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UnrealEngineUWP/Engine/Source/Programs/HeadlessChaos/Private/HeadlessChaosTestDetectCollision.cpp
chris caulfield 22cd9d6138 Chaos - fix capsule-convex collision detection 
When the convex hits an end cap and we generate an additional contact on the capsule's cylinder, it would create an additional contact even if the convex plane was nearly opposite the capsule axis, leading to an unnecessary point and a potential NaN when exact opposite.

#rb sean.campbell

[CL 27819458 by chris caulfield in ue5-main branch]
2023-09-12 21:45:01 -04:00

381 lines
18 KiB
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// Copyright Epic Games, Inc. All Rights Reserved.
#include "HeadlessChaos.h"
#include "HeadlessChaosCollisionConstraints.h"
#include "HeadlessChaosTestUtility.h"
#include "Chaos/Collision/CapsuleConvexContactPoint.h"
#include "Chaos/Collision/ContactPoint.h"
#include "Chaos/Collision/SphereConvexContactPoint.h"
#include "Chaos/CollisionOneShotManifolds.h"
#include "Chaos/GJK.h"
#include "Chaos/Sphere.h"
#include "Chaos/Utilities.h"
#include "Modules/ModuleManager.h"
namespace ChaosTest
{
using namespace Chaos;
void CheckContactPoint(const FContactPoint& ContactPoint, const FVec3& ShapeContactPos0, const FVec3& ShapeContactPos1, const FVec3& ShapeContactNormal, const int32 NormalOwnerIndex, const FVec3 Normal, const FReal Phi)
{
const FReal DistanceTolerance = 1.e-3f;
const FReal NormalTolerance = 1.e-3f;
EXPECT_NEAR(ContactPoint.ShapeContactPoints[0].X, ShapeContactPos0.X, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactPoints[0].Y, ShapeContactPos0.Y, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactPoints[0].Z, ShapeContactPos0.Z, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactPoints[1].X, ShapeContactPos1.X, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactPoints[1].Y, ShapeContactPos1.Y, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactPoints[1].Z, ShapeContactPos1.Z, DistanceTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactNormal.X, ShapeContactNormal.X, NormalTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactNormal.Y, ShapeContactNormal.Y, NormalTolerance);
EXPECT_NEAR(ContactPoint.ShapeContactNormal.Z, ShapeContactNormal.Z, NormalTolerance);
EXPECT_NEAR(ContactPoint.Phi, Phi, DistanceTolerance);
}
//
//
// SPHERE - CONVEX TESTS
//
//
// Sphere-Convex(with margin) far separated when a face is the nearest feature
GTEST_TEST(DetectCollisionTests, TestSphereConvex_Separated_Face)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(0, 0, 70);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0,0,0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
{
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, -SphereRadius), FVec3(0, 0, 0.5f * BoxSize.Z), FVec3(0,0,1), 1, FVec3(0,0,1), SpherePos.Z - SphereRadius);
}
}
}
// Sphere-Convex(with margin) far separated when an edge is the nearest feature.
GTEST_TEST(DetectCollisionTests, TestSphereConvex_Separated_Edge)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(600, 0, 70);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
const FVec3 SphereOffset = FVec3(SpherePos.X - 0.5f * BoxSize.X, 0, SpherePos.Z);
const FVec3 ExpectedNormal = SphereOffset.GetSafeNormal();
const FReal ExpectedDistance = SphereOffset.Size() - Sphere.GetRadius();
CheckContactPoint(ContactPoint, -SphereRadius * ExpectedNormal, 0.5f * FVec3(BoxSize.X, 0, BoxSize.Z), ExpectedNormal, 1, ExpectedNormal, ExpectedDistance);
}
}
// Sphere-Convex(with margin) far separated when a vertex is the nearest feature.
GTEST_TEST(DetectCollisionTests, TestSphereConvex_Separated_Vertex)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(600, 540, 70);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
const FVec3 SphereOffset = FVec3(SpherePos.X - 0.5f * BoxSize.X, SpherePos.Y - 0.5f * BoxSize.Y, SpherePos.Z);
const FVec3 ExpectedNormal = SphereOffset.GetSafeNormal();
const FReal ExpectedDistance = SphereOffset.Size() - Sphere.GetRadius();
CheckContactPoint(ContactPoint, -SphereRadius * ExpectedNormal, 0.5f * FVec3(BoxSize.X, BoxSize.Y, BoxSize.Z), ExpectedNormal, 1, ExpectedNormal, ExpectedDistance);
}
}
// Sphere-Convex(with margin) far separated when a vertex is the nearest feature.
