/*
* Copyright (c) 2010 William Bittle http://www.dyn4j.org/
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification, are permitted
* provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this list of conditions
* and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice, this list of conditions
* and the following disclaimer in the documentation and/or other materials provided with the
* distribution.
* * Neither the name of dyn4j nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
* FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
* IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.dyn4j.game2d.collision;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
import org.dyn4j.game2d.collision.broadphase.BroadphasePair;
import org.dyn4j.game2d.collision.broadphase.Sap;
import org.dyn4j.game2d.collision.manifold.ClippingManifoldSolver;
import org.dyn4j.game2d.collision.manifold.Manifold;
import org.dyn4j.game2d.collision.manifold.ManifoldPoint;
import org.dyn4j.game2d.collision.narrowphase.Gjk;
import org.dyn4j.game2d.collision.narrowphase.Penetration;
import org.dyn4j.game2d.collision.narrowphase.Sat;
import org.dyn4j.game2d.collision.narrowphase.Separation;
import org.dyn4j.game2d.geometry.Segment;
import org.dyn4j.game2d.geometry.Shape;
import org.dyn4j.game2d.geometry.Transform;
import org.dyn4j.game2d.geometry.Triangle;
import org.dyn4j.game2d.geometry.Vector2;
import org.junit.Before;
import org.junit.Test;
/**
* Test case for {@link Segment} - {@link Triangle} collision detection.
* @author William Bittle
* @version 1.1.0
* @since 1.0.0
*/
public class SegmentTriangleTest extends AbstractTest {
/** The test {@link Segment} */
private Segment seg;
/** The test {@link Triangle} */
private Triangle tri;
/**
* Sets up the test.
*/
@Before
public void setup() {
this.seg = new Segment(new Vector2(-0.3, 0.2), new Vector2(0.0, -0.1));
this.tri = new Triangle(
new Vector2(0.45, -0.12),
new Vector2(-0.45, 0.38),
new Vector2(-0.15, -0.22));
}
/**
* Tests {@link Shape} AABB.
*/
@Test
public void detectShapeAABB() {
Transform t1 = new Transform();
Transform t2 = new Transform();
// test containment
TestCase.assertTrue(this.aabb.detect(seg, t1, tri, t2));
TestCase.assertTrue(this.aabb.detect(tri, t2, seg, t1));
// test overlap
t2.translate(0.15, 0.0);
TestCase.assertTrue(this.aabb.detect(seg, t1, tri, t2));
TestCase.assertTrue(this.aabb.detect(tri, t2, seg, t1));
// test only AABB overlap
t2.translate(0.0, 0.2);
TestCase.assertTrue(this.aabb.detect(seg, t1, tri, t2));
TestCase.assertTrue(this.aabb.detect(tri, t2, seg, t1));
// test no overlap
t2.translate(0.0, 0.5);
TestCase.assertFalse(this.aabb.detect(seg, t1, tri, t2));
TestCase.assertFalse(this.aabb.detect(tri, t2, seg, t1));
}
/**
* Tests {@link Collidable} AABB.
*/
@Test
public void detectCollidableAABB() {
// create some collidables
CollidableTest ct1 = new CollidableTest(seg);
CollidableTest ct2 = new CollidableTest(tri);
// test containment
TestCase.assertTrue(this.aabb.detect(ct1, ct2));
TestCase.assertTrue(this.aabb.detect(ct2, ct1));
// test overlap
ct2.translate(0.15, 0.0);
TestCase.assertTrue(this.aabb.detect(ct1, ct2));
TestCase.assertTrue(this.aabb.detect(ct2, ct1));
// test only AABB overlap
ct2.translate(0.0, 0.2);
TestCase.assertTrue(this.aabb.detect(ct1, ct2));
TestCase.assertTrue(this.aabb.detect(ct2, ct1));
// test no overlap
ct2.translate(0.0, 0.5);
TestCase.assertFalse(this.aabb.detect(ct1, ct2));
TestCase.assertFalse(this.aabb.detect(ct2, ct1));
}
/**
* Tests {@link Sap}.
