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virtualx-engine/tests/core/math/test_geometry_3d.h
Rémi Verschelde f8ab79e68a Zero initialize all pointer class and struct members 
This prevents the pitfall of UB when checking if they have been
assigned something valid by comparing to nullptr.
2022-04-04 19:49:50 +02:00

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/*************************************************************************/
/* test_geometry_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef TEST_GEOMETRY_3D_H
#define TEST_GEOMETRY_3D_H
#include "core/math/geometry_3d.h"
#include "tests/test_macros.h"
namespace TestGeometry3D {
TEST_CASE("[Geometry3D] Closest Points Between Segments") {
struct Case {
Vector3 p_1, p_2, p_3, p_4;
Vector3 got_1, got_2;
Vector3 want_1, want_2;
Case(){};
Case(Vector3 p_p_1, Vector3 p_p_2, Vector3 p_p_3, Vector3 p_p_4, Vector3 p_want_1, Vector3 p_want_2) :
p_1(p_p_1), p_2(p_p_2), p_3(p_p_3), p_4(p_p_4), want_1(p_want_1), want_2(p_want_2){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(1, -1, 1), Vector3(1, 1, -1), Vector3(-1, -2, -1), Vector3(-1, 1, 1), Vector3(1, -0.2, 0.2), Vector3(-1, -0.2, 0.2)));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Geometry3D::get_closest_points_between_segments(current_case.p_1, current_case.p_2, current_case.p_3, current_case.p_4, current_case.got_1, current_case.got_2);
CHECK(current_case.got_1.is_equal_approx(current_case.want_1));
CHECK(current_case.got_2.is_equal_approx(current_case.want_2));
}
}
TEST_CASE("[Geometry3D] Closest Distance Between Segments") {
struct Case {
Vector3 p_1, p_2, p_3, p_4;
float want;
Case(){};
Case(Vector3 p_p_1, Vector3 p_p_2, Vector3 p_p_3, Vector3 p_p_4, float p_want) :
p_1(p_p_1), p_2(p_p_2), p_3(p_p_3), p_4(p_p_4), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(1, -2, 0), Vector3(1, 2, 0), Vector3(-1, 2, 0), Vector3(-1, -2, 0), 0.0f));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
float out = Geometry3D::get_closest_distance_between_segments(current_case.p_1, current_case.p_2, current_case.p_3, current_case.p_4);
CHECK(out == current_case.want);
}
}
TEST_CASE("[Geometry3D] Build Box Planes") {
const Vector3 extents = Vector3(5, 5, 20);
Vector<Plane> box = Geometry3D::build_box_planes(extents);
CHECK(box.size() == 6);
CHECK(extents.x == box[0].d);
CHECK(box[0].normal == Vector3(1, 0, 0));
CHECK(extents.x == box[1].d);
CHECK(box[1].normal == Vector3(-1, 0, 0));
CHECK(extents.y == box[2].d);
CHECK(box[2].normal == Vector3(0, 1, 0));
CHECK(extents.y == box[3].d);
CHECK(box[3].normal == Vector3(0, -1, 0));
CHECK(extents.z == box[4].d);
CHECK(box[4].normal == Vector3(0, 0, 1));
CHECK(extents.z == box[5].d);
CHECK(box[5].normal == Vector3(0, 0, -1));
}
TEST_CASE("[Geometry3D] Build Capsule Planes") {
struct Case {
real_t radius, height;
int sides, lats;
Vector3::Axis axis;
int want_size;
Case(){};
Case(real_t p_radius, real_t p_height, int p_sides, int p_lats, Vector3::Axis p_axis, int p_want) :
radius(p_radius), height(p_height), sides(p_sides), lats(p_lats), axis(p_axis), want_size(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(10, 20, 6, 10, Vector3::Axis(), 126));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector<Plane> capsule = Geometry3D::build_capsule_planes(current_case.radius, current_case.height, current_case.sides, current_case.lats, current_case.axis);
// Should equal (p_sides * p_lats) * 2 + p_sides
CHECK(capsule.size() == current_case.want_size);
}
}
TEST_CASE("[Geometry3D] Build Cylinder Planes") {
struct Case {
real_t radius, height;
int sides;
Vector3::Axis axis;
int want_size;
Case(){};
Case(real_t p_radius, real_t p_height, int p_sides, Vector3::Axis p_axis, int p_want) :
radius(p_radius), height(p_height), sides(p_sides), axis(p_axis), want_size(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(3.0f, 10.0f, 10, Vector3::Axis(), 12));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector<Plane> planes = Geometry3D::build_cylinder_planes(current_case.radius, current_case.height, current_case.sides, current_case.axis);
CHECK(planes.size() == current_case.want_size);
}
}
TEST_CASE("[Geometry3D] Build Sphere Planes") {
struct Case {
real_t radius;
int lats, lons;
Vector3::Axis axis;
int want_size;
Case(){};
Case(real_t p_radius, int p_lat, int p_lons, Vector3::Axis p_axis, int p_want) :
radius(p_radius), lats(p_lat), lons(p_lons), axis(p_axis), want_size(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(10.0f, 10, 3, Vector3::Axis(), 63));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector<Plane> planes = Geometry3D::build_sphere_planes(current_case.radius, current_case.lats, current_case.lons, current_case.axis);
CHECK(planes.size() == 63);
}
}
#if false
// This test has been temporarily disabled because it's really fragile and
// breaks if calculations change very slightly. For example, it breaks when
// using doubles, and it breaks when making Plane calculations more accurate.
