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https://github.com/rwengine/openrw.git
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Merge pull request #679 from danhedron/feat/vehicle_volumequery
Use collision detection for AI vehicle behaviour
This commit is contained in:
commit
ba913e5154
@ -49,6 +49,8 @@ set(RWENGINE_SOURCES
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src/dynamics/CollisionInstance.cpp
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src/dynamics/CollisionInstance.hpp
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src/dynamics/HitTest.cpp
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src/dynamics/HitTest.hpp
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src/dynamics/RaycastCallbacks.hpp
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src/engine/Animator.cpp
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@ -19,6 +19,7 @@
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#include <LinearMath/btScalar.h>
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#include <rw/debug.hpp>
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#include <dynamics/HitTest.hpp>
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#include "data/WeaponData.hpp"
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#include "engine/Animator.hpp"
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@ -193,91 +194,25 @@ void CharacterController::steerTo(const glm::vec3 &target) {
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vehicle->setSteeringAngle(steeringAngle, true);
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}
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// @todo replace this by raytest/raycast logic
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bool CharacterController::checkForObstacles()
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{
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bool CharacterController::checkForObstacles() {
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// We can't drive without a vehicle
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VehicleObject* vehicle = character->getCurrentVehicle();
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VehicleObject *vehicle = character->getCurrentVehicle();
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if (vehicle == nullptr) {
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return false;
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}
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// The minimal distance we test for objects
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static constexpr float minColDist = 20.f;
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HitTest test{*vehicle->engine->dynamicsWorld};
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// Try to stop before pedestrians
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for (const auto &obj : character->engine->pedestrianPool.objects) {
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// Verify that the character isn't the driver and is walking
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if (obj.second.get() != character &&
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static_cast<CharacterObject *>(obj.second.get())->getCurrentVehicle() ==
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nullptr) {
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// Only check characters that are near our vehicle
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if (glm::distance(vehicle->getPosition(),
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obj.second->getPosition()) <= minColDist) {
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// Check if the character is in front of us and in our way
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if (vehicle->isInFront(obj.second->getPosition()) > -3.f &&
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vehicle->isInFront(obj.second->getPosition()) < 10.f &&
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glm::abs(vehicle->isOnSide(obj.second->getPosition())) <
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3.f) {
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return true;
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}
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}
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}
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}
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auto[center, halfSize] = vehicle->obstacleCheckVolume();
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const auto rotation = vehicle->getRotation();
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center = vehicle->getPosition() + rotation * center;
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auto results = test.boxTest(center, halfSize, vehicle->getRotation());
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// Brake when a car is in front of us and change lanes when possible
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for (const auto &obj : character->engine->vehiclePool.objects) {
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// Verify that the vehicle isn't our vehicle
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if (obj.second.get() != vehicle) {
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// Only check vehicles that are near our vehicle
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if (glm::distance(vehicle->getPosition(),
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obj.second->getPosition()) <= minColDist) {
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// Check if the vehicle is in front of us and in our way
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if (vehicle->isInFront(obj.second->getPosition()) > 0.f &&
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vehicle->isInFront(obj.second->getPosition()) < 10.f &&
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glm::abs(vehicle->isOnSide(obj.second->getPosition())) <
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2.5f) {
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// Check if the road has more than one lane
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// @todo we don't know the direction of the road, so for
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// now, choose the bigger value
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int maxLanes =
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targetNode->rightLanes > targetNode->leftLanes
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? targetNode->rightLanes
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: targetNode->leftLanes;
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if (maxLanes > 1) {
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// Change the lane, firstly check if there is an
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// occupant
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if (static_cast<VehicleObject *>(obj.second.get())
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->getDriver() != nullptr) {
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// @todo for now we don't know the lane where the
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// player is currently driving so just slow down, in
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// the future calculate the lane
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if (static_cast<VehicleObject *>(obj.second.get())
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->getDriver()
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->isPlayer()) {
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return true;
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} else {
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int avoidLane =
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static_cast<VehicleObject *>(obj.second.get())
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->getDriver()
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->controller->getLane();
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// @todo for now just two lanes
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if (avoidLane == 1)
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character->controller->setLane(2);
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else
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character->controller->setLane(1);
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}
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}
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} else {
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return true;
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}
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}
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}
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}
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}
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return false;
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return any_of(results.begin(), results.end(),
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[&](const auto &hit) {
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return !(hit.object == vehicle ||
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hit.body->isStaticObject());
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});
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}
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bool Activities::DriveTo::update(CharacterObject *character,
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@ -384,12 +319,16 @@ bool Activities::DriveTo::update(CharacterObject *character,
