irrlicht/tests/sceneCollisionManager.cpp

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// Copyright (C) 2008-2012 Colin MacDonald
// No rights reserved: this software is in the public domain.
#include "testUtils.h"
using namespace irr;
using namespace core;
using namespace scene;
using namespace video;
static bool testGetCollisionResultPosition(IrrlichtDevice * device,
ISceneManager * smgr,
ISceneCollisionManager * collMgr)
{
IMeshSceneNode * cubeNode = smgr->addCubeSceneNode(10.f);
ITriangleSelector * cubeSelector = smgr->createTriangleSelectorFromBoundingBox(cubeNode);
triangle3df triOut;
vector3df hitPosition;
bool falling;
ISceneNode* hitNode;
vector3df resultPosition =
collMgr->getCollisionResultPosition(cubeSelector,
vector3df(0, 50, 0),
vector3df(10, 20, 10),
vector3df(0, -100, 0),
triOut,
hitPosition,
falling,
hitNode);
bool result = true;
if(hitNode != cubeNode)
{
logTestString("Unexpected collision node\n");
result = false;
}
if(!equals(resultPosition.Y, 25.f, 0.01f))
{
logTestString("Unexpected collision response position\n");
result = false;
}
if(!equals(hitPosition.Y, 5.f, 0.01f))
{
logTestString("Unexpected collision position\n");
result = false;
}
resultPosition =
collMgr->getCollisionResultPosition(cubeSelector,
vector3df(-20, 0, 0),
vector3df(10, 20, 10),
vector3df(100, 0, 0),
triOut,
hitPosition,
falling,
hitNode);
if(hitNode != cubeNode)
{
logTestString("Unexpected collision node\n");
result = false;
}
if(!equals(resultPosition.X, -15.f, 0.01f))
{
logTestString("Unexpected collision response position\n");
result = false;
}
if(!equals(hitPosition.X, -5.f, 0.01f))
{
logTestString("Unexpected collision position\n");
result = false;
}
assert_log(result);
cubeSelector->drop();
smgr->clear();
return result;
}
// Test that getCollisionPoint() actually uses the closest point, not the closest triangle.
static bool getCollisionPoint_ignoreTriangleVertices(IrrlichtDevice * device,
ISceneManager * smgr,
ISceneCollisionManager * collMgr)
{
// Create a cube with a Z face at 5, but corners close to 0
ISceneNode * farSmallCube = smgr->addCubeSceneNode(10, 0, -1, vector3df(0, 0, 10));
// Create a cube with a Z face at 0, but corners far from 0
ISceneNode * nearBigCube = smgr->addCubeSceneNode(100, 0, -1, vector3df(0, 0, 50));
IMetaTriangleSelector * meta = smgr->createMetaTriangleSelector();
ITriangleSelector * selector = smgr->createTriangleSelectorFromBoundingBox(farSmallCube);
meta->addTriangleSelector(selector);
selector->drop();
// We should expect a hit on this cube
selector = smgr->createTriangleSelectorFromBoundingBox(nearBigCube);
meta->addTriangleSelector(selector);
selector->drop();
line3df ray(0, 0, -5, 0, 0, 100);
vector3df hitPosition;
triangle3df hitTriangle;
ISceneNode* hitNode;
bool collision = collMgr->getCollisionPoint(ray, meta, hitPosition, hitTriangle, hitNode);
meta->drop();
if(hitNode != nearBigCube)
{
logTestString("getCollisionPoint_ignoreTriangleVertices: hit the wrong node.\n");
return false;
}
if(!collision)
{
logTestString("getCollisionPoint_ignoreTriangleVertices: didn't get a hit.\n");
return false;
}
if(hitPosition != vector3df(0, 0, 0))
{
logTestString("getCollisionPoint_ignoreTriangleVertices: unexpected hit position %f %f %f.\n",
hitPosition.X, hitPosition.Y, hitPosition.Z );
return false;
}
smgr->clear();
return true;
}
static bool testGetSceneNodeFromScreenCoordinatesBB(IrrlichtDevice * device,
ISceneManager * smgr,
ISceneCollisionManager * collMgr)
{
// Create 3 nodes. The nearest node actually contains the camera.
