Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
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Tom Ray
199
lib/All/JoltPhysics/UnitTests/Geometry/ConvexHullBuilderTest.cpp
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199
lib/All/JoltPhysics/UnitTests/Geometry/ConvexHullBuilderTest.cpp
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include "UnitTestFramework.h"
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#include <Jolt/Geometry/ConvexHullBuilder.h>
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TEST_SUITE("ConvexHullBuilderTest")
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{
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constexpr float cTolerance = 1.0e-3f;
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using Face = ConvexHullBuilder::Face;
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using Positions = ConvexHullBuilder::Positions;
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TEST_CASE("TestDegenerate")
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{
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const char *error = nullptr;
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{
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// Too few points / coinciding points should be degenerate
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Positions positions { Vec3(1, 2, 3) };
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::TooFewPoints);
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positions.push_back(Vec3(1 + 0.5f * cTolerance, 2, 3));
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::TooFewPoints);
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positions.push_back(Vec3(1, 2 + 0.5f * cTolerance, 3));
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Degenerate);
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positions.push_back(Vec3(1, 2, 3 + 0.5f * cTolerance));
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Degenerate);
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}
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{
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// A line should be degenerate
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Positions positions;
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for (float v = 0.0f; v < 1.01f; v += 0.1f)
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positions.push_back(Vec3(v, 0, 0));
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Degenerate);
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}
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}
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TEST_CASE("Test2DHull")
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{
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const char *error = nullptr;
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{
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// A triangle
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Positions positions { Vec3(-1, 0, -1), Vec3(1, 0, -1), Vec3(-1, 0, 1) };
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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CHECK(builder.GetNumVerticesUsed() == 3);
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CHECK(builder.GetFaces().size() == 2);
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CHECK(builder.ContainsFace({ 0, 1, 2 }));
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CHECK(builder.ContainsFace({ 2, 1, 0 }));
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}
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{
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// A quad with many interior points
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Positions positions;
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for (int x = 0; x < 10; ++x)
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for (int z = 0; z < 10; ++z)
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positions.push_back(Vec3(0.1f * x, 0, 1.0f * 0.2f * z));
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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CHECK(builder.GetNumVerticesUsed() == 4);
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CHECK(builder.GetFaces().size() == 2);
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CHECK(builder.ContainsFace({ 0, 9, 99, 90 }));
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CHECK(builder.ContainsFace({ 90, 99, 9, 0 }));
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}
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{
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// Add disc with many interior points
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Positions positions;
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for (int r = 0; r < 10; ++r)
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for (int phi = 0; phi < 10; ++phi)
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{
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float f_r = 2.0f * r;
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float f_phi = 2.0f * JPH_PI * phi / 10;
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positions.push_back(Vec3(f_r * Cos(f_phi), f_r * Sin(f_phi), 0));
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}
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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CHECK(builder.GetNumVerticesUsed() == 10);
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CHECK(builder.GetFaces().size() == 2);
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CHECK(builder.ContainsFace({ 90, 91, 92, 93, 94, 95, 96, 97, 98, 99 }));
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CHECK(builder.ContainsFace({ 99, 98, 97, 96, 95, 94, 93, 92, 91, 90 }));
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}
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}
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TEST_CASE("Test3DHull")
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{
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const char *error = nullptr;
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{
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// A cube with lots of interior points
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Positions positions;
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for (int x = 0; x < 10; ++x)
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for (int y = 0; y < 10; ++y)
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for (int z = 0; z < 10; ++z)
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positions.push_back(Vec3(0.1f * x, 1.0f + 0.2f * y, 2.0f * 0.3f * z));
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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CHECK(builder.GetNumVerticesUsed() == 8);
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CHECK(builder.GetFaces().size() == 6);
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CHECK(builder.ContainsFace({ 0, 9, 99, 90 }));
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CHECK(builder.ContainsFace({ 0, 90, 990, 900 }));
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CHECK(builder.ContainsFace({ 900, 990, 999, 909 }));
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CHECK(builder.ContainsFace({ 9, 909, 999, 99 }));
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CHECK(builder.ContainsFace({ 90, 99, 999, 990 }));
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CHECK(builder.ContainsFace({ 0, 900, 909, 9 }));
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}
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{
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// Add sphere with many interior points
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Positions positions;
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for (int r = 0; r < 10; ++r)
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for (int phi = 0; phi < 10; ++phi)
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for (int theta = 0; theta < 10; ++theta)
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{
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float f_r = 2.0f * r;
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float f_phi = 2.0f * JPH_PI * phi / 10; // [0, 2 PI)
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float f_theta = JPH_PI * theta / 9; // [0, PI] (inclusive!)
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positions.push_back(f_r * Vec3::sUnitSpherical(f_theta, f_phi));
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}
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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CHECK(builder.GetNumVerticesUsed() == 82); // The two ends of the sphere have 10 points that have the same position
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// Too many faces, calculate the error instead
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Face *error_face;
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float max_error, coplanar_distance;
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int error_position_idx;
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builder.DetermineMaxError(error_face, max_error, error_position_idx, coplanar_distance);
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CHECK(max_error < max(coplanar_distance, cTolerance));
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}
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}
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TEST_CASE("TestRandomHull")
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{
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const char *error = nullptr;
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UnitTestRandom random(0x1ee7c0de);
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uniform_real_distribution<float> zero_one(0.0f, 1.0f);
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uniform_real_distribution<float> zero_two(0.0f, 2.0f);
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uniform_real_distribution<float> scale_start(0.1f, 0.5f);
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uniform_real_distribution<float> scale_range(0.1f, 2.0f);
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for (int iteration = 0; iteration < 100; ++iteration)
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{
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// Define vertex scale
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float start = scale_start(random);
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uniform_real_distribution<float> vertex_scale(start, start + scale_range(random));
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// Define shape scale to make shape less sphere like
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uniform_real_distribution<float> shape_scale(0.1f, 1.0f);
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Vec3 scale(shape_scale(random), shape_scale(random), shape_scale(random));
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// Add some random points
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Positions positions;
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for (int i = 0; i < 100; ++i)
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{
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// Add random point
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Vec3 p1 = vertex_scale(random) * Vec3::sRandom(random) * scale;
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positions.push_back(p1);
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// Point close to p1
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Vec3 p2 = p1 + cTolerance * zero_two(random) * Vec3::sRandom(random);
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positions.push_back(p2);
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// Point on a line to another point
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float fraction = zero_one(random);
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Vec3 p3 = fraction * p1 + (1.0f - fraction) * positions[random() % positions.size()];
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positions.push_back(p3);
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// Point close to p3
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Vec3 p4 = p3 + cTolerance * zero_two(random) * Vec3::sRandom(random);
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positions.push_back(p4);
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}
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// Build hull
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ConvexHullBuilder builder(positions);
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CHECK(builder.Initialize(INT_MAX, cTolerance, error) == ConvexHullBuilder::EResult::Success);
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// Calculate error
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Face *error_face;
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float max_error, coplanar_distance;
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int error_position_idx;
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builder.DetermineMaxError(error_face, max_error, error_position_idx, coplanar_distance);
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CHECK(max_error < max(coplanar_distance, 1.2f * cTolerance));
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}
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}
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}
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