TEST_CASE("[Geometry3D] Build Convex Mesh") {
struct Case {
Vector<Plane> object;
int want_faces, want_edges, want_vertices;
Case(){};
Case(Vector<Plane> p_object, int p_want_faces, int p_want_edges, int p_want_vertices) :
object(p_object), want_faces(p_want_faces), want_edges(p_want_edges), want_vertices(p_want_vertices){};
};
Vector<Case> tt;
tt.push_back(Case(Geometry3D::build_box_planes(Vector3(5, 10, 5)), 6, 12, 8));
tt.push_back(Case(Geometry3D::build_capsule_planes(5, 5, 20, 20, Vector3::Axis()), 820, 7603, 6243));
tt.push_back(Case(Geometry3D::build_cylinder_planes(5, 5, 20, Vector3::Axis()), 22, 100, 80));
tt.push_back(Case(Geometry3D::build_sphere_planes(5, 5, 20), 220, 1011, 522));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Geometry3D::MeshData mesh = Geometry3D::build_convex_mesh(current_case.object);
CHECK(mesh.faces.size() == current_case.want_faces);
CHECK(mesh.edges.size() == current_case.want_edges);
CHECK(mesh.vertices.size() == current_case.want_vertices);
}
}
#endif
TEST_CASE("[Geometry3D] Clip Polygon") {
struct Case {
Plane clipping_plane;
Vector<Vector3> polygon;
bool want;
Case(){};
Case(Plane p_clipping_plane, Vector<Vector3> p_polygon, bool p_want) :
clipping_plane(p_clipping_plane), polygon(p_polygon), want(p_want){};
};
Vector<Case> tt;
Vector<Plane> box_planes = Geometry3D::build_box_planes(Vector3(5, 10, 5));
Vector<Vector3> box = Geometry3D::compute_convex_mesh_points(&box_planes[0], box_planes.size());
tt.push_back(Case(Plane(), box, true));
tt.push_back(Case(Plane(Vector3(0, 1, 0), Vector3(0, 3, 0)), box, false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector<Vector3> output = Geometry3D::clip_polygon(current_case.polygon, current_case.clipping_plane);
if (current_case.want) {
CHECK(output == current_case.polygon);
} else {
CHECK(output != current_case.polygon);
}
}
}
TEST_CASE("[Geometry3D] Compute Convex Mesh Points") {
struct Case {
Vector<Plane> mesh;
Vector<Vector3> want;
Case(){};
Case(Vector<Plane> p_mesh, Vector<Vector3> p_want) :
mesh(p_mesh), want(p_want){};
};
Vector<Case> tt;
Vector<Vector3> cube;
cube.push_back(Vector3(-5, -5, -5));
cube.push_back(Vector3(5, -5, -5));
cube.push_back(Vector3(-5, 5, -5));
cube.push_back(Vector3(5, 5, -5));
cube.push_back(Vector3(-5, -5, 5));
cube.push_back(Vector3(5, -5, 5));
cube.push_back(Vector3(-5, 5, 5));
cube.push_back(Vector3(5, 5, 5));
tt.push_back(Case(Geometry3D::build_box_planes(Vector3(5, 5, 5)), cube));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector<Vector3> vectors = Geometry3D::compute_convex_mesh_points(&current_case.mesh[0], current_case.mesh.size());
CHECK(vectors == current_case.want);
}
}
TEST_CASE("[Geometry3D] Get Closest Point To Segment") {
struct Case {
Vector3 point;
Vector<Vector3> segment;
Vector3 want;
Case(){};
Case(Vector3 p_point, Vector<Vector3> p_segment, Vector3 p_want) :
point(p_point), segment(p_segment), want(p_want){};
};
Vector<Case> tt;
Vector<Vector3> test_segment;
test_segment.push_back(Vector3(1, 1, 1));
test_segment.push_back(Vector3(5, 5, 5));
tt.push_back(Case(Vector3(2, 1, 4), test_segment, Vector3(2.33333, 2.33333, 2.33333)));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
Vector3 output = Geometry3D::get_closest_point_to_segment(current_case.point, &current_case.segment[0]);
CHECK(output.is_equal_approx(current_case.want));
}
}
TEST_CASE("[Geometry3D] Plane and Box Overlap") {
struct Case {
Vector3 normal, max_box;
float d;
bool want;
Case(){};
Case(Vector3 p_normal, float p_d, Vector3 p_max_box, bool p_want) :
normal(p_normal), max_box(p_max_box), d(p_d), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(3, 4, 2), 5, Vector3(5, 5, 5), true));
tt.push_back(Case(Vector3(0, 1, 0), -10, Vector3(5, 5, 5), false));