GTEST_TEST(DetectCollisionTests, TestSphereConvex_Scaled_Separated_Vertex)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(600, 540, 70);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const TImplicitObjectScaled<FImplicitConvex3> Convex = CreateScaledConvexBox(FVec3(1,1,1), BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
const FVec3 SphereOffset = FVec3(SpherePos.X - 0.5f * BoxSize.X, SpherePos.Y - 0.5f * BoxSize.Y, SpherePos.Z);
const FVec3 ExpectedNormal = SphereOffset.GetSafeNormal();
const FReal ExpectedDistance = SphereOffset.Size() - Sphere.GetRadius();
CheckContactPoint(ContactPoint, -SphereRadius * ExpectedNormal, 0.5f * FVec3(BoxSize.X, BoxSize.Y, BoxSize.Z), ExpectedNormal, 1, ExpectedNormal, ExpectedDistance);
}
}
// Sphere-Convex(with margin) deep contact
GTEST_TEST(DetectCollisionTests, TestSphereConvex_DeepContact)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(400, 20, 10);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, -SphereRadius), FVec3(SpherePos.X, SpherePos.Y, 0.5f * BoxSize.Z), FVec3(0, 0, 1), 1, FVec3(0, 0, 1), SpherePos.Z - SphereRadius);
}
}
// Sphere-Convex(with margin) and touching core shapes
GTEST_TEST(DetectCollisionTests, TestSphereConvex_Touching_Face)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(0, 0, -50);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, SphereRadius), FVec3(SpherePos.X, SpherePos.Y, -0.5f * BoxSize.Z), FVec3(0, 0, -1), 1, FVec3(0, 0, -1), SpherePos.Z + SphereRadius - BoxSize.Z);
}
}
// Sphere-Convex(with margin) and core shapes separated by a small epsilon (less than GJK epsilon)
GTEST_TEST(DetectCollisionTests, TestSphereConvex_LessEpsilon_Face)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(0, 0, -50.0005f); // Note: implicit knowledge of default epsilon of GJKDistance (1.e-3f)
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, SphereRadius), FVec3(SpherePos.X, SpherePos.Y, -0.5f * BoxSize.Z), FVec3(0, 0, -1), 1, FVec3(0, 0, -1), SpherePos.Z + SphereRadius - BoxSize.Z);
}
}
// Sphere-Convex(with margin) and core shapes separated by a small epsilon (just greater than GJK epsilon)
GTEST_TEST(DetectCollisionTests, TestSphereConvex_GreaterEpsilon_Face)
{
const FReal SphereRadius = 50.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 SpherePos = FVec3(0, 0, -50.0015f); // Note: implicit knowledge of default epsilon of GJKDistance (1.e-3f)
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitSphere3 Sphere(FVec3(0, 0, 0), SphereRadius);
const FImplicitConvex3 Convex = CreateConvexBox(BoxSize, BoxMargin);
const FRigidTransform3 SphereTransform = FRigidTransform3(SpherePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = SphereConvexContactPoint(Sphere, SphereTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, SphereRadius), FVec3(SpherePos.X, SpherePos.Y, -0.5f * BoxSize.Z), FVec3(0, 0, -1), 1, FVec3(0, 0, -1), -BoxSize.Z - (SpherePos.Z + SphereRadius));
}
}
//
//
// CAPSULE - CONVEX TESTS
//
//
// Capsule-Convex far separated when a face is the nearest feature
GTEST_TEST(DetectCollisionTests, TestCapsuleConvex_Separated_Parallel_Face)
{
const FReal CapsuleRadius = 50.0f;
const FReal CapsuleSegmentLength = 100.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 CapsulePos = FVec3(0, 0, 70);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitCapsule3 Capsule(FVec3(-0.5f * CapsuleSegmentLength, 0.0f, 0.0f), FVec3(0.5f * CapsuleSegmentLength, 0.0f, 0.0f), CapsuleRadius);
const TImplicitObjectScaled<FImplicitConvex3> Convex = CreateScaledConvexBox(FVec3(1, 1, 1), BoxSize, BoxMargin);
const FRigidTransform3 CapsuleTransform = FRigidTransform3(CapsulePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = CapsuleConvexContactPoint(Capsule, CapsuleTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
