////  AABoxTests.cpp//  tests/shared/src////  Created by Andrew Meadows on 2016.02.19//  Copyright 2016 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "AABoxTests.h" #include <iostream> #include <GLMHelpers.h>#include <NumericalConstants.h>#include <StreamUtils.h> #include <test-utils/GLMTestUtils.h>#include <test-utils/QTestExtensions.h>  QTEST_MAIN(AABoxTests) void AABoxTests::testCtorsAndSetters() {    const glm::vec3 corner(1.23f, 4.56f, 7.89f);    const glm::vec3 scale(2.34f, 7.53f, 9.14f);     // test ctor    AABox box(corner, scale);    QCOMPARE_WITH_ABS_ERROR(box.getCorner(), corner, EPSILON);    QCOMPARE_WITH_ABS_ERROR(box.getScale(), scale, EPSILON);     // test copy ctor    AABox copyBox(box);    QCOMPARE_WITH_ABS_ERROR(copyBox.getCorner(), corner, EPSILON);    QCOMPARE_WITH_ABS_ERROR(copyBox.getScale(), scale, EPSILON);     // test setBox()    const glm::vec3 newCorner(9.87f, 6.54f, 3.21f);    const glm::vec3 newScale = glm::vec3(4.32f, 8.95f, 10.31f);    box.setBox(newCorner, newScale);    QCOMPARE_WITH_ABS_ERROR(box.getCorner(), newCorner, EPSILON);    QCOMPARE_WITH_ABS_ERROR(box.getScale(), newScale, EPSILON);     // test misc    QCOMPARE_WITH_ABS_ERROR(newCorner, box.getMinimumPoint(), EPSILON);     glm::vec3 expectedMaxCorner = newCorner + glm::vec3(newScale);    QCOMPARE_WITH_ABS_ERROR(expectedMaxCorner, box.getMaximumPoint(), EPSILON);     glm::vec3 expectedCenter = newCorner + glm::vec3(0.5f * newScale);    QCOMPARE_WITH_ABS_ERROR(expectedCenter, box.calcCenter(), EPSILON);} void AABoxTests::testContainsPoint() {    const glm::vec3 corner(4.56f, 7.89f, -1.35f);    const glm::vec3 scale(2.34f, 7.53f, 9.14f);    AABox box(corner, scale);     float delta = 0.00001f;    glm::vec3 center = box.calcCenter();    QCOMPARE(box.contains(center), true);     for (int i = 0; i < 3; ++i) {        glm::vec3 halfScale = Vectors::ZERO;        halfScale[i] = 0.5f * scale[i];        glm::vec3 deltaOffset = Vectors::ZERO;        deltaOffset[i] = delta;         QCOMPARE(box.contains(center + halfScale + deltaOffset), false); // outside +face        QCOMPARE(box.contains(center + halfScale - deltaOffset), true); // inside +face        QCOMPARE(box.contains(center - halfScale + deltaOffset), true); // inside -face        QCOMPARE(box.contains(center - halfScale - deltaOffset), false); // outside -face    }} void AABoxTests::testTouchesSphere() {    glm::vec3 corner(-4.56f, 7.89f, -1.35f);    float scale = 1.23f;    AABox box(corner, scale);     float delta = 0.00001f;    glm::vec3 cubeCenter = box.calcCenter();    float sphereRadius = 0.468f;     for (int i = 0; i < 3; ++i) {        int j = (i + 1) % 3;        int k = (j + 1) % 3;         { // faces            glm::vec3 scaleOffset = Vectors::ZERO;            scaleOffset[i] = 0.5f * scale + sphereRadius;             glm::vec3 deltaOffset = Vectors::ZERO;            deltaOffset[i] = delta;             // outside +face            glm::vec3 sphereCenter = cubeCenter + scaleOffset + deltaOffset;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);             // inside +face            sphereCenter = cubeCenter + scaleOffset - deltaOffset;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);             // inside -face            sphereCenter = cubeCenter - scaleOffset + deltaOffset;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);             // outside -face            sphereCenter = cubeCenter - scaleOffset - deltaOffset;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);        }         { // edges            glm::vec3 edgeOffset = Vectors::ZERO;            edgeOffset[i] = 0.5f * scale;            edgeOffset[j] = 0.5f * scale;            glm::vec3 edgeDirection = glm::normalize(edgeOffset);            glm::vec3 sphereCenter;             // inside ij            sphereCenter = cubeCenter + edgeOffset + (sphereRadius - delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);            sphereCenter = cubeCenter - edgeOffset - (sphereRadius - delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);             // outside ij            sphereCenter = cubeCenter + edgeOffset + (sphereRadius + delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);            sphereCenter = cubeCenter - edgeOffset - (sphereRadius + delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);             edgeOffset[j] = 0.0f;            edgeOffset[k] = 0.5f * scale;            edgeDirection = glm::normalize(edgeOffset);             // inside ik            sphereCenter = cubeCenter + edgeOffset + (sphereRadius - delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);            sphereCenter = cubeCenter - edgeOffset - (sphereRadius - delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), true);             // outside ik            sphereCenter = cubeCenter + edgeOffset + (sphereRadius + delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);            sphereCenter = cubeCenter - edgeOffset - (sphereRadius + delta) * edgeDirection;            QCOMPARE(box.touchesSphere(sphereCenter, sphereRadius), false);        }    }} void AABoxTests::testScale() {    AABox box1(glm::vec3(2.0f), glm::vec3(1.0f));    QCOMPARE(box1.contains(glm::vec3(0.0f)), false);    box1.scale(glm::vec3(10.0f));    QCOMPARE(box1.contains(glm::vec3(0.0f)), false);    QCOMPARE(box1.contains(glm::vec3(2.0f * 10.0f)), true);     AABox box2(glm::vec3(2.0f), glm::vec3(1.0f));    QCOMPARE(box2.contains(glm::vec3(0.0f)), false);    box2.embiggen(glm::vec3(10.0f));    QCOMPARE(box2.contains(glm::vec3(0.0f)), true);     AABox box3;    box3 += glm::vec3(0.0f, 0.0f, 0.0f);    box3 += glm::vec3(1.0f, 1.0f, 1.0f);    box3 += glm::vec3(-1.0f, -1.0f, -1.0f);    QCOMPARE(box3.contains(glm::vec3(0.5f, 0.5f, 0.5f)), true);} void AABoxTests::testFindSpherePenetration() {    vec3 searchPosition(-0.0141186f, 0.0640736f, -0.116081f);    float searchRadius = 0.5f;     vec3 boxMin(-0.800014f, -0.450025f, -0.00503815f);    vec3 boxDim(1.60003f, 0.900049f, 0.0100763f);    AABox testBox(boxMin, boxDim);     vec3 penetration;    bool hit = testBox.findSpherePenetration(searchPosition, searchRadius, penetration);    QCOMPARE(hit, true);}