ViewDesignEngine
f174fd5101
- Point: Eigen 不零初始化，使用 Zero() - GJK: 球体 lambda 返回类型统一为 Point3D - Boolean: 不相交场景适配当前 S-H 算法
29 lines
857 B
C++
29 lines
857 B
C++
#include <gtest/gtest.h>
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#include "vde/collision/gjk.h"
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#include <cmath>
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using namespace vde::collision;
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static SupportFunc make_sphere(const Point3D& center, double radius) {
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return [=](const Vector3D& dir) -> Point3D {
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double n = dir.norm();
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if (n < 1e-12) return Point3D(center.x() + radius, center.y(), center.z());
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Vector3D nd = dir / n;
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return Point3D(center.x() + nd.x() * radius,
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center.y() + nd.y() * radius,
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center.z() + nd.z() * radius);
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};
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}
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TEST(GJKTest, SeparatedSpheres) {
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auto a = make_sphere({0,0,0}, 1.0);
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auto b = make_sphere({5,0,0}, 1.0);
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EXPECT_FALSE(gjk_intersect(a, b));
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}
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TEST(GJKTest, OverlappingSpheres) {
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auto a = make_sphere({0,0,0}, 1.0);
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auto b = make_sphere({1.5,0,0}, 1.0);
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EXPECT_TRUE(gjk_intersect(a, b));
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}
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