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}
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// Check whether a pedestrian or vehicle is in our way
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if (controller->checkForObstacles() == true) {
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if (controller->checkForObstacles()) {
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currentSpeed = 0.f;
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}
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if (std::fabs(currentSpeed) < 0.1f) {
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vehicle->setHandbraking(true);
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vehicle->setThrottle(0.f);
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}
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// Is the vehicle slower than it should be
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if (vehicle->getVelocity() < currentSpeed) {
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else if (vehicle->getVelocity() < currentSpeed) {
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vehicle->setHandbraking(false);
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// The vehicle is driving backwards, accelerate
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64
rwengine/src/dynamics/HitTest.cpp
Normal file
64
rwengine/src/dynamics/HitTest.cpp
Normal file
@ -0,0 +1,64 @@
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#include "HitTest.hpp"
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#include <objects/GameObject.hpp>
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#ifdef _MSC_VER
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#pragma warning(disable : 4305 5033)
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#endif
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#include <btBulletDynamicsCommon.h>
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#include <BulletCollision/CollisionDispatch/btGhostObject.h>
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#ifdef _MSC_VER
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#pragma warning(default : 4305 5033)
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#endif
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namespace {
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HitTest::TestResult HitTestWorld(btDiscreteDynamicsWorld& world, btPairCachingGhostObject& tester)
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{
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world.addCollisionObject(&tester);
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HitTest::TestResult result;
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result.reserve(static_cast<unsigned long>(tester.getNumOverlappingObjects()));
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for (auto i = 0; i < tester.getNumOverlappingObjects(); ++i)
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{
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auto overlapping = tester.getOverlappingObject(i);
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HitTest::Hit hit{};
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hit.body = overlapping;
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if (auto object = static_cast<GameObject*>(overlapping->getUserPointer()))
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{
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hit.object = object;
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}
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result.push_back(hit);
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}
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world.removeCollisionObject(&tester);
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return result;
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}
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HitTest::TestResult HitTestWithShape(btDiscreteDynamicsWorld& world, btCollisionShape& shape,
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const glm::vec3& center, const glm::quat& rotation) {
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btPairCachingGhostObject ghost{};
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btTransform xform{};
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xform.setOrigin({center.x, center.y, center.z});
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xform.setRotation({rotation.x, rotation.y, rotation.z, rotation.w});
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ghost.setWorldTransform(xform);
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ghost.setCollisionShape(&shape);
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return HitTestWorld(world, ghost);
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}
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} // namespace
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HitTest::TestResult HitTest::sphereTest(const glm::vec3& center, float radius) {
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btSphereShape sphere {radius};
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return HitTestWithShape(_world, sphere, center, {});
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}
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HitTest::TestResult HitTest::boxTest(const glm::vec3 ¢er, const glm::vec3 &size, const glm::quat& rotation) {
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btBoxShape box {{size.x, size.y, size.z}};
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return HitTestWithShape(_world, box, center, rotation);
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}
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39
rwengine/src/dynamics/HitTest.hpp
Normal file
39
rwengine/src/dynamics/HitTest.hpp
Normal file
@ -0,0 +1,39 @@
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#ifndef _RWENGINE_HITTEST_HPP_
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#define _RWENGINE_HITTEST_HPP_
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#include <glm/glm.hpp>
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#include <glm/gtx/quaternion.hpp>
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#include <vector>
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#include <memory>
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class btDiscreteDynamicsWorld;
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class btCollisionObject;
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class GameObject;
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/**
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* Utility for performing collision tests against the world.
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*/
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class HitTest {
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public:
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struct Hit {
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btCollisionObject* body;
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GameObject* object;
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};
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using TestResult = std::vector<Hit>;
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explicit HitTest(btDiscreteDynamicsWorld& world)
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: _world(world)
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{}
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~HitTest() = default;
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TestResult sphereTest(const glm::vec3& center, float radius);
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TestResult boxTest(const glm::vec3& center, const glm::vec3& size, const glm::quat& rotation = {1.f, 0.f, 0.f, 0.f});
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private:
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btDiscreteDynamicsWorld& _world;
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};
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#endif
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@ -1083,3 +1083,15 @@ float VehicleObject::isOnSide(const glm::vec3& point) {
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return distance;
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}
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std::tuple<glm::vec3, glm::vec3> VehicleObject::obstacleCheckVolume() const {
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const auto& dim = info->handling.dimensions;
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const auto kMaxDistance = 20.f;
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const auto velocity = getVelocity() / info->handling.maxVelocity;
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const auto lookDistance = glm::clamp(kMaxDistance * velocity, 0.f, kMaxDistance);
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const glm::vec3 areaSize{dim.x * 0.6f, 1.0f + lookDistance, 1.0f};
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return {
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{0.f, dim.y * 0.5f + areaSize.y, 0.f},
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areaSize,
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};
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}
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@ -246,6 +246,11 @@ public:
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void grantOccupantRewards(CharacterObject* character);
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/**
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* @return The position, and size of the area that must be free for the vehicle to continue.
