51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
// 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 "PhysicsTestContext.h"
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#include <Jolt/Physics/Constraints/PathConstraintPathHermite.h>
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#include <Jolt/Physics/Constraints/PathConstraintPath.h>
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#include "Layers.h"
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TEST_SUITE("PathConstraintTests")
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{
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// Test a straight line using a hermite spline.
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TEST_CASE("TestPathConstraintPathHermite")
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{
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// A straight spline
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// This has e.g. for t = 0.1 a local minimum at 0.7 which breaks the Newton Raphson root finding if not doing the bisection algorithm first.
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Vec3 p1 = Vec3(1424.96313f, 468.565399f, 483.655975f);
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Vec3 t1 = Vec3(61.4222832f, 42.8926392f, -1.70530257e-13f);
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Vec3 n1 = Vec3(0, 0, 1);
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Vec3 p2 = Vec3(1445.20105f, 482.364319f, 483.655975f);
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Vec3 t2 = Vec3(20.2380009f, 13.7989082f, -5.68434189e-14f);
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Vec3 n2 = Vec3(0, 0, 1);
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// Construct path
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Ref<PathConstraintPathHermite> path = new PathConstraintPathHermite;
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path->AddPoint(p1, t1, n1);
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path->AddPoint(p2, t2, n2);
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// Test that positions before and after the line return 0 and 1
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float before_start = path->GetClosestPoint(p1 - 0.01f * t1, 0.0f);
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CHECK(before_start == 0.0f);
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float after_end = path->GetClosestPoint(p2 + 0.01f * t2, 0.0f);
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CHECK(after_end == 1.0f);
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for (int i = 0; i <= 10; ++i)
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{
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// Get point on the curve
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float fraction = 0.1f * i;
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Vec3 pos, tgt, nrm, bin;
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path->GetPointOnPath(fraction, pos, tgt, nrm, bin);
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// Let the path determine the fraction of the closest point
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float closest_fraction = path->GetClosestPoint(pos, 0.0f);
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// Validate that it is equal to what we put in
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CHECK_APPROX_EQUAL(fraction, closest_fraction, 1.0e-4f);
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}
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}
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}
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