IMeshSceneNode * cubeNode1 = smgr->addCubeSceneNode(10.f, 0, -1, vector3df(0, 0, 4));
IMeshSceneNode * cubeNode2 = smgr->addCubeSceneNode(10.f, 0, -1, vector3df(0, 0, 30));
cubeNode2->setRotation(vector3df(90.f, 90.f, 90.f)); // Just check that rotation doesn't stop us hitting it.
IMeshSceneNode * cubeNode3 = smgr->addCubeSceneNode(10.f, 0, -1, vector3df(0, 0, 40));
cubeNode3->setRotation(vector3df(180.f, 180.f, 180.f)); // Just check that rotation doesn't stop us hitting it.
smgr->addCameraSceneNode();
device->run();
smgr->drawAll(); // Get the camera in a good state
ISceneNode * hitNode = collMgr->getSceneNodeFromScreenCoordinatesBB(position2d<s32>(80, 60));
// Expect the first node to be hit, since we're starting the check from inside it.
bool result = true;
if(hitNode != cubeNode1)
{
logTestString("Unexpected node hit. Expected cubeNode1.\n");
result = false;
}
// Now make cubeNode1 invisible and check that cubeNode2 is hit.
cubeNode1->setVisible(false);
hitNode = collMgr->getSceneNodeFromScreenCoordinatesBB(position2d<s32>(80, 60));
if(hitNode != cubeNode2)
{
logTestString("Unexpected node hit. Expected cubeNode2.\n");
result = false;
}
// Make cubeNode1 the parent of cubeNode2.
cubeNode2->setParent(cubeNode1);
// Check visibility.
bool visible = cubeNode2->isVisible();
if(!visible)
{
logTestString("cubeNode2 should think that it (in isolation) is visible.\n");
result = false;
}
visible = cubeNode2->isTrulyVisible();
if(visible)
{
logTestString("cubeNode2 should know that it (recursively) is invisible.\n");
result = false;
}
// cubeNode2 should now be an invalid target as well, and so the final cube node should be hit.
hitNode = collMgr->getSceneNodeFromScreenCoordinatesBB(position2d<s32>(80, 60));
if(hitNode != cubeNode3)
{
logTestString("Unexpected node hit. Expected cubeNode3.\n");
result = false;
}
// Now verify bitmasking
// Test the 01010101010101010101010101010101 bitmask (0x55555555)
cubeNode1->setVisible(true);
cubeNode1->setID(0xAAAAAAAA);
hitNode = collMgr->getSceneNodeFromScreenCoordinatesBB(position2d<s32>(80, 60), 0x55555555);
if(hitNode != cubeNode2)
{
logTestString("Unexpected node hit. Expected cubeNode2.\n");
result = false;
}
assert_log(result);
smgr->clear();
return result;
}
static bool getScaledPickedNodeBB(IrrlichtDevice * device,
ISceneManager * smgr,
ISceneCollisionManager * collMgr)
{
ISceneNode* farTarget = smgr->addCubeSceneNode(1.f);
farTarget->setScale(vector3df(100.f, 100.f, 10.f));
farTarget->setPosition(vector3df(0.f, 0.f, 500.f));
farTarget->updateAbsolutePosition();
// Create a node that's slightly further away than the closest node,
// but thinner. Its furthest corner is closer, but the collision
// position is further, so it should not be selected.
