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DebugTools: shape renderer for 2D/3D capsule.

pull/23/head
Vladimír Vondruš 13 years ago
parent
b29a68f258
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b50fb5a50e
9 changed files with 427 additions and 3 deletions
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  1. 1
      src/DebugTools/CMakeLists.txt
  2. 116
      src/DebugTools/Implementation/CapsuleRenderer.cpp
  3. 66
      src/DebugTools/Implementation/CapsuleRenderer.h
  4. 93
      src/DebugTools/Implementation/CapsuleRendererTransformation.h
  5. 3
      src/DebugTools/ResourceManager.cpp
  6. 6
      src/DebugTools/ResourceManager.h
  7. 7
      src/DebugTools/ShapeRenderer.cpp
  8. 1
      src/DebugTools/Test/CMakeLists.txt
  9. 137
      src/DebugTools/Test/CapsuleRendererTest.cpp

1
src/DebugTools/CMakeLists.txt
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@ -33,6 +33,7 @@ set(MagnumDebugTools_SRCS
Implementation/AbstractShapeRenderer.cpp
Implementation/AxisAlignedBoxRenderer.cpp
Implementation/BoxRenderer.cpp
Implementation/CapsuleRenderer.cpp
Implementation/LineSegmentRenderer.cpp
Implementation/PointRenderer.cpp
Implementation/SphereRenderer.cpp)

116
src/DebugTools/Implementation/CapsuleRenderer.cpp
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@ -0,0 +1,116 @@
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
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.
*/
#include "CapsuleRenderer.h"
#include "MeshView.h"
#include "DebugTools/ResourceManager.h"
#include "DebugTools/ShapeRenderer.h"
#include "Primitives/Capsule.h"
#include "Shapes/Capsule.h"
#include "Shaders/Flat.h"
#include "Trade/MeshData2D.h"
#include "Trade/MeshData3D.h"
#include "DebugTools/Implementation/CapsuleRendererTransformation.h"
namespace Magnum { namespace DebugTools { namespace Implementation {
AbstractCapsuleRenderer<2>::AbstractCapsuleRenderer(): AbstractShapeRenderer<2>("capsule2d", "capsule2d-vertices", "capsule2d-indices") {
constexpr UnsignedInt rings = 10;
if(!wireframeMesh) createResources(Primitives::Capsule2D::wireframe(rings, 1, 1.0f));
/* Bottom hemisphere */
if(!(bottom = ResourceManager::instance().get<MeshView>("capsule2d-bottom"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(0, rings*4, 0, rings*2+1);
ResourceManager::instance().set(bottom.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
/* Cylinder */
if(!(cylinder = ResourceManager::instance().get<MeshView>("capsule2d-cylinder"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(rings*4, 4, rings*2+1, rings*2+3);
ResourceManager::instance().set(cylinder.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
/* Top hemisphere */
if(!(top = ResourceManager::instance().get<MeshView>("capsule2d-top"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(rings*4+4, rings*4, rings*2+3, rings*4+4);
ResourceManager::instance().set(top.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
}
AbstractCapsuleRenderer<3>::AbstractCapsuleRenderer(): AbstractShapeRenderer<3>("capsule3d", "capsule3d-vertices", "capsule3d-indices") {
constexpr UnsignedInt rings = 10;
constexpr UnsignedInt segments = 20;
if(!wireframeMesh) createResources(Primitives::Capsule3D::wireframe(rings, 1, segments, 1.0f));
/* Bottom hemisphere */
if(!(bottom = ResourceManager::instance().get<MeshView>("capsule3d-bottom"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(0, rings*8, 0, rings*4+1);
ResourceManager::instance().set(bottom.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
/* Cylinder */
if(!(cylinder = ResourceManager::instance().get<MeshView>("capsule3d-cylinder"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(rings*8, segments*4+8, rings*4+1, rings*4+segments*2+5);
ResourceManager::instance().set(cylinder.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
/* Top */
if(!(top = ResourceManager::instance().get<MeshView>("capsule3d-top"))) {
auto view = new MeshView(wireframeMesh);
view->setIndexRange(rings*8+segments*4+8, rings*8, rings*4+segments*2+5, rings*8+segments*2+6);
ResourceManager::instance().set(top.key(), view, ResourceDataState::Final, ResourcePolicy::Manual);
}
}
template<UnsignedInt dimensions> CapsuleRenderer<dimensions>::CapsuleRenderer(const Shapes::Implementation::AbstractShape<dimensions>& capsule): capsule(static_cast<const Shapes::Implementation::Shape<Shapes::Capsule<dimensions>>&>(capsule).shape) {}
template<UnsignedInt dimensions> void CapsuleRenderer<dimensions>::draw(Resource<ShapeRendererOptions>& options, const typename DimensionTraits<dimensions, Float>::MatrixType& projectionMatrix) {
std::array<typename DimensionTraits<dimensions, Float>::MatrixType, 3> transformations = Implementation::capsuleRendererTransformation<dimensions>(capsule.a(), capsule.b(), capsule.radius());
AbstractShapeRenderer<dimensions>::wireframeShader->setColor(options->color())
.use();
/* Bottom */
AbstractShapeRenderer<dimensions>::wireframeShader->setTransformationProjectionMatrix(projectionMatrix*transformations[0]);
AbstractCapsuleRenderer<dimensions>::bottom->draw();
/* Cylinder */
AbstractShapeRenderer<dimensions>::wireframeShader->setTransformationProjectionMatrix(projectionMatrix*transformations[1]);
AbstractCapsuleRenderer<dimensions>::cylinder->draw();
/* Top */
AbstractShapeRenderer<dimensions>::wireframeShader->setTransformationProjectionMatrix(projectionMatrix*transformations[2]);
AbstractCapsuleRenderer<dimensions>::top->draw();
}
template class CapsuleRenderer<2>;
template class CapsuleRenderer<3>;
}}}

