vec3 expected1 = sphere_center + Vec3(0, cRadius, 0);
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+ Vec3 pen_axis(0, 1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+
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+ // Back face hit should be filtered
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+ sCheckCollisionNoHit<Collider>(settings_no_bf, sphere_center, cRadius, active_edges);
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+ }
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+
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+ // Loop over possibel active edge movement direction permutations
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+ for (int movement_direction = 0; movement_direction < 3; ++movement_direction)
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+ {
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+ switch (movement_direction)
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+ {
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+ case 0:
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+ // Disable the system
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+ settings.mActiveEdgeMovementDirection = Vec3::sZero();
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+ break;
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+
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+ case 1:
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+ // Move into the triangle, this should always give us the normal from the edge
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+ settings.mActiveEdgeMovementDirection = Vec3(0, -1, 0);
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+ break;
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+
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+ case 2:
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+ // Move out of the triangle, we should always get the normal of the triangle
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+ settings.mActiveEdgeMovementDirection = Vec3(0, 1, 0);
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+ break;
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+ }
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+
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+ {
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+ // Hit edge 1
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+ Vec3 expected2(0, 0, 0.5f * cEdgeLength);
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+ Vec3 sphere_center = expected2 + Vec3(-cDistanceToTriangle, cEpsilon, 0);
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+ Vec3 expected1 = sphere_center + Vec3(cRadius, 0, 0);
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+ Vec3 pen_axis = (active_edges & 0b001) != 0 || movement_direction == 1? Vec3(1, 0, 0) : Vec3(0, -1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // Hit edge 2
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+ Vec3 expected2(0.5f * cEdgeLength, 0, 0.5f * cEdgeLength);
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+ Vec3 sphere_center = expected2 + Vec3(cDistanceToTriangleRS2, cEpsilon, cDistanceToTriangleRS2);
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+ Vec3 expected1 = sphere_center - Vec3(cRadiusRS2, 0, cRadiusRS2);
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+ Vec3 pen_axis = (active_edges & 0b010) != 0 || movement_direction == 1? Vec3(-1, 0, -1) : Vec3(0, -1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // Hit edge 3
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+ Vec3 expected2(0.5f * cEdgeLength, 0, 0);
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+ Vec3 sphere_center = expected2 + Vec3(0, cEpsilon, -cDistanceToTriangle);
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+ Vec3 expected1 = sphere_center + Vec3(0, 0, cRadius);
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+ Vec3 pen_axis = (active_edges & 0b100) != 0 || movement_direction == 1? Vec3(0, 0, 1) : Vec3(0, -1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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+ }
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+
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+ {
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+ // Hit vertex 1
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+ Vec3 expected2(0, 0, 0);
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+ Vec3 sphere_center = expected2 + Vec3(-cDistanceToTriangleRS2, cEpsilon, -cDistanceToTriangleRS2);
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+ Vec3 expected1 = sphere_center + Vec3(cRadiusRS2, 0, cRadiusRS2);
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+ Vec3 pen_axis = (active_edges & 0b101) != 0 || movement_direction == 1? Vec3(1, 0, 1) : Vec3(0, -1, 0);
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+ float pen_depth = cRadius - cDistanceToTriangle;
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+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
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|
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+ }
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+
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+ {
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+ // Hit vertex 2
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+ Vec3 expected2(0, 0, cEdgeLength);
|
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+ Vec3 sphere_center = expected2 + Vec3(-cDistanceToTriangleRS2, cEpsilon, cDistanceToTriangleRS2);
|
|
|
+ Vec3 expected1 = sphere_center + Vec3(cRadiusRS2, 0, -cRadiusRS2);
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|
|
+ Vec3 pen_axis = (active_edges & 0b011) != 0 || movement_direction == 1? Vec3(1, 0, -1) : Vec3(0, -1, 0);
|
|
|
+ float pen_depth = cRadius - cDistanceToTriangle;
|
|
|
+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
|
|
|
+ }
|
|
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+
|
|
|
+ {
|
|
|
+ // Hit vertex 3
|
|
|
+ Vec3 expected2(cEdgeLength, 0, 0);
|
|
|
+ Vec3 sphere_center = expected2 + Vec3(cDistanceToTriangleRS2, cEpsilon, -cDistanceToTriangleRS2);
|
|
|
+ Vec3 expected1 = sphere_center + Vec3(-cRadiusRS2, 0, cRadiusRS2);
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|
|
+ Vec3 pen_axis = (active_edges & 0b110) != 0 || movement_direction == 1? Vec3(-1, 0, 1) : Vec3(0, -1, 0);
|
|
|
+ float pen_depth = cRadius - cDistanceToTriangle;
|
|
|
+ sCheckCollision<Collider>(settings, sphere_center, cRadius, active_edges, expected1, expected2, pen_axis, pen_depth);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ TEST_CASE("TestConvexVsTriangles")
|
|
|
+ {
|
|
|
+ sTestConvexVsTriangles<CollideConvexVsTriangles>();
|
|
|
+ }
|
|
|
+
|
|
|
+ TEST_CASE("TestSphereVsTriangles")
|
|
|
+ {
|
|
|
+ sTestConvexVsTriangles<CollideSphereVsTriangles>();
|
|
|
+ }
|
|
|
+}
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Jorrit Rouwe