diff --git a/src/unittest/test_collision.cpp b/src/unittest/test_collision.cpp index 87f71cd43..46f1bf7cb 100644 --- a/src/unittest/test_collision.cpp +++ b/src/unittest/test_collision.cpp @@ -3,11 +3,15 @@ // Copyright (C) 2013 celeron55, Perttu Ahola #include "test.h" +#include "catch.h" +#include "collision.h" #include "dummymap.h" #include "environment.h" #include "irrlicht_changes/printing.h" +#include "irrlichttypes.h" -#include "collision.h" + +const double EPSILON = 0.001; class TestCollision : public TestBase { public: @@ -16,7 +20,6 @@ public: void runTests(IGameDef *gamedef); - void testAxisAlignedCollision(); void testCollisionMoveSimple(IGameDef *gamedef); }; @@ -24,7 +27,6 @@ static TestCollision g_test_instance; void TestCollision::runTests(IGameDef *gamedef) { - TEST(testAxisAlignedCollision); TEST(testCollisionMoveSimple, gamedef); } @@ -60,149 +62,194 @@ namespace { UASSERTEQ_F(va.X, ve.X); UASSERTEQ_F(va.Y, ve.Y); UASSERTEQ_F(va.Z, ve.Z); \ } while (0) +#define fpos(x,y,z) (BS * v3f(x, y, z)) + //////////////////////////////////////////////////////////////////////////////// - -void TestCollision::testAxisAlignedCollision() +TEST_CASE("Test axis aligned collision with unit cube.", "[collision]") { - for (s16 bx = -3; bx <= 3; bx++) - for (s16 by = -3; by <= 3; by++) - for (s16 bz = -3; bz <= 3; bz++) { - // X- - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx-2, by, bz, bx-1, by+1, bz+1); - v3f v(1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 1.000) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx-2, by, bz, bx-1, by+1, bz+1); - v3f v(-1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx-2, by+1.5, bz, bx-1, by+2.5, bz+1); - v3f v(1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx-2, by-1.5, bz, bx-1.5, by+0.5, bz+1); - v3f v(0.5, 0.1, 0); - f32 dtime = 3.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 3.000) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx-2, by-1.5, bz, bx-1.5, by+0.5, bz+1); - v3f v(0.5, 0.1, 0); - f32 dtime = 3.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 3.000) < 0.001); - } + f32 bx = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); + f32 by = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); + f32 bz = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); - // X+ - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx+2, by, bz, bx+3, by+1, bz+1); - v3f v(-1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 1.000) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx+2, by, bz, bx+3, by+1, bz+1); - v3f v(1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx+2, by, bz+1.5, bx+3, by+1, bz+3.5); - v3f v(-1, 0, 0); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1); - v3f v(-0.5, 0.2, 0); // 0.200000003 precisely - f32 dtime = 2.51f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1); // Y, not X! - UASSERT(fabs(dtime - 2.500) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+1, by+1, bz+1); - aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1); - v3f v(-0.5, 0.3, 0); // 0.300000012 precisely - f32 dtime = 2.1f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 2.000) < 0.001); - } + INFO("Testing with static cube at (" << bx << ", " << by << ", " << bz << ")."); - // TODO: Y-, Y+, Z-, Z+ + aabb3f s{bx, by, bz, bx+1.0f, by+1.0f, bz+1.0f}; - // misc - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx+2.3, by+2.29, bz+2.29, bx+4.2, by+4.2, bz+4.2); - v3f v(-1./3, -1./3, -1./3); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 0.9) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx+2.29, by+2.3, bz+2.29, bx+4.2, by+4.2, bz+4.2); - v3f v(-1./3, -1./3, -1./3); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1); - UASSERT(fabs(dtime - 0.9) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx+2.29, by+2.29, bz+2.3, bx+4.2, by+4.2, bz+4.2); - v3f v(-1./3, -1./3, -1./3); - f32 dtime = 1.