*/
@Test
public void detectSap() {
List<BroadphasePair<CollidableTest>> pairs;
// create some collidables
CollidableTest ct1 = new CollidableTest(seg);
CollidableTest ct2 = new CollidableTest(tri);
List<CollidableTest> objs = new ArrayList<CollidableTest>();
objs.add(ct1);
objs.add(ct2);
// test containment
pairs = this.sap.detect(objs);
TestCase.assertEquals(1, pairs.size());
// test overlap
ct2.translate(0.15, 0.0);
pairs = this.sap.detect(objs);
TestCase.assertEquals(1, pairs.size());
// test only AABB overlap
ct2.translate(0.0, 0.2);
pairs = this.sap.detect(objs);
TestCase.assertEquals(1, pairs.size());
// test no overlap
ct2.translate(0.0, 0.5);
pairs = this.sap.detect(objs);
TestCase.assertEquals(0, pairs.size());
}
/**
* Tests {@link Sat}.
*/
@Test
public void detectSat() {
Penetration p = new Penetration();
Transform t1 = new Transform();
Transform t2 = new Transform();
Vector2 n = null;
// test containment
TestCase.assertTrue(this.sat.detect(seg, t1, tri, t2, p));
TestCase.assertTrue(this.sat.detect(seg, t1, tri, t2));
n = p.getNormal();
TestCase.assertEquals(0.894, n.x, 1.0e-3);
TestCase.assertEquals(0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.187, p.getDepth(), 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.sat.detect(tri, t2, seg, t1, p));
TestCase.assertTrue(this.sat.detect(tri, t2, seg, t1));
n = p.getNormal();
TestCase.assertEquals(-0.894, n.x, 1.0e-3);
TestCase.assertEquals(-0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.187, p.getDepth(), 1.0e-3);
// test overlap
t2.translate(0.15, 0.0);
TestCase.assertTrue(this.sat.detect(seg, t1, tri, t2, p));
TestCase.assertTrue(this.sat.detect(seg, t1, tri, t2));
n = p.getNormal();
TestCase.assertEquals(0.894, n.x, 1.0e-3);
TestCase.assertEquals(0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.053, p.getDepth(), 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.sat.detect(tri, t2, seg, t1, p));
TestCase.assertTrue(this.sat.detect(tri, t2, seg, t1));
n = p.getNormal();
TestCase.assertEquals(-0.894, n.x, 1.0e-3);
TestCase.assertEquals(-0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.053, p.getDepth(), 1.0e-3);
// test AABB overlap
t2.translate(0.0, 0.2);
TestCase.assertFalse(this.sat.detect(seg, t1, tri, t2, p));
TestCase.assertFalse(this.sat.detect(seg, t1, tri, t2));
// try reversing the shapes
TestCase.assertFalse(this.sat.detect(tri, t2, seg, t1, p));
TestCase.assertFalse(this.sat.detect(tri, t2, seg, t1));
// test no overlap
t2.translate(0.0, 0.5);
TestCase.assertFalse(this.sat.detect(seg, t1, tri, t2, p));
TestCase.assertFalse(this.sat.detect(seg, t1, tri, t2));
// try reversing the shapes
TestCase.assertFalse(this.sat.detect(tri, t2, seg, t1, p));
TestCase.assertFalse(this.sat.detect(tri, t2, seg, t1));
}
/**
* Tests {@link Gjk}.