66
src/DebugTools/Implementation/CapsuleRenderer.h
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@ -0,0 +1,66 @@
#ifndef Magnum_DebugTools_Implementation_CapsuleRenderer_h
#define Magnum_DebugTools_Implementation_CapsuleRenderer_h
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
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.
*/
#include "AbstractShapeRenderer.h"
#include "Shapes/Shapes.h"
#include "corradeCompatibility.h"
namespace Magnum { namespace DebugTools { namespace Implementation {
template<UnsignedInt dimensions> class AbstractCapsuleRenderer;
template<> class AbstractCapsuleRenderer<2>: public AbstractShapeRenderer<2> {
public:
explicit AbstractCapsuleRenderer();
protected:
Resource<MeshView> bottom, cylinder, top;
};
template<> class AbstractCapsuleRenderer<3>: public AbstractShapeRenderer<3> {
public:
explicit AbstractCapsuleRenderer();
protected:
Resource<MeshView> bottom, cylinder, top;
};
template<UnsignedInt dimensions> class CapsuleRenderer: public AbstractCapsuleRenderer<dimensions> {
public:
explicit CapsuleRenderer(const Shapes::Implementation::AbstractShape<dimensions>& capsule);
CapsuleRenderer(const Shapes::Implementation::AbstractShape<dimensions>&&) = delete;
void draw(Resource<ShapeRendererOptions>& options, const typename DimensionTraits<dimensions, Float>::MatrixType& projectionMatrix) override;
private:
const Shapes::Capsule<dimensions>& capsule;
};
}}}
#endif