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 2); - UASSERT(fabs(dtime - 0.9) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.3, by-2.29, bz-2.29); - v3f v(1./7, 1./7, 1./7); - f32 dtime = 17.1f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0); - UASSERT(fabs(dtime - 16.1) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.29, by-2.3, bz-2.29); - v3f v(1./7, 1./7, 1./7); - f32 dtime = 17.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1); - UASSERT(fabs(dtime - 16.1) < 0.001); - } - { - aabb3f s(bx, by, bz, bx+2, by+2, bz+2); - aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.29, by-2.29, bz-2.3); - v3f v(1./7, 1./7, 1./7); - f32 dtime = 17.0f; - UASSERT(axisAlignedCollision(s, m, v, &dtime) == 2); - UASSERT(fabs(dtime - 16.1) < 0.001); - } + // The following set of tests is for boxes translated in the -X direction + // from the static cube, possibly with additional offsets. + SECTION("Given a unit cube translated by -2 units on the x-axis, " + "when it moves 1 unit per step in the +x direction for 1 step, " + "then it should collide on the X axis within epsilon of 1 step.") + { + aabb3f m{bx-2.0f, by, bz, bx-1.0f, by+1.0f, bz+1.0f}; + f32 dtime = 1.0f; + CHECK(0 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 1.0) < EPSILON); + } + + SECTION("Given a unit cube translated by -2 units on the x-axis, " + "when it moves 1 unit per step in the -x direction for 1 step, " + "then it should never collide.") + { + aabb3f m{bx-2.0f, by, bz, bx-1.0f, by+1.0f, bz+1.0f}; + f32 dtime = 1.0f; + CHECK(-1 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime)); + } + + + SECTION("Given a unit cube translated by -2 units on the x-axis " + "and 1.5 units on the y-axis, " + "when it moves 1 unit per step in the +x direction for 1 step, " + "then it should never collide.") + { + aabb3f m{bx-2.0f, by+1.5f, bz, bx-1.0f, by+2.5f, bz+1.0f}; + f32 dtime = 1.0f; + CHECK(-1 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime)); + } + + SECTION("Given a 0.5x2x1 cube translated by -2 units on the x-axis " + "and -1.5 units on the y-axis, " + "when it moves 0.5 units per step in the +x direction " + "and 0.1 units per step in the +y direction for 3 steps, " + "then it should collide on the X axis within epsilon of 3 steps.") + { + aabb3f m{bx-2.0f, by-1.5f, bz, bx-1.5f, by+0.5f, bz+1.0f}; + f32 dtime = 3.0f; + CHECK(0 == axisAlignedCollision(s, m, v3f{0.5f, 0.1f, 0}, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 3.0) < EPSILON); + } + + // The following set of tests is for boxes translated in the +X direction + // from the static cube, possibly with additional offsets. They are not + // all mirror images of the tests for the -X direction. + + SECTION("Given a unit cube translated by +2 units on the x-axis, " + "when it moves 1 unit per step in the -x direction for 1 step, " + "then it should collide on the X axis within epsilon of 1 step.") + { + aabb3f m{bx+2.0f, by, bz, bx+3.0f, by+1.0f, bz+1.0f}; + f32 dtime = 1.0f; + CHECK(0 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 1.0) < EPSILON); + } + + SECTION("Given a unit cube translated by +2 units on the x-axis, " + "when it moves 1 unit per step in the +x direction for 1 step, " + "then it should never collide.") + { + aabb3f m{bx+2.0f, by, bz, bx+3.0f, by+1.0f, bz+1.0f}; + f32 dtime = 1.0f; + CHECK(-1 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime)); + } + + SECTION("Given a unit cube translated by +2 units on the x-axis " + "and 1.5 units on the z-axis, " + "when it moves 1 unit per step in the -x direction for 1 step, " + "then it should never collide.") + { + aabb3f m{bx+2.0f, by, bz+1.5f, bx+3.0f, by+1.0f, bz+3.5f}; + f32 dtime = 1.0f; + CHECK(-1 