Add test for simox::aabb::is_colliding()

SimoxUtility/tests/shapes/AxisAlignedBoundingBoxTest.cpp

@@ -4,10 +4,10 @@
 * @copyright  2019 Raphael Grimm
 */
 
-#define BOOST_TEST_MODULE SimoxUtility/shapes/OrientedBoxTest
+#define BOOST_TEST_MODULE SimoxUtility / shapes / AxisAlignedBoundingBoxTest
 
-#include <random>
 #include <iostream>
+#include <random>
 
 #include <boost/test/included/unit_test.hpp>
 
@@ -20,25 +20,61 @@ namespace
     {
         float x = 0, y = 0, z = 0;
     };
-}
+} // namespace
 
 
 BOOST_AUTO_TEST_CASE(test_AABB_from_points_eigen)
 {
-    std::vector<Eigen::Vector3f> points{ { 0, 0, 0 } , { -2, 0, 1 }, { 2, 0, -1 } };
+    std::vector<Eigen::Vector3f> points{{0, 0, 0}, {-2, 0, 1}, {2, 0, -1}};
 
     simox::AxisAlignedBoundingBox aabb = simox::aabb::from_points(points);
 
     BOOST_CHECK_EQUAL(aabb.min(), Eigen::Vector3f(-2, 0, -1));
-    BOOST_CHECK_EQUAL(aabb.max(), Eigen::Vector3f( 2, 0,  1));
+    BOOST_CHECK_EQUAL(aabb.max(), Eigen::Vector3f(2, 0, 1));
 }
 
 BOOST_AUTO_TEST_CASE(test_AABB_from_points_custom)
 {
-    std::vector<PointT> points{ { 0, 0, 0 } , { -2, 0, 1 }, { 2, 0, -1 } };
+    std::vector<PointT> points{{0, 0, 0}, {-2, 0, 1}, {2, 0, -1}};
 
     simox::AxisAlignedBoundingBox aabb = simox::aabb::from_points(points);
 
     BOOST_CHECK_EQUAL(aabb.min(), Eigen::Vector3f(-2, 0, -1));
-    BOOST_CHECK_EQUAL(aabb.max(), Eigen::Vector3f( 2, 0,  1));
+    BOOST_CHECK_EQUAL(aabb.max(), Eigen::Vector3f(2, 0, 1));
+}
+
+
+BOOST_AUTO_TEST_CASE(test_overlaps)
+{
+    using Eigen::Vector3f;
+    using AABB = simox::AxisAlignedBoundingBox;
+    using simox::aabb::is_colliding;
+
+    const AABB lhs(Vector3f(-1, -2, -3), Vector3f(1, 2, 3));
+
+    // Collide with itself.
+    BOOST_CHECK(is_colliding(lhs, lhs));
+
+    // Overlap when translated a bit.
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(0, -2, -3), Vector3f(2, 2, 3))));
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(-1, -3, -3), Vector3f(1, 1, 3))));
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(-1, -2, 2.5), Vector3f(1, 2, 6))));
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(0, -1, -2), Vector3f(2, 3, 4))));
+
+    // No overlap when translated to much.
+    BOOST_CHECK(not is_colliding(lhs, AABB(Vector3f(2, -2, -3), Vector3f(4, 2, 3))));
+    BOOST_CHECK(not is_colliding(lhs, AABB(Vector3f(-1, -6, -3), Vector3f(1, -3, 3))));
+    BOOST_CHECK(not is_colliding(lhs, AABB(Vector3f(-1, -2, 4), Vector3f(1, 2, 10))));
+    BOOST_CHECK(not is_colliding(lhs, AABB(Vector3f(1.1, 2.1, 3.1), Vector3f(2, 3, 4))));
+    BOOST_CHECK(not is_colliding(lhs, AABB(Vector3f(-2, -3, -4), Vector3f(- 1.1, -2.1, -3.1))));
+
+    // rhs in lhs.
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(-0.5, -1.0, -1.5), Vector3f(0.5, 1.0, 1.5))));
+
+    // lhs in rhs.
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(-2, -4, -6), Vector3f(2, 4, 6))));
+
+    // More difficult cases.
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(-0.5, -10, -20), Vector3f(0.5, 10, 20))));
+    BOOST_CHECK(is_colliding(lhs, AABB(Vector3f(0.5, 0.5, -20), Vector3f(1.5, 2.5, 20))));
 }