93
src/DebugTools/Implementation/CapsuleRendererTransformation.h
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@ -0,0 +1,93 @@
#ifndef Magnum_DebugTools_Implementation_ForceRendererTransformation_h
#define Magnum_DebugTools_Implementation_ForceRendererTransformation_h
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
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.
*/
#include <array>
#include "Math/Matrix3.h"
#include "Math/Matrix4.h"
#include "Magnum.h"
#include "DimensionTraits.h"
namespace Magnum { namespace DebugTools { namespace Implementation {
template<UnsignedInt dimensions> std::array<typename DimensionTraits<dimensions, Float>::MatrixType, 3> capsuleRendererTransformation(const typename DimensionTraits<dimensions, Float>::VectorType& a, const typename DimensionTraits<dimensions, Float>::VectorType& b, Float radius);
template<> inline std::array<Matrix3, 3> capsuleRendererTransformation<2>(const Vector2& a, const Vector2& b, const Float radius) {
/* Vector from capsule center to top hemisphere center */
const Vector2 direction = 0.5f*(b - a);
const Float length = direction.length();
/* Capsule rotation and distance to caps after they are scaled to proper
radius (if nonzero cylinder length) */
Matrix3 rotation;
Vector2 capDistance;
if(length >= Math::TypeTraits<Float>::epsilon()) {
rotation.up() = direction/length;
rotation.right() = rotation.up().perpendicular();
CORRADE_INTERNAL_ASSERT(rotation.right().isNormalized());
capDistance = direction*(radius/length);
}
/* Scaling and translation of all parts */
const auto rotationScaling = rotation*Matrix3::scaling(Vector2(radius));
return {{
Matrix3::translation(a+capDistance)*rotationScaling,
Matrix3::translation(0.5f*(a + b))*rotation*Matrix3::scaling({radius, length}),
Matrix3::translation(b-capDistance)*rotationScaling
}};
}
template<> std::array<Matrix4, 3> capsuleRendererTransformation<3>(const Vector3& a, const Vector3& b, const Float radius) {
/* Vector from capsule center to top hemisphere center */
const Vector3 direction = 0.5f*(b - a);
const Float length = direction.length();
/* Capsule rotation and distance to caps after they are scaled to proper
radius (if nonzero cylinder length) */
Matrix4 rotation;
Vector3 capDistance;
if(length >= Math::TypeTraits<Float>::epsilon()) {
rotation.up() = direction/length;
rotation.right() = Vector3::cross(rotation.up(), Vector3::zAxis()).normalized();
rotation.backward() = Vector3::cross(rotation.right(), rotation.up());
CORRADE_INTERNAL_ASSERT(rotation.up().isNormalized() && rotation.backward().isNormalized());
capDistance = direction*(radius/length);
}
/* Scaling and translation of all parts */
const auto rotationScaling = rotation*Matrix4::scaling(Vector3(radius));
return {{
Matrix4::translation(a+capDistance)*rotationScaling,
Matrix4::translation(0.5f*(a + b))*rotation*Matrix4::scaling({radius, length, radius}),
Matrix4::translation(b-capDistance)*rotationScaling
}};
}
}}}
#endif

3
src/DebugTools/ResourceManager.cpp
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@ -28,13 +28,14 @@
#include "Buffer.h"
#include "Mesh.h"
#include "MeshView.h"
#include "DebugTools/ForceRenderer.h"
#include "DebugTools/ObjectRenderer.h"
#include "DebugTools/ShapeRenderer.h"
namespace Magnum {
template class ResourceManager<AbstractShaderProgram, Buffer, Mesh, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions>;
template class ResourceManager<AbstractShaderProgram, Buffer, Mesh, MeshView, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions>;
namespace DebugTools {

6
src/DebugTools/ResourceManager.h
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@ -43,7 +43,9 @@
namespace Magnum {
extern template ResourceManager<AbstractShaderProgram, Buffer, Mesh, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions> MAGNUM_DEBUGTOOLS_EXPORT *& ResourceManager<AbstractShaderProgram, Buffer, Mesh, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions>::internalInstance();
/** @todo Do the listing in one place, not five thousand! */
extern template ResourceManager<AbstractShaderProgram, Buffer, Mesh, MeshView, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions> MAGNUM_DEBUGTOOLS_EXPORT *& ResourceManager<AbstractShaderProgram, Buffer, Mesh, MeshView, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions>::internalInstance();
namespace DebugTools {
@ -53,7 +55,7 @@ namespace DebugTools {
Stores various data used by debug renderers. See @ref debug-tools for more
information.
*/
class MAGNUM_DEBUGTOOLS_EXPORT ResourceManager: public Magnum::ResourceManager<AbstractShaderProgram, Buffer, Mesh, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions> {
class MAGNUM_DEBUGTOOLS_EXPORT ResourceManager: public Magnum::ResourceManager<AbstractShaderProgram, Buffer, Mesh, MeshView, DebugTools::ForceRendererOptions, DebugTools::ObjectRendererOptions, DebugTools::ShapeRendererOptions> {
public:
explicit ResourceManager();
~ResourceManager();