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime)); + } + + SECTION("Given a 0.5x1x1 cube translated by +2 units on the x-axis " + "and -1.5 units on the y-axis, " + "when it moves 0.5 units per step in the -x direction " + "and 0.2 units per step in the +y direction for 3 steps, " + "then it should collide on the Y axis within epsilon of 2.5 steps.") + { + // This test is interesting because the Y-faces are the first to collide. + aabb3f m{bx+2.0f, by-1.5f, bz, bx+2.5f, by-0.5f, bz+1.0f}; + f32 dtime = 2.51f; + // y velocity is 0.200000003 precisely + CHECK(1 == axisAlignedCollision(s, m, v3f{-0.5f, 0.2f, 0}, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 2.5) < EPSILON); + } + + SECTION("Given a 0.5x1x1 cube translated by +2 units on the x-axis " + "and -1.5 units on the y-axis, " + "when it moves 0.5 units per step in the -x direction " + "and 0.3 units per step in the +y direction for 3 steps, " + "then it should collide on the X axis within epsilon of 2.0 steps.") + { + aabb3f m{bx+2.0f, by-1.5f, bz, bx+2.5f, by-0.5f, bz+1.0f}; + f32 dtime = 2.1f; + // y velocity is 0.300000012 precisely + CHECK(0 == axisAlignedCollision(s, m, v3f{-0.5f, 0.3f, 0}, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 2.0) < EPSILON); + } +} + +TEST_CASE("Test axis aligned collision with 2x2x2 cube.", "[collision]") +{ + f32 bx = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); + f32 by = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); + f32 bz = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f); + + INFO("Testing with static cube at (" << bx << ", " << by << ", " << bz << ")."); + + aabb3f s{bx, by, bz, bx+2.0f, by+2.0f, bz+2.0f}; + + // The following set of tests checks small floating point offsets + // colliding at the corner of two boxes, to ensure the function under + // test can detect which axis collided first. + + SECTION("Collides on X axis near (+X,+Y,+Z) corner.") + { + aabb3f m{bx+2.3f, by+2.29f, bz+2.29f, bx+4.2f, by+4.2f, bz+4.2f}; + v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f}; + f32 dtime = 1.0f; + CHECK(0 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 0.9) < EPSILON); + } + + SECTION("Collides on Y axis near (+X,+Y,+Z) corner.") + { + aabb3f m{bx+2.29f, by+2.3f, bz+2.29f, bx+4.2f, by+4.2f, bz+4.2f}; + v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f}; + f32 dtime = 1.0f; + CHECK(1 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 0.9) < EPSILON); + } + + SECTION("Collides on Z axis near (+X,+Y,+Z) corner.") + { + aabb3f m{bx+2.29f, by+2.29f, bz+2.3f, bx+4.2f, by+4.2f, bz+4.2f}; + v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f}; + f32 dtime = 1.0f; + CHECK(2 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 0.9) < EPSILON); + } + + SECTION("Collides on X axis near (-X,-Y,-Z) corner.") + { + aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.3f, by-2.29f, bz-2.29f}; + v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f}; + f32 dtime = 17.0f; + CHECK(0 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 16.1) < EPSILON); + } + + SECTION("Collides on Y axis near (-X,-Y,-Z) corner.") + { + aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.29f, by-2.3f, bz-2.29f}; + v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f}; + f32 dtime = 17.0f; + CHECK(1 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 16.1) < EPSILON); + } + + SECTION("Collides on Z axis near (-X,-Y,-Z) corner.") + { + aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.29f, by-2.29f, bz-2.3f}; + v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f}; + f32 dtime = 17.0f; + CHECK(2 == axisAlignedCollision(s, m, v, &dtime)); + CHECK(std::fabs(static_cast(dtime) - 16.1) < EPSILON); } } -#define fpos(x,y,z) (BS * v3f(x, y, z)) void TestCollision::testCollisionMoveSimple(IGameDef *gamedef) {