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test more things

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Quaternions 2023-11-29 19:11:43 -08:00
parent ed6696be3e
commit 9de6fe85fa
1 changed files with 40 additions and 2 deletions
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42
src/physics.rs
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@ -345,6 +345,20 @@ struct Hitbox{
normal_transform:Planar64Mat3,
}
impl Hitbox{
fn new(mesh:PhysicsMesh,transform:crate::integer::Planar64Affine3)->Self{
//calculate extents
let normal_transform=transform.matrix3.inverse().transpose();
let mut aabb=crate::aabb::Aabb::default();
for vert in mesh.verts(){
aabb.grow(transform.transform_point3(vert));
}
Self{
halfsize:aabb.size()/2,
mesh,
transform,
normal_transform,
}
}
fn from_mesh_scale(mesh:PhysicsMesh,scale:Planar64Vec3)->Self{
Self{
halfsize:scale,
@ -1654,8 +1668,8 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
}
#[allow(dead_code)]
fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
let h0=Hitbox::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cylinder()),Planar64Vec3::int(5,1,5)/2);
fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
let h0=Hitbox::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::int(5,1,5)/2);
let h1=Hitbox::roblox();
let hitbox_mesh=h1.transformed_mesh();
let platform_mesh=h0.transformed_mesh();
@ -1663,6 +1677,30 @@ fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
}
#[allow(dead_code)]
fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
let h0=Hitbox::new(PhysicsMesh::from(&crate::primitives::unit_cube()),
crate::integer::Planar64Affine3::new(
crate::integer::Planar64Mat3::from_cols(
Planar64Vec3::int(5,0,1)/2,
Planar64Vec3::int(0,1,0)/2,
Planar64Vec3::int(-1,0,5)/2,
),
Planar64Vec3::ZERO,
)
);
let h1=Hitbox::roblox();
let hitbox_mesh=h1.transformed_mesh();
let platform_mesh=h0.transformed_mesh();
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&platform_mesh,&hitbox_mesh);
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
}
#[allow(dead_code)]
fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
test_collision_axis_aligned(relative_body.clone(),expected_collision_time);
test_collision_rotated(relative_body,expected_collision_time);
}
#[test]
fn test_collision_degenerate(){
test_collision(Body::new(