*/
@Test
public void detectGjk() {
Penetration p = new Penetration();
Transform t1 = new Transform();
Transform t2 = new Transform();
Vector2 n = null;
// test containment
TestCase.assertTrue(this.gjk.detect(seg, t1, tri, t2, p));
TestCase.assertTrue(this.gjk.detect(seg, t1, tri, t2));
n = p.getNormal();
TestCase.assertEquals(0.894, n.x, 1.0e-3);
TestCase.assertEquals(0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.187, p.getDepth(), 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.gjk.detect(tri, t2, seg, t1, p));
TestCase.assertTrue(this.gjk.detect(tri, t2, seg, t1));
n = p.getNormal();
TestCase.assertEquals(-0.894, n.x, 1.0e-3);
TestCase.assertEquals(-0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.187, p.getDepth(), 1.0e-3);
// test overlap
t2.translate(0.15, 0.0);
TestCase.assertTrue(this.gjk.detect(seg, t1, tri, t2, p));
TestCase.assertTrue(this.gjk.detect(seg, t1, tri, t2));
n = p.getNormal();
TestCase.assertEquals(0.894, n.x, 1.0e-3);
TestCase.assertEquals(0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.053, p.getDepth(), 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.gjk.detect(tri, t2, seg, t1, p));
TestCase.assertTrue(this.gjk.detect(tri, t2, seg, t1));
n = p.getNormal();
TestCase.assertEquals(-0.894, n.x, 1.0e-3);
TestCase.assertEquals(-0.447, n.y, 1.0e-3);
TestCase.assertEquals(0.053, p.getDepth(), 1.0e-3);
// test AABB overlap
t2.translate(0.0, 0.2);
TestCase.assertFalse(this.gjk.detect(seg, t1, tri, t2, p));
TestCase.assertFalse(this.gjk.detect(seg, t1, tri, t2));
// try reversing the shapes
TestCase.assertFalse(this.gjk.detect(tri, t2, seg, t1, p));
TestCase.assertFalse(this.gjk.detect(tri, t2, seg, t1));
// test no overlap
t2.translate(0.0, 0.5);
TestCase.assertFalse(this.gjk.detect(seg, t1, tri, t2, p));
TestCase.assertFalse(this.gjk.detect(seg, t1, tri, t2));
// try reversing the shapes
TestCase.assertFalse(this.gjk.detect(tri, t2, seg, t1, p));
TestCase.assertFalse(this.gjk.detect(tri, t2, seg, t1));
}
/**
* Tests the {@link Gjk} distance method.
*/
@Test
public void gjkDistance() {
Separation s = new Separation();
Transform t1 = new Transform();
Transform t2 = new Transform();
Vector2 n, p1, p2;
// test containment
TestCase.assertFalse(this.gjk.distance(seg, t1, tri, t2, s));
// try reversing the shapes
TestCase.assertFalse(this.gjk.distance(tri, t2, seg, t1, s));
// test overlap
t2.translate(0.15, 0.0);
TestCase.assertFalse(this.gjk.distance(seg, t1, tri, t2, s));
// try reversing the shapes
TestCase.assertFalse(this.gjk.distance(tri, t2, seg, t1, s));
// test AABB overlap
t2.translate(0.0, 0.2);
TestCase.assertTrue(this.gjk.distance(seg, t1, tri, t2, s));
n = s.getNormal();
p1 = s.getPoint1();
p2 = s.getPoint2();
TestCase.assertEquals(0.056, s.getDistance(), 1.0e-3);
TestCase.assertEquals(0.707, n.x, 1.0e-3);
TestCase.assertEquals(0.707, n.y, 1.0e-3);
TestCase.assertEquals(-0.040, p1.x, 1.0e-3);
TestCase.assertEquals(-0.060, p1.y, 1.0e-3);
TestCase.assertEquals(0.000, p2.x, 1.0e-3);
TestCase.assertEquals(-0.019, p2.y, 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.gjk.distance(tri, t2, seg, t1, s));
n = s.getNormal();
p1 = s.getPoint1();
p2 = s.getPoint2();
TestCase.assertEquals(0.056, s.getDistance(), 1.0e-3);
TestCase.assertEquals(-0.707, n.x, 1.0e-3);
TestCase.assertEquals(-0.707, n.y, 1.0e-3);
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(-0.019, p1.y, 1.0e-3);
TestCase.assertEquals(-0.040, p2.x, 1.0e-3);
TestCase.assertEquals(-0.060, p2.y, 1.0e-3);
// test no overlap
t2.translate(0.0, 0.5);
TestCase.assertTrue(this.gjk.distance(seg, t1, tri, t2, s));
n = s.getNormal();
p1 = s.getPoint1();
p2 = s.getPoint2();
TestCase.assertEquals(0.410, s.getDistance(), 1.0e-3);
TestCase.assertEquals(0.707, n.x, 1.0e-3);
TestCase.assertEquals(0.707, n.y, 1.0e-3);
TestCase.assertEquals(-0.290, p1.x, 1.0e-3);
TestCase.assertEquals(0.190, p1.y, 1.0e-3);
TestCase.assertEquals(0.000, p2.x, 1.0e-3);
TestCase.assertEquals(0.480, p2.y, 1.0e-3);
// try reversing the shapes
TestCase.assertTrue(this.gjk.distance(tri, t2, seg, t1, s));
n = s.getNormal();
p1 = s.getPoint1();
p2 = s.getPoint2();
TestCase.assertEquals(0.410, s.getDistance(), 1.0e-3);
TestCase.assertEquals(-0.707, n.x, 1.0e-3);
TestCase.assertEquals(-0.707, n.y, 1.0e-3);
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(0.480, p1.y, 1.0e-3);
TestCase.assertEquals(-0.290, p2.x, 1.0e-3);
TestCase.assertEquals(0.190, p2.y, 1.0e-3);
}
/**
* Test the {@link ClippingManifoldSolver}.
