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#include <cu/cu.h>
#include "common.h"
#include <ccd/ccd.h>
#include "support.h"
#define TOSVT() \
svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \
ccdVec3Scale(&dir, depth); \
ccdVec3Add(&cyl.pos, &dir); \
svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos)
TEST(boxcylIntersect)
{
ccd_t ccd;
CCD_BOX(box);
CCD_CYL(cyl);
int res;
ccd_vec3_t axis;
box.x = 0.5;
box.y = 1.;
box.z = 1.5;
cyl.radius = 0.4;
cyl.height = 0.7;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&cyl.pos, .6, 0., 0.);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&axis, 0., 1., 0.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&axis, 0.67, 1.1, 0.12);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .6, 0., 0.5);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .9, 0.8, 0.5);
res = ccdGJKIntersect(&box, &cyl, &ccd);
assertTrue(res);
}
TEST(boxcylPenEPA)
{
ccd_t ccd;
CCD_BOX(box);
CCD_CYL(cyl);
int res;
ccd_vec3_t axis;
ccd_real_t depth;
ccd_vec3_t dir, pos;
box.x = 0.5;
box.y = 1.;
box.z = 1.5;
cyl.radius = 0.4;
cyl.height = 0.7;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 1");
//TOSVT();
ccdVec3Set(&cyl.pos, .6, 0., 0.);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 2");
//TOSVT(); <<<
ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 3");
//TOSVT();
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 4");
//TOSVT();
ccdVec3Set(&axis, 0., 1., 0.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 5");
//TOSVT();
ccdVec3Set(&axis, 0.67, 1.1, 0.12);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 6");
//TOSVT();
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .6, 0., 0.5);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 7");
//TOSVT();
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .9, 0.8, 0.5);
res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 8");
//TOSVT();
}
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