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ephysics/test/testCollisionWorld.cpp
Edouard DUPIN cdd0d3e453 [DEV] add test
2017-09-30 14:59:56 +02:00

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/** @file
* @author Edouard DUPIN
* @copyright 2017, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
#include <etest/etest.hpp>
#include <ephysics/ephysics.hpp>
// Enumeration for categories
enum CollisionCategory {
CATEGORY_1 = 0x0001,
CATEGORY_2 = 0x0002,
CATEGORY_3 = 0x0004
};
class WorldCollisionCallback : public ephysics::CollisionCallback {
public:
bool boxCollideWithSphere1;
bool boxCollideWithCylinder;
bool sphere1CollideWithCylinder;
bool sphere1CollideWithSphere2;
ephysics::CollisionBody* boxBody;
ephysics::CollisionBody* sphere1Body;
ephysics::CollisionBody* sphere2Body;
ephysics::CollisionBody* cylinderBody;
WorldCollisionCallback() {
reset();
}
void reset() {
boxCollideWithSphere1 = false;
boxCollideWithCylinder = false;
sphere1CollideWithCylinder = false;
sphere1CollideWithSphere2 = false;
}
// This method will be called for contact
virtual void notifyContact(const ephysics::ContactPointInfo& contactPointInfo) {
if (isContactBetweenBodies(boxBody, sphere1Body, contactPointInfo)) {
boxCollideWithSphere1 = true;
} else if (isContactBetweenBodies(boxBody, cylinderBody, contactPointInfo)) {
boxCollideWithCylinder = true;
} else if (isContactBetweenBodies(sphere1Body, cylinderBody, contactPointInfo)) {
sphere1CollideWithCylinder = true;
} else if (isContactBetweenBodies(sphere1Body, sphere2Body, contactPointInfo)) {
sphere1CollideWithSphere2 = true;
}
}
bool isContactBetweenBodies(const ephysics::CollisionBody* body1,
const ephysics::CollisionBody* body2,
const ephysics::ContactPointInfo& contactPointInfo) {
return ( contactPointInfo.shape1->getBody()->getID() == body1->getID()
&& contactPointInfo.shape2->getBody()->getID() == body2->getID() )
|| ( contactPointInfo.shape2->getBody()->getID() == body1->getID()
&& contactPointInfo.shape1->getBody()->getID() == body2->getID() );
}
};
/**
* Unit test for the CollisionWorld class.
*/
class TestCollisionWorld {
public:
// Physics world
ephysics::CollisionWorld* m_world;
// Bodies
ephysics::CollisionBody* m_boxBody;
ephysics::CollisionBody* m_sphere1Body;
ephysics::CollisionBody* m_sphere2Body;
ephysics::CollisionBody* m_cylinderBody;
// Collision shapes
ephysics::BoxShape* m_boxShape;
ephysics::SphereShape* m_sphereShape;
ephysics::CylinderShape* m_cylinderShape;
// Proxy shapes
ephysics::ProxyShape* m_boxProxyShape;
ephysics::ProxyShape* m_sphere1ProxyShape;
ephysics::ProxyShape* m_sphere2ProxyShape;
ephysics::ProxyShape* m_cylinderProxyShape;
// Collision callback class
WorldCollisionCallback m_collisionCallback;
public :
TestCollisionWorld() {
// Create the world
m_world = new ephysics::CollisionWorld();
// Create the bodies
etk::Transform3D boxTransform(vec3(10, 0, 0), etk::Quaternion::identity());
m_boxBody = m_world->createCollisionBody(boxTransform);
m_boxShape = new ephysics::BoxShape(vec3(3, 3, 3));
m_boxProxyShape = m_boxBody->addCollisionShape(m_boxShape, etk::Transform3D::identity());
m_sphereShape = new ephysics::SphereShape(3.0);
etk::Transform3D sphere1Transform(vec3(10,5, 0), etk::Quaternion::identity());
m_sphere1Body = m_world->createCollisionBody(sphere1Transform);
m_sphere1ProxyShape = m_sphere1Body->addCollisionShape(m_sphereShape, etk::Transform3D::identity());
etk::Transform3D sphere2Transform(vec3(30, 10, 10), etk::Quaternion::identity());
m_sphere2Body = m_world->createCollisionBody(sphere2Transform);
m_sphere2ProxyShape = m_sphere2Body->addCollisionShape(m_sphereShape, etk::Transform3D::identity());
etk::Transform3D cylinderTransform(vec3(10, -5, 0), etk::Quaternion::identity());
m_cylinderBody = m_world->createCollisionBody(cylinderTransform);
m_cylinderShape = new ephysics::CylinderShape(2, 5);
m_cylinderProxyShape = m_cylinderBody->addCollisionShape(m_cylinderShape, etk::Transform3D::identity());
// Assign collision categories to proxy shapes
m_boxProxyShape->setCollisionCategoryBits(CATEGORY_1);
m_sphere1ProxyShape->setCollisionCategoryBits(CATEGORY_1);
m_sphere2ProxyShape->setCollisionCategoryBits(CATEGORY_2);
m_cylinderProxyShape->setCollisionCategoryBits(CATEGORY_3);
m_collisionCallback.boxBody = m_boxBody;
m_collisionCallback.sphere1Body = m_sphere1Body;
m_collisionCallback.sphere2Body = m_sphere2Body;
m_collisionCallback.cylinderBody = m_cylinderBody;
}
~TestCollisionWorld() {
delete m_boxShape;
delete m_sphereShape;
delete m_cylinderShape;
}
};
TEST(TestCollisionWorld, testCollisions_1) {
TestCollisionWorld tmp;