*/
@Test
public void getClipManifold() {
Manifold m = new Manifold();
Penetration p = new Penetration();
Transform t1 = new Transform();
Transform t2 = new Transform();
ManifoldPoint mp;
Vector2 p1;
// test containment gjk
this.gjk.detect(seg, t1, tri, t2, p);
TestCase.assertTrue(this.cmfs.getManifold(p, seg, t1, tri, t2, m));
TestCase.assertEquals(2, m.getPoints().size());
// try reversing the shapes
TestCase.assertTrue(this.cmfs.getManifold(p, tri, t2, seg, t1, m));
TestCase.assertEquals(2, m.getPoints().size());
// test containment sat
this.sat.detect(seg, t1, tri, t2, p);
TestCase.assertTrue(this.cmfs.getManifold(p, seg, t1, tri, t2, m));
TestCase.assertEquals(2, m.getPoints().size());
// try reversing the shapes
TestCase.assertTrue(this.cmfs.getManifold(p, tri, t2, seg, t1, m));
TestCase.assertEquals(2, m.getPoints().size());
t2.translate(0.15, 0.0);
// test overlap gjk
this.gjk.detect(seg, t1, tri, t2, p);
TestCase.assertTrue(this.cmfs.getManifold(p, seg, t1, tri, t2, m));
TestCase.assertEquals(1, m.getPoints().size());
mp = m.getPoints().get(0);
p1 = mp.getPoint();
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(-0.100, p1.y, 1.0e-3);
TestCase.assertEquals(0.053, mp.getDepth(), 1.0e-3);
// try reversing the shapes
this.gjk.detect(tri, t2, seg, t1, p);
TestCase.assertTrue(this.cmfs.getManifold(p, tri, t2, seg, t1, m));
TestCase.assertEquals(1, m.getPoints().size());
mp = m.getPoints().get(0);
p1 = mp.getPoint();
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(-0.100, p1.y, 1.0e-3);
TestCase.assertEquals(0.053, mp.getDepth(), 1.0e-3);
// test overlap sat
this.sat.detect(seg, t1, tri, t2, p);
TestCase.assertTrue(this.cmfs.getManifold(p, seg, t1, tri, t2, m));
TestCase.assertEquals(1, m.getPoints().size());
mp = m.getPoints().get(0);
p1 = mp.getPoint();
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(-0.100, p1.y, 1.0e-3);
TestCase.assertEquals(0.053, mp.getDepth(), 1.0e-3);
// try reversing the shapes
this.sat.detect(tri, t2, seg, t1, p);
TestCase.assertTrue(this.cmfs.getManifold(p, tri, t2, seg, t1, m));
TestCase.assertEquals(1, m.getPoints().size());
mp = m.getPoints().get(0);
p1 = mp.getPoint();
TestCase.assertEquals(0.000, p1.x, 1.0e-3);
TestCase.assertEquals(-0.100, p1.y, 1.0e-3);
TestCase.assertEquals(0.053, mp.getDepth(), 1.0e-3);
}
}
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