7
src/DebugTools/ShapeRenderer.cpp
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@ -31,6 +31,7 @@
#include "Implementation/AxisAlignedBoxRenderer.h"
#include "Implementation/BoxRenderer.h"
#include "Implementation/CapsuleRenderer.h"
#include "Implementation/LineSegmentRenderer.h"
#include "Implementation/PointRenderer.h"
#include "Implementation/SphereRenderer.h"
@ -56,6 +57,9 @@ template<> void createDebugMesh(ShapeRenderer<2>& renderer, const Shapes::Implem
case Shapes::AbstractShape2D::Type::Sphere:
renderer.renderers.push_back(new Implementation::SphereRenderer<2>(shape));
break;
case Shapes::AbstractShape2D::Type::Capsule:
renderer.renderers.push_back(new Implementation::CapsuleRenderer<2>(shape));
break;
case Shapes::AbstractShape2D::Type::Composition: {
const Shapes::Composition2D& composition =
static_cast<const Shapes::Implementation::Shape<Shapes::Composition2D>&>(shape).shape;
@ -84,6 +88,9 @@ template<> void createDebugMesh(ShapeRenderer<3>& renderer, const Shapes::Implem
case Shapes::AbstractShape3D::Type::Sphere:
renderer.renderers.push_back(new Implementation::SphereRenderer<3>(shape));
break;
case Shapes::AbstractShape3D::Type::Capsule:
renderer.renderers.push_back(new Implementation::CapsuleRenderer<3>(shape));
break;
case Shapes::AbstractShape3D::Type::Composition: {
const Shapes::Composition3D& composition =
static_cast<const Shapes::Implementation::Shape<Shapes::Composition3D>&>(shape).shape;

1
src/DebugTools/Test/CMakeLists.txt
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@ -22,5 +22,6 @@
# DEALINGS IN THE SOFTWARE.
#
corrade_add_test(DebugToolsCapsuleRendererTest CapsuleRendererTest.cpp LIBRARIES MagnumMathTestLib)
corrade_add_test(DebugToolsForceRendererTest ForceRendererTest.cpp LIBRARIES MagnumMathTestLib)
corrade_add_test(DebugToolsLineSegmentRendererTest LineSegmentRendererTest.cpp LIBRARIES MagnumMathTestLib)