ISceneNode* middleTarget = smgr->addCubeSceneNode(10.f);
middleTarget->setPosition(vector3df(0.f, 0.f, 101.f));
middleTarget->setScale(vector3df(1.f, 1.f, 0.5f));
middleTarget->updateAbsolutePosition();
ISceneNode* nearTarget = smgr->addCubeSceneNode(10.f);
nearTarget->setPosition(vector3df(0.f, 0.f, 100.f));
nearTarget->updateAbsolutePosition();
// We'll rotate this node 90 degrees to show that we can hit its side.
nearTarget->setRotation(vector3df(0.f, 90.f, 0.f));
line3df ray(0.f, 0.f, 0.f, 0.f, 0.f, 500.f);
const ISceneNode * const hit = collMgr->getSceneNodeFromRayBB(ray);
bool result = (hit == nearTarget);
if(hit == 0)
logTestString("getSceneNodeFromRayBB() didn't hit anything.\n");
else if(hit == farTarget)
logTestString("getSceneNodeFromRayBB() hit the far (scaled) target.\n");
else if(hit == middleTarget)
logTestString("getSceneNodeFromRayBB() hit the middle (scaled) target.\n");
assert_log(result);
smgr->clear();
return result;
}
// box intersection according to Kay et al., code from gamedev.net
static bool IntersectBox(const core::vector3df& origin, const core::vector3df& dir, const core::aabbox3df& box)
{
core::vector3df minDist = (box.MinEdge - origin)/dir;
core::vector3df maxDist = (box.MaxEdge - origin)/dir;
core::vector3df realMin(core::min_(minDist.X, maxDist.X),core::min_(minDist.Y, maxDist.Y),core::min_(minDist.Z, maxDist.Z));
core::vector3df realMax(core::max_(minDist.X, maxDist.X),core::max_(minDist.Y, maxDist.Y),core::max_(minDist.Z, maxDist.Z));
f32 minmax = core::min_(realMax.X, realMax.Y, realMax.Z);
// nearest distance to intersection
f32 maxmin = core::max_(realMin.X, realMin.Y, realMin.Z);
return (maxmin >=0 && minmax >= maxmin);
}
static bool checkBBoxIntersection(IrrlichtDevice * device,
ISceneManager * smgr)
{
video::IVideoDriver* driver = device->getVideoDriver();
// add camera
scene::ICameraSceneNode* camera = smgr->addCameraSceneNode();
camera->setPosition(core::vector3df(30, 30, 30));
camera->setTarget(core::vector3df(8.f, 8.f, 8.f));
camera->setID(0);
// add a cube to pick
scene::ISceneNode* cube = smgr->addCubeSceneNode(30, 0, -1, core::vector3df(0,0,0),core::vector3df(30,40,50));
bool result=true;
for (u32 round=0; round<2; ++round)
{
driver->beginScene(video::ECBF_COLOR | video::ECBF_DEPTH, video::SColor(100, 50, 50, 100));
smgr->drawAll();
driver->endScene();
core::matrix4 invMat = cube->getAbsoluteTransformation();
invMat.makeInverse();
s32 hits=0;
u32 start = device->getTimer()->getRealTime();
for (u32 i=10; i<150; ++i)
{
for (u32 j=10; j<110; ++j)
{
const core::position2di pos(i, j);
// get the line used for picking
core::line3df ray = smgr->getSceneCollisionManager()->getRayFromScreenCoordinates(pos, camera);
invMat.transformVect(ray.start);
invMat.transformVect(ray.end);
hits += (cube->getBoundingBox().intersectsWithLine(ray)?1:0);
}
}
u32 duration = device->getTimer()->getRealTime()-start;
logTestString("bbox intersection checks %d hits (of 14000).\n", hits);
hits = -hits;
start = device->getTimer()->getRealTime();
for (u32 i=10; i<150; ++i)
{
for (u32 j=10; j<110; ++j)
{
const core::position2di pos(i, j);
// get the line used for picking
core::line3df ray = smgr->getSceneCollisionManager()->getRayFromScreenCoordinates(pos, camera);
invMat.transformVect(ray.start);
invMat.transformVect(ray.end);
hits += (IntersectBox(ray.start, (ray.end-ray.start).normalize(), cube->getBoundingBox())?1:0);
}
}
u32 duration2 = device->getTimer()->getRealTime()-start;