tt.push_back(Case(Vector3(1, 0, 0), -6, Vector3(5, 5, 5), false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool overlap = Geometry3D::planeBoxOverlap(current_case.normal, current_case.d, current_case.max_box);
CHECK(overlap == current_case.want);
}
}
TEST_CASE("[Geometry3D] Is Point in Projected Triangle") {
struct Case {
Vector3 point, v_1, v_2, v_3;
bool want;
Case(){};
Case(Vector3 p_point, Vector3 p_v_1, Vector3 p_v_2, Vector3 p_v_3, bool p_want) :
point(p_point), v_1(p_v_1), v_2(p_v_2), v_3(p_v_3), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(1, 1, 0), Vector3(3, 0, 0), Vector3(0, 3, 0), Vector3(-3, 0, 0), true));
tt.push_back(Case(Vector3(5, 1, 0), Vector3(3, 0, 0), Vector3(0, 3, 0), Vector3(-3, 0, 0), false));
tt.push_back(Case(Vector3(3, 0, 0), Vector3(3, 0, 0), Vector3(0, 3, 0), Vector3(-3, 0, 0), true));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::point_in_projected_triangle(current_case.point, current_case.v_1, current_case.v_2, current_case.v_3);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Does Ray Intersect Triangle") {
struct Case {
Vector3 from, direction, v_1, v_2, v_3;
Vector3 *result = nullptr;
bool want;
Case(){};
Case(Vector3 p_from, Vector3 p_direction, Vector3 p_v_1, Vector3 p_v_2, Vector3 p_v_3, bool p_want) :
from(p_from), direction(p_direction), v_1(p_v_1), v_2(p_v_2), v_3(p_v_3), result(nullptr), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(0, 1, 1), Vector3(0, 0, -10), Vector3(0, 3, 0), Vector3(-3, 0, 0), Vector3(3, 0, 0), true));
tt.push_back(Case(Vector3(5, 10, 1), Vector3(0, 0, -10), Vector3(0, 3, 0), Vector3(-3, 0, 0), Vector3(3, 0, 0), false));
tt.push_back(Case(Vector3(0, 1, 1), Vector3(0, 0, 10), Vector3(0, 3, 0), Vector3(-3, 0, 0), Vector3(3, 0, 0), false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::ray_intersects_triangle(current_case.from, current_case.direction, current_case.v_1, current_case.v_2, current_case.v_3, current_case.result);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Does Segment Intersect Convex") {
struct Case {
Vector3 from, to;
Vector<Plane> planes;
Vector3 *result, *normal;
bool want;
Case(){};
Case(Vector3 p_from, Vector3 p_to, Vector<Plane> p_planes, bool p_want) :
from(p_from), to(p_to), planes(p_planes), result(nullptr), normal(nullptr), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(10, 10, 10), Vector3(0, 0, 0), Geometry3D::build_box_planes(Vector3(5, 5, 5)), true));
tt.push_back(Case(Vector3(10, 10, 10), Vector3(5, 5, 5), Geometry3D::build_box_planes(Vector3(5, 5, 5)), true));
tt.push_back(Case(Vector3(10, 10, 10), Vector3(6, 5, 5), Geometry3D::build_box_planes(Vector3(5, 5, 5)), false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::segment_intersects_convex(current_case.from, current_case.to, &current_case.planes[0], current_case.planes.size(), current_case.result, current_case.normal);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Segment Intersects Cylinder") {
struct Case {
Vector3 from, to;
real_t height, radius;
Vector3 *result, *normal;
bool want;
Case(){};
Case(Vector3 p_from, Vector3 p_to, real_t p_height, real_t p_radius, bool p_want) :
from(p_from), to(p_to), height(p_height), radius(p_radius), result(nullptr), normal(nullptr), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(10, 10, 10), Vector3(0, 0, 0), 5, 5, true));
tt.push_back(Case(Vector3(10, 10, 10), Vector3(6, 6, 6), 5, 5, false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::segment_intersects_cylinder(current_case.from, current_case.to, current_case.height, current_case.radius, current_case.result, current_case.normal);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Segment Intersects Cylinder") {
struct Case {
Vector3 from, to, sphere_pos;
real_t radius;
Vector3 *result, *normal;
bool want;
Case(){};
