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#include <stdio.h>
#include <cu/cu.h>
#include <ccd/ccd.h>
#include "support.h"
#include "common.h"
TEST(mprCylcylAlignedX)
{
ccd_t ccd;
CCD_CYL(c1);
CCD_CYL(c2);
size_t i;
int res;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
c1.radius = 0.35;
c1.height = 0.5;
c2.radius = 0.5;
c2.height = 1.;
ccdVec3Set(&c1.pos, -5., 0., 0.);
for (i = 0; i < 100; i++){
res = ccdMPRIntersect(&c1, &c2, &ccd);
if (i < 42 || i > 58){
assertFalse(res);
}else{
assertTrue(res);
}
c1.pos.v[0] += 0.1;
}
}
TEST(mprCylcylAlignedY)
{
ccd_t ccd;
CCD_CYL(c1);
CCD_CYL(c2);
size_t i;
int res;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
c1.radius = 0.35;
c1.height = 0.5;
c2.radius = 0.5;
c2.height = 1.;
ccdVec3Set(&c1.pos, 0., -5., 0.);
for (i = 0; i < 100; i++){
res = ccdMPRIntersect(&c1, &c2, &ccd);
if (i < 42 || i > 58){
assertFalse(res);
}else{
assertTrue(res);
}
c1.pos.v[1] += 0.1;
}
}
TEST(mprCylcylAlignedZ)
{
ccd_t ccd;
CCD_CYL(c1);
CCD_CYL(c2);
size_t i;
int res;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
c1.radius = 0.35;
c1.height = 0.5;
c2.radius = 0.5;
c2.height = 1.;
ccdVec3Set(&c1.pos, 0., 0., -5.);
for (i = 0; i < 100; i++){
res = ccdMPRIntersect(&c1, &c2, &ccd);
if (i < 43 || i > 57){
assertFalse(res);
}else{
assertTrue(res);
}
c1.pos.v[2] += 0.1;
}
}
#define TOSVT() \
svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \
ccdVec3Scale(&dir, depth); \
ccdVec3Add(&cyl2.pos, &dir); \
svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos)
TEST(mprCylcylPenetration)
{
ccd_t ccd;
CCD_CYL(cyl1);
CCD_CYL(cyl2);
int res;
ccd_vec3_t axis;
ccd_real_t depth;
ccd_vec3_t dir, pos;
fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n");
cyl1.radius = 0.35;
cyl1.height = 0.5;
cyl2.radius = 0.5;
cyl2.height = 1.;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
ccdVec3Set(&cyl2.pos, 0., 0., 0.3);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 1");
//TOSVT();
ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 2");
//TOSVT();
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, 0., 0., 0.);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 3");
//TOSVT();
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 4");
//TOSVT();
ccdVec3Set(&axis, 0.567, 1.2, 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 5");
//TOSVT();
ccdVec3Set(&axis, -4.567, 1.2, 0.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen 6");
//TOSVT();
}
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