logTestString("bbox intersection resulted in %d misses at a speed of %d (old) compared to %d (new).\n", abs(hits), duration, duration2);
if (duration>(duration2*1.2f))
logTestString("Consider replacement of bbox intersection test.\n");
result &= (hits==0);
assert_log(result);
// second round without any hits, so check opposite direction
camera->setTarget(core::vector3df(80.f, 80.f, 80.f));
}
ISceneNode* node = smgr->addSphereSceneNode(5.f, 16, 0, -1, core::vector3df(0, 0, 1), core::vector3df(), core::vector3df(0.3f, 0.3f, 0.3f));
cube->remove();
cube = smgr->addCubeSceneNode(10.f, 0, -1, core::vector3df(0, 6.5f, 1), core::vector3df(), core::vector3df(10, 0.1f, 1.f));
camera->setPosition(core::vector3df(0, 0, 10));
camera->setTarget(core::vector3df());
u32 count=0;
for (u32 i=0; i<30; ++i)
{
driver->beginScene(video::ECBF_COLOR | video::ECBF_DEPTH, video::SColor(100, 50, 50, 100));
smgr->drawAll();
driver->endScene();
count += node->getTransformedBoundingBox().intersectsWithBox(cube->getTransformedBoundingBox())?1:0;
node->setPosition(node->getPosition()+core::vector3df(.5f,.5f,0));
if (i==8 && count != 0)
result=false;
if (i==17 && count != 9)
result=false;
}
if (count != 9)
result=false;
smgr->clear();
return result;
}
static bool compareGetSceneNodeFromRayBBWithBBIntersectsWithLine(IrrlichtDevice * device,
ISceneManager * smgr,
ISceneCollisionManager * collMgr)
{
video::IVideoDriver* driver = device->getVideoDriver();
// add camera
scene::ICameraSceneNode* camera = smgr->addCameraSceneNodeFPS();
camera->setPosition(core::vector3df(30, 30, 30));
camera->setTarget(core::vector3df(-8.f, 8.f, -8.f));
camera->setID(0);
// add a dynamic light (this causes weirdness)
smgr->addLightSceneNode(0, core::vector3df(4, 4, 4), video::SColorf(.2f, .3f, .2f));
// add a cube to pick
scene::ISceneNode* cube = smgr->addCubeSceneNode(15);
driver->beginScene(video::ECBF_COLOR | video::ECBF_DEPTH, video::SColor(100, 50, 50, 100));
smgr->drawAll();
driver->endScene();
core::matrix4 invMat = cube->getAbsoluteTransformation();
invMat.makeInverse();
bool result = true;
for (u32 i=76; i<82; ++i)
{
for (u32 j=56; j<64; ++j)
{
const core::position2di pos(i, j);
// get the line used for picking
core::line3df ray = smgr->getSceneCollisionManager()->getRayFromScreenCoordinates(pos, camera);
// find a selected node
scene::ISceneNode* pick = smgr->getSceneCollisionManager()->getSceneNodeFromRayBB(ray, 1);
invMat.transformVect(ray.start);
invMat.transformVect(ray.end);
const int a_hit = (pick == cube);
const int b_hit = cube->getBoundingBox().intersectsWithLine(ray);
result = (a_hit==b_hit);
}
}
assert_log(result);
smgr->clear();
return result;
}
/** Test functionality of the sceneCollisionManager */
bool sceneCollisionManager(void)
{
IrrlichtDevice * device = irr::createDevice(video::EDT_NULL, dimension2d<u32>(160, 120));
assert_log(device);
if(!device)
return false;
ISceneManager * smgr = device->getSceneManager();
ISceneCollisionManager * collMgr = smgr->getSceneCollisionManager();
bool result = testGetCollisionResultPosition(device, smgr, collMgr);
smgr->clear();
result &= testGetSceneNodeFromScreenCoordinatesBB(device, smgr, collMgr);
result &= getScaledPickedNodeBB(device, smgr, collMgr);
result &= getCollisionPoint_ignoreTriangleVertices(device, smgr, collMgr);
result &= checkBBoxIntersection(device, smgr);
result &= compareGetSceneNodeFromRayBBWithBBIntersectsWithLine(device, smgr, collMgr);
device->closeDevice();
device->run();
device->drop();
return result;
}