From 43771ae78df54711fbe572a4f5a266c5393aa6ac Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 15 Dec 2022 09:46:45 +0100
Subject: [PATCH] Add test for simox::aabb::is_colliding()
---
.../shapes/AxisAlignedBoundingBoxTest.cpp | 50 ++++++++++++++++---
1 file changed, 43 insertions(+), 7 deletions(-)
diff --git a/SimoxUtility/tests/shapes/AxisAlignedBoundingBoxTest.cpp b/SimoxUtility/tests/shapes/AxisAlignedBoundingBoxTest.cpp
index 7448a2d83..f3accea95 100644
--- a/SimoxUtility/tests/shapes/AxisAlignedBoundingBoxTest.cpp
+++ b/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))));
}
--
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