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, true);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxBody, tmp.m_sphere1Body), true);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxBody, tmp.m_cylinderBody), true);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1Body, tmp.m_cylinderBody), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1Body, tmp.m_sphere2Body), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxProxyShape, tmp.m_sphere1ProxyShape), true);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxProxyShape, tmp.m_cylinderProxyShape), true);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1ProxyShape, tmp.m_cylinderProxyShape), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1ProxyShape, tmp.m_sphere2ProxyShape), false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_cylinderBody, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_boxBody, tmp.m_sphere1Body, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, true);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_boxBody, tmp.m_cylinderBody, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_cylinderProxyShape, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_boxProxyShape, tmp.m_cylinderProxyShape, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
// Move sphere 1 to collide with sphere 2
tmp.m_sphere1Body->setTransform(etk::Transform3D(vec3(30, 15, 10), etk::Quaternion::identity()));
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, true);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_boxBody, tmp.m_sphere1Body, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(tmp.m_boxBody, tmp.m_cylinderBody, &tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
// Move sphere 1 to collide with box
tmp.m_sphere1Body->setTransform(etk::Transform3D(vec3(10, 5, 0), etk::Quaternion::identity()));
// --------- Test collision with inactive bodies --------- //
tmp.m_collisionCallback.reset();
tmp.m_boxBody->setIsActive(false);
tmp.m_cylinderBody->setIsActive(false);
tmp.m_sphere1Body->setIsActive(false);
tmp.m_sphere2Body->setIsActive(false);
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxBody, tmp.m_sphere1Body), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxBody, tmp.m_cylinderBody), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1Body, tmp.m_cylinderBody), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1Body, tmp.m_sphere2Body), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxProxyShape, tmp.m_sphere1ProxyShape), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_boxProxyShape, tmp.m_cylinderProxyShape), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1ProxyShape, tmp.m_cylinderProxyShape), false);
EXPECT_EQ(tmp.m_world->testAABBOverlap(tmp.m_sphere1ProxyShape, tmp.m_sphere2ProxyShape), false);
tmp.m_boxBody->setIsActive(true);
tmp.m_cylinderBody->setIsActive(true);
tmp.m_sphere1Body->setIsActive(true);
tmp.m_sphere2Body->setIsActive(true);
// --------- Test collision with collision filtering -------- //
tmp.m_boxProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_3);
tmp.m_sphere1ProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_2);
tmp.m_sphere2ProxyShape->setCollideWithMaskBits(CATEGORY_1);
tmp.m_cylinderProxyShape->setCollideWithMaskBits(CATEGORY_1);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, true);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
// Move sphere 1 to collide with sphere 2
tmp.m_sphere1Body->setTransform(etk::Transform3D(vec3(30, 15, 10), etk::Quaternion::identity()));
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, true);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, true);
tmp.m_boxProxyShape->setCollideWithMaskBits(CATEGORY_2);
tmp.m_sphere1ProxyShape->setCollideWithMaskBits(CATEGORY_2);
tmp.m_sphere2ProxyShape->setCollideWithMaskBits(CATEGORY_3);
tmp.m_cylinderProxyShape->setCollideWithMaskBits(CATEGORY_1);
tmp.m_collisionCallback.reset();
tmp.m_world->testCollision(&tmp.m_collisionCallback);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithSphere1, false);
EXPECT_EQ(tmp.m_collisionCallback.boxCollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithCylinder, false);
EXPECT_EQ(tmp.m_collisionCallback.sphere1CollideWithSphere2, false);
// Move sphere 1 to collide with box
tmp.m_sphere1Body->setTransform(etk::Transform3D(vec3(10, 5, 0), etk::Quaternion::identity()));
tmp.m_boxProxyShape->setCollideWithMaskBits(0xFFFF);
tmp.m_sphere1ProxyShape->setCollideWithMaskBits(0xFFFF);
tmp.m_sphere2ProxyShape->setCollideWithMaskBits(0xFFFF);
tmp.m_cylinderProxyShape->setCollideWithMaskBits(0xFFFF);
}
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