CheckContactPoint(ContactPoint, FVec3(0, 0, -CapsuleRadius), FVec3(0, 0, 0.5f * BoxSize.Z), FVec3(0, 0, 1), 1, FVec3(0, 0, 1), CapsulePos.Z - CapsuleRadius);
}
}
// Capsule-Convex far separated when the nearest features are an edge on the convex and the middle of the capsule segment (capsule is rotated)
GTEST_TEST(DetectCollisionTests, TestCapsuleConvex_Separated_EdgeEdge)
{
const FReal CapsuleRadius = 50.0f;
const FReal CapsuleSegmentLength = 100.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 CapsulePos = FVec3(600, 0, 100);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitCapsule3 Capsule(FVec3(-0.5f * CapsuleSegmentLength, 0.0f, 0.0f), FVec3(0.5f * CapsuleSegmentLength, 0.0f, 0.0f), CapsuleRadius);
const TImplicitObjectScaled<FImplicitConvex3> Convex = CreateScaledConvexBox(FVec3(1, 1, 1), BoxSize, BoxMargin);
const FRigidTransform3 CapsuleTransform = FRigidTransform3(CapsulePos, FRotation3::FromAxisAngle(FVec3(0,1,0), FMath::DegreesToRadians(45)));
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = CapsuleConvexContactPoint(Capsule, CapsuleTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
const FVec3 CapsuleOffset = CapsulePos - FVec3(0.5f * BoxSize.X, 0.0f, 0.0f);
const FVec3 ExpectedNormal = CapsuleOffset.GetSafeNormal();
const FReal ExpectedPhi = CapsuleOffset.Size() - CapsuleRadius;
CheckContactPoint(ContactPoint, FVec3(0, 0, -CapsuleRadius), FVec3(0.5f * BoxSize.X, 0, 0.5f * BoxSize.Z), ExpectedNormal, 1, ExpectedNormal, ExpectedPhi);
}
}
// Capsule-Convex deep contact when the nearest features are an edge on the convex and the middle of the capsule segment (capsule is rotated)
GTEST_TEST(DetectCollisionTests, TestCapsuleConvex_DeepContact_EdgeEdge)
{
const FReal CapsuleRadius = 50.0f;
const FReal CapsuleSegmentLength = 100.0f;
const FVec3 BoxSize = FVec3(1000, 1000, 50);
const FReal BoxMargin = 10.0f;
const FVec3 CapsulePos = FVec3(480, 0, -20);
const FVec3 ConvexPos = FVec3(0, 0, -25);
const FImplicitCapsule3 Capsule(FVec3(-0.5f * CapsuleSegmentLength, 0.0f, 0.0f), FVec3(0.5f * CapsuleSegmentLength, 0.0f, 0.0f), CapsuleRadius);
const TImplicitObjectScaled<FImplicitConvex3> Convex = CreateScaledConvexBox(FVec3(1, 1, 1), BoxSize, BoxMargin);
const FRigidTransform3 CapsuleTransform = FRigidTransform3(CapsulePos, FRotation3::FromAxisAngle(FVec3(0, 1, 0), FMath::DegreesToRadians(45)));
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPoint ContactPoint = CapsuleConvexContactPoint(Capsule, CapsuleTransform, Convex, ConvexTransform);
EXPECT_TRUE(ContactPoint.IsSet());
if (ContactPoint.IsSet())
{
const FVec3 CapsuleOffset = CapsulePos - FVec3(0.5f * BoxSize.X, 0.0f, 0.0f);
const FVec3 ExpectedNormal = -CapsuleOffset.GetSafeNormal();
const FReal ExpectedPhi = -(CapsuleOffset.Size() + CapsuleRadius);
CheckContactPoint(ContactPoint, FVec3(0, 0, -CapsuleRadius), FVec3(0.5f * BoxSize.X, 0, 0.5f * BoxSize.Z), ExpectedNormal, 1, ExpectedNormal, ExpectedPhi);
}
}
// Capsule-Convex OneShot Manifold when the convex lands on the end of the capsule and the convex face points exactly down the axis
// This exposed a bug in ConstructCapsuleConvexOneShotManifold where it would try to add a cylinder face contact resulting in a NaN
// from the call to GetUnsafeNormal.
GTEST_TEST(DetectCollisionTests, TestCapsuleConvex_Manifold_OpposingFaceNormalAxis)
{
const FRealSingle CapsuleRadius = 50.0f;
const FRealSingle CapsuleSegmentLength = 100.0f;
const FVec3f BoxSize = FVec3(100, 100, 100);
const FRealSingle BoxMargin = 0.0f;
const FRealSingle CullDistance = 10.0f;
const FImplicitCapsule3 Capsule