Case(Vector3 p_from, Vector3 p_to, Vector3 p_sphere_pos, real_t p_radius, bool p_want) :
from(p_from), to(p_to), sphere_pos(p_sphere_pos), radius(p_radius), result(nullptr), normal(nullptr), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(10, 10, 10), Vector3(0, 0, 0), Vector3(0, 0, 0), 5, true));
tt.push_back(Case(Vector3(10, 10, 10), Vector3(0, 0, 2.5), Vector3(0, 0, 0), 5, true));
tt.push_back(Case(Vector3(10, 10, 10), Vector3(5, 5, 5), Vector3(0, 0, 0), 5, false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::segment_intersects_sphere(current_case.from, current_case.to, current_case.sphere_pos, current_case.radius, current_case.result, current_case.normal);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Segment Intersects Triangle") {
struct Case {
Vector3 from, to, v_1, v_2, v_3, *result;
bool want;
Case(){};
Case(Vector3 p_from, Vector3 p_to, Vector3 p_v_1, Vector3 p_v_2, Vector3 p_v_3, bool p_want) :
from(p_from), to(p_to), v_1(p_v_1), v_2(p_v_2), v_3(p_v_3), result(nullptr), want(p_want){};
};
Vector<Case> tt;
tt.push_back(Case(Vector3(1, 1, 1), Vector3(-1, -1, -1), Vector3(-3, 0, 0), Vector3(0, 3, 0), Vector3(3, 0, 0), true));
tt.push_back(Case(Vector3(1, 1, 1), Vector3(3, 0, 0), Vector3(-3, 0, 0), Vector3(0, 3, 0), Vector3(3, 0, 0), true));
tt.push_back(Case(Vector3(1, 1, 1), Vector3(10, -1, -1), Vector3(-3, 0, 0), Vector3(0, 3, 0), Vector3(3, 0, 0), false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::segment_intersects_triangle(current_case.from, current_case.to, current_case.v_1, current_case.v_2, current_case.v_3, current_case.result);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Triangle and Box Overlap") {
struct Case {
Vector3 box_centre;
Vector3 box_half_size;
Vector3 *tri_verts = nullptr;
bool want;
Case(){};
Case(Vector3 p_centre, Vector3 p_half_size, Vector3 *p_verts, bool p_want) :
box_centre(p_centre), box_half_size(p_half_size), tri_verts(p_verts), want(p_want){};
};
Vector<Case> tt;
Vector3 GoodTriangle[3] = { Vector3(3, 2, 3), Vector3(2, 2, 1), Vector3(2, 1, 1) };
tt.push_back(Case(Vector3(0, 0, 0), Vector3(5, 5, 5), GoodTriangle, true));
Vector3 BadTriangle[3] = { Vector3(100, 100, 100), Vector3(-100, -100, -100), Vector3(10, 10, 10) };
tt.push_back(Case(Vector3(1000, 1000, 1000), Vector3(1, 1, 1), BadTriangle, false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::triangle_box_overlap(current_case.box_centre, current_case.box_half_size, current_case.tri_verts);
CHECK(output == current_case.want);
}
}
TEST_CASE("[Geometry3D] Triangle and Sphere Intersect") {
struct Case {
Vector<Vector3> triangle;
Vector3 normal, sphere_pos, triangle_contact, sphere_contact;
real_t sphere_radius;
bool want;
Case(){};
Case(Vector<Vector3> p_triangle, Vector3 p_normal, Vector3 p_sphere_pos, real_t p_sphere_radius, bool p_want) :
triangle(p_triangle), normal(p_normal), sphere_pos(p_sphere_pos), triangle_contact(Vector3()), sphere_contact(Vector3()), sphere_radius(p_sphere_radius), want(p_want){};
};
Vector<Case> tt;
Vector<Vector3> triangle;
triangle.push_back(Vector3(3, 0, 0));
triangle.push_back(Vector3(-3, 0, 0));
triangle.push_back(Vector3(0, 3, 0));
tt.push_back(Case(triangle, Vector3(0, -1, 0), Vector3(0, 0, 0), 5, true));
tt.push_back(Case(triangle, Vector3(0, 1, 0), Vector3(0, 0, 0), 5, true));
tt.push_back(Case(triangle, Vector3(0, 1, 0), Vector3(20, 0, 0), 5, false));
for (int i = 0; i < tt.size(); ++i) {
Case current_case = tt[i];
bool output = Geometry3D::triangle_sphere_intersection_test(&current_case.triangle[0], current_case.normal, current_case.sphere_pos, current_case.sphere_radius, current_case.triangle_contact, current_case.sphere_contact);
CHECK(output == current_case.want);
}
}
} // namespace TestGeometry3D
#endif // TEST_GEOMETRY_3D_H
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