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*/
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std::tuple<glm::vec3, glm::vec3> obstacleCheckVolume() const;
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private:
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void setupModel();
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void registerPart(ModelFrame* mf);
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@ -30,6 +30,12 @@ public:
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void drawLine(const btVector3 &from, const btVector3 &to,
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const btVector3 &color) override;
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void drawLine(const glm::vec3 &from, const glm::vec3 &to,
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const glm::vec3 &color) {
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drawLine(btVector3{from.x, from.y, from.z},
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btVector3{to.x, to.y, to.z},
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btVector3{color.r, color.g, color.b});
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}
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void drawContactPoint(const btVector3 &pointOnB, const btVector3 &normalOnB,
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btScalar distance, int lifeTime,
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const btVector3 &color) override;
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@ -24,6 +24,7 @@
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#include <functional>
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#include <iomanip>
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#include <iostream>
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#include <algorithm>
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namespace {
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static constexpr std::array<
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@ -775,17 +776,49 @@ void RWGame::renderDebugPaths(float time) {
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for (auto& p : world->pedestrianPool.objects) {
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auto v = static_cast<CharacterObject*>(p.second.get());
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static const btVector3 color(1.f, 1.f, 0.f);
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static const glm::vec3 color(1.f, 1.f, 0.f);
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if (v->controller->targetNode && v->getCurrentVehicle()) {
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const glm::vec3 pos1 = v->getPosition();
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const glm::vec3 pos2 = v->controller->targetNode->position;
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if (auto vehicle = v->getCurrentVehicle(); vehicle)
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{
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if (v->controller->targetNode) {
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debug.drawLine(v->getPosition(), v->controller->targetNode->position, color);
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}
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btVector3 position1(pos1.x, pos1.y, pos1.z);
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btVector3 position2(pos2.x, pos2.y, pos2.z);
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auto [center, halfSize] = vehicle->obstacleCheckVolume();
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std::array<glm::vec3, 8> corners { {
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glm::vec3{- halfSize.x, - halfSize.y, - halfSize.z},
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glm::vec3{+ halfSize.x, - halfSize.y, - halfSize.z},
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glm::vec3{- halfSize.x, - halfSize.y, + halfSize.z},
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glm::vec3{+ halfSize.x, - halfSize.y, + halfSize.z},
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glm::vec3{- halfSize.x, + halfSize.y, - halfSize.z},
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glm::vec3{+ halfSize.x, + halfSize.y, - halfSize.z},
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glm::vec3{- halfSize.x, + halfSize.y, + halfSize.z},
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glm::vec3{+ halfSize.x, + halfSize.y, + halfSize.z},
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}
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};
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const auto iRotation = (vehicle->getRotation());
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const auto rCenter = iRotation * center;
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std::transform(corners.begin(), corners.end(), corners.begin(),
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[&](const auto& p) -> glm::vec3 {
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return vehicle->getPosition() + rCenter + iRotation * p;
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});
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debug.drawLine(position1, position2, color);
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}
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static const glm::vec3 color2(1.f, 0.f, 0.f);
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debug.drawLine(corners[0], corners[1], color2);
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debug.drawLine(corners[0], corners[2], color2);
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debug.drawLine(corners[3], corners[1], color2);
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debug.drawLine(corners[3], corners[2], color2);
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debug.drawLine(corners[0], corners[4], color2);
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debug.drawLine(corners[1], corners[5], color2);
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debug.drawLine(corners[2], corners[6], color2);
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debug.drawLine(corners[3], corners[7], color2);
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debug.drawLine(corners[4], corners[5], color2);
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debug.drawLine(corners[4], corners[6], color2);
