| #include "obb.hpp" |
| #include <gtest/gtest.h> |
| #include <madrona/components.hpp> |
| #include <madrona/math.hpp> |
|
|
| using namespace madrona; |
| using namespace madrona::base; |
| using namespace madrona::math; |
| using madrona_gpudrive::OrientedBoundingBox2D; |
|
|
| TEST(CollisionDetectionAxisAligned, Colliding) { |
| Position origin{{.x = 0, .y = 0, .z = 0}}; |
| Position offset{{.x = 1, .y = 1, .z = 1}}; |
|
|
| Scale unitCubeScale{{.d0 = 1, .d1 = 1, .d2 = 1}}; |
|
|
| Rotation noRotation{Quat::angleAxis(0, madrona::math::up)}; |
|
|
| auto obbA = OrientedBoundingBox2D::from(origin, noRotation, unitCubeScale); |
| auto obbB = |
| OrientedBoundingBox2D::from(origin + offset, noRotation, unitCubeScale); |
|
|
| EXPECT_TRUE(OrientedBoundingBox2D::hasCollided(obbA, obbB)); |
| } |
|
|
| TEST(CollisionDetectionAxisAligned, NotColliding) { |
| Position origin{{.x = 0, .y = 0, .z = 0}}; |
| Position offset{{.x = 2, .y = 2, .z = 0}}; |
|
|
| Scale unitCubeScale{{.d0 = 0.5, .d1 = 0.5, .d2 = 1}}; |
|
|
| Rotation noRotation{Quat::angleAxis(0, madrona::math::up)}; |
|
|
| auto obbA = OrientedBoundingBox2D::from(origin, noRotation, unitCubeScale); |
| auto obbB = |
| OrientedBoundingBox2D::from(origin + offset, noRotation, unitCubeScale); |
|
|
| EXPECT_FALSE(OrientedBoundingBox2D::hasCollided(obbA, obbB)); |
| } |
|
|
| TEST(CollisionDetectionAxisAligned, PointIntersection) { |
| Position origin{{.x = 0, .y = 0, .z = 0}}; |
| Position offset{{.x = 1, .y = 1, .z = 0}}; |
|
|
| Scale unitCubeScale{{.d0 = 0.5, .d1 = 0.5, .d2 = 0.5}}; |
|
|
| Rotation noRotation{Quat::angleAxis(0, madrona::math::up)}; |
|
|
| auto obbA = OrientedBoundingBox2D::from(origin, noRotation, unitCubeScale); |
| auto obbB = |
| OrientedBoundingBox2D::from(origin + offset, noRotation, unitCubeScale); |
|
|
| EXPECT_TRUE(OrientedBoundingBox2D::hasCollided(obbA, obbB)); |
| } |
|
|
| TEST(CollisionDetectionAxisAligned, OneInsideOther) { |
| Position origin{{.x = 0, .y = 0, .z = 0}}; |
|
|
| Scale unitCubeScale{{.d0 = 1, .d1 = 1, .d2 = 1}}; |
| Scale halfUnitCubeScale{{.d0 = 0.5, .d1 = 0.5, .d2 = 0.5}}; |
|
|
| Rotation noRotation{Quat::angleAxis(0, madrona::math::up)}; |
|
|
| auto obbA = OrientedBoundingBox2D::from(origin, noRotation, unitCubeScale); |
| auto obbB = |
| OrientedBoundingBox2D::from(origin, noRotation, halfUnitCubeScale); |
|
|
| EXPECT_TRUE(OrientedBoundingBox2D::hasCollided(obbA, obbB)); |
| } |
|
|
| TEST(CollisionDetectionNonAxisAligned, ExhaustiveRotations) { |
| Position posA{{.x = 0, .y = 0, .z = 0}}; |
| Position posB{{.x = 0.5, .y = 0.5, .z = 0}}; |
| Scale unitCubeScale{{.d0 = 1, .d1 = 1, .d2 = 1}}; |
| Rotation rotA{Quat::angleAxis(0, madrona::math::up)}; |
|
|
| for (float degrees = 0; degrees < 360; degrees += 15) { |
| Rotation rotB{Quat::angleAxis(toRadians(degrees), madrona::math::up)}; |
|
|
| auto obbA = OrientedBoundingBox2D::from(posA, rotA, unitCubeScale); |
| auto obbB = OrientedBoundingBox2D::from(posB, rotB, unitCubeScale); |
|
|
| EXPECT_TRUE(OrientedBoundingBox2D::hasCollided(obbA, obbB)); |
| } |
| } |
|
|