137
src/DebugTools/Test/CapsuleRendererTest.cpp
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@ -0,0 +1,137 @@
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
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.
*/
#include <TestSuite/Tester.h>
#include "DebugTools/Implementation/CapsuleRendererTransformation.h"
namespace Magnum { namespace DebugTools { namespace Test {
class CapsuleRendererTest: public TestSuite::Tester {
public:
explicit CapsuleRendererTest();
void zeroLength2D();
void common2D();
void zeroLength3D();
void common3D();
};
CapsuleRendererTest::CapsuleRendererTest() {
addTests({&CapsuleRendererTest::zeroLength2D,
&CapsuleRendererTest::common2D,
&CapsuleRendererTest::zeroLength3D,
&CapsuleRendererTest::common3D});
}
void CapsuleRendererTest::zeroLength2D() {
const Vector2 a(0.5f, 3.0f);
std::array<Matrix3, 3> transformation = Implementation::capsuleRendererTransformation<2>(a, a, 3.5f);
const auto scaling = Math::Matrix<2, Float>::fromDiagonal(Vector2(3.5f));
CORRADE_COMPARE(transformation[0].rotationScaling(), scaling);
CORRADE_COMPARE(transformation[1].rotationScaling(), (Math::Matrix<2, Float>::fromDiagonal({3.5f, 0.0f})));
CORRADE_COMPARE(transformation[2].rotationScaling(), scaling);
CORRADE_COMPARE(transformation[0].translation(), a);
CORRADE_COMPARE(transformation[1].translation(), a);
CORRADE_COMPARE(transformation[2].translation(), a);
}
void CapsuleRendererTest::common2D() {
const Vector2 a(0.5f, 3.0f);
const Vector2 b(7.5f, -1.0f);
std::array<Matrix3, 3> transformation = Implementation::capsuleRendererTransformation<2>(a, b, 3.5f);
/* Vector from capsule center to top hemisphere center */
const Vector2 up(3.5f, -2.0f);
CORRADE_COMPARE(transformation[0].up(), up.resized(3.5f));
CORRADE_COMPARE(transformation[1].up(), up);
CORRADE_COMPARE(transformation[2].up(), up.resized(3.5f));
const Vector2 right = Vector2(4.0f, 7.0f).resized(3.5f);
CORRADE_COMPARE(transformation[0].right(), right);
CORRADE_COMPARE(transformation[1].right(), right);
CORRADE_COMPARE(transformation[2].right(), right);
/* Orthogonality */
CORRADE_VERIFY(Vector2::dot(transformation[0].up(), transformation[0].right()) < Math::TypeTraits<Float>::epsilon());
const Vector2 capDistance = up.resized(3.5f);
CORRADE_COMPARE(transformation[0].translation(), a+capDistance);
CORRADE_COMPARE(transformation[1].translation(), 0.5f*(a + b));
CORRADE_COMPARE(transformation[2].translation(), b-capDistance);
}
void CapsuleRendererTest::zeroLength3D() {
const Vector3 a(0.5f, 3.0f, 7.0f);
std::array<Matrix4, 3> transformation = Implementation::capsuleRendererTransformation<3>(a, a, 3.5f);
const auto scaling = Math::Matrix<3, Float>::fromDiagonal(Vector3(3.5f));
CORRADE_COMPARE(transformation[0].rotationScaling(), scaling);
CORRADE_COMPARE(transformation[1].rotationScaling(), (Math::Matrix<3, Float>::fromDiagonal({3.5f, 0.0f, 3.5f})));
CORRADE_COMPARE(transformation[2].rotationScaling(), scaling);
CORRADE_COMPARE(transformation[0].translation(), a);
CORRADE_COMPARE(transformation[1].translation(), a);
CORRADE_COMPARE(transformation[2].translation(), a);
}
void CapsuleRendererTest::common3D() {
const Vector3 a(0.5f, 3.0f, 7.0f);
const Vector3 b(7.5f, -1.0f, 1.5f);
std::array<Matrix4, 3> transformation = Implementation::capsuleRendererTransformation<3>(a, b, 3.5f);
/* Vector from capsule center to top hemisphere center */
const Vector3 up(3.5f, -2.0f, -2.75f);
CORRADE_COMPARE(transformation[0].up(), up.resized(3.5f));
CORRADE_COMPARE(transformation[1].up(), up);
CORRADE_COMPARE(transformation[2].up(), up.resized(3.5f));
const auto right = Vector3(-2.0f, -3.5f, 0.0f).resized(3.5f);
CORRADE_COMPARE(transformation[0].right(), right);
CORRADE_COMPARE(transformation[1].right(), right);
CORRADE_COMPARE(transformation[2].right(), right);
const auto backward = Vector3(9.625f, -5.5f, 16.25f).resized(3.5f);
CORRADE_COMPARE(transformation[0].backward(), backward);
CORRADE_COMPARE(transformation[1].backward(), backward);
CORRADE_COMPARE(transformation[2].backward(), backward);
/* Orthogonality */
CORRADE_VERIFY(Vector3::dot(transformation[0].up(), transformation[0].right()) < Math::TypeTraits<Float>::epsilon());
CORRADE_VERIFY(Vector3::dot(transformation[0].up(), transformation[0].backward()) < Math::TypeTraits<Float>::epsilon());
CORRADE_VERIFY(Vector3::dot(transformation[0].right(), transformation[0].backward()) < Math::TypeTraits<Float>::epsilon());
const Vector3 capDistance = up.resized(3.5f);
CORRADE_COMPARE(transformation[0].translation(), a+capDistance);
CORRADE_COMPARE(transformation[1].translation(), 0.5f*(a + b));
CORRADE_COMPARE(transformation[2].translation(), b-capDistance);
}
}}}
CORRADE_TEST_MAIN(Magnum::DebugTools::Test::CapsuleRendererTest)
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