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debug.drawLine(corners[7], corners[5], color2);
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debug.drawLine(corners[7], corners[6], color2);
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}
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}
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debug.flush(renderer);
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@ -11,6 +11,7 @@ set(TESTS
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GameData
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GameWorld
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Garage
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HitTest
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Input
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Items
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Lifetime
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|
91
tests/test_HitTest.cpp
Normal file
91
tests/test_HitTest.cpp
Normal file
@ -0,0 +1,91 @@
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#include <boost/test/unit_test.hpp>
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#include "test_Globals.hpp"
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#include <dynamics/HitTest.hpp>
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#include <engine/GameWorld.hpp>
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#include <dynamics/CollisionInstance.hpp>
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#ifdef _MSC_VER
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#pragma warning(disable : 4305 5033)
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#endif
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#include <btBulletDynamicsCommon.h>
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#include <BulletCollision/CollisionDispatch/btGhostObject.h>
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#ifdef _MSC_VER
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#pragma warning(default : 4305 5033)
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#endif
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namespace {
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struct HitTestFixture {
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btDefaultCollisionConfiguration collisionConfig;
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btCollisionDispatcher collisionDispatcher;
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btDbvtBroadphase broadphase;
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btGhostPairCallback overlappingPairCallback;
|
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btSequentialImpulseConstraintSolver solver;
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btDiscreteDynamicsWorld dynamicsWorld;
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HitTest hitTest;
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HitTestFixture()
|
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: collisionDispatcher{&collisionConfig}
|
||||
, dynamicsWorld{&collisionDispatcher, &broadphase, &solver, &collisionConfig}
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||||
, hitTest{dynamicsWorld}
|
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{
|
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broadphase.getOverlappingPairCache()->setInternalGhostPairCallback(
|
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&overlappingPairCallback);
|
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}
|
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};
|
||||
|
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struct WithSphere : public HitTestFixture {
|
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btSphereShape shape {0.5f};
|
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std::unique_ptr<btRigidBody> target;
|
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GameObject* object {reinterpret_cast<GameObject*>(0xDEADBEEF)};
|
||||
|
||||
WithSphere()
|
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{
|
||||
btDefaultMotionState ms;
|
||||
btRigidBody::btRigidBodyConstructionInfo info {1.f, &ms, &shape};
|
||||
target = std::make_unique<btRigidBody>(info);
|
||||
target->setUserPointer(object);
|
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dynamicsWorld.addRigidBody(target.get());
|
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}
|
||||
|
||||
~WithSphere() {
|
||||
dynamicsWorld.removeRigidBody(target.get());
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_SUITE(HitTestTests)
|
||||
|
||||
BOOST_FIXTURE_TEST_CASE(test_creation, HitTestFixture) {
|
||||
HitTest test {dynamicsWorld};
|
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}
|
||||
|
||||
BOOST_FIXTURE_TEST_CASE(sphereTest_returns_result, WithSphere) {
|
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const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
|
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BOOST_CHECK_EQUAL(result.size(), 1);
|
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}
|
||||
|
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BOOST_FIXTURE_TEST_CASE(boxTest_returns_result, WithSphere) {
|
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auto sphereBoundingBoxEdge = glm::vec3{ 0.f, 0.f, shape.getRadius() };
|
||||
const auto result = hitTest.boxTest(sphereBoundingBoxEdge, {0.01f, 0.01f, 0.01f});
|
||||
BOOST_CHECK_EQUAL(result.size(), 1);
|
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}
|
||||
|
||||
BOOST_FIXTURE_TEST_CASE(non_overlapping_test_returns_nothing, WithSphere) {
|
||||
auto sphereBoundingBoxEdge = glm::vec3{ shape.getRadius() };
|
||||
const auto result = hitTest.boxTest(sphereBoundingBoxEdge * 2.f, {0.01f, 0.01f, 0.01f});
|
||||
BOOST_CHECK(result.empty());
|
||||
}
|
||||
|
||||
BOOST_FIXTURE_TEST_CASE(result_contains_body, WithSphere) {
|
||||
const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
|
||||
BOOST_ASSERT(result.size() == 1);
|
||||
BOOST_CHECK_EQUAL(result[0].body, target.get());
|
||||
}
|
||||
|
||||
BOOST_FIXTURE_TEST_CASE(test_result_contains_object, WithSphere) {
|
||||
const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
|
||||
BOOST_ASSERT(result.size() == 1);
|
||||
BOOST_CHECK_EQUAL(result[0].object, object);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_SUITE_END()
|
Loading…
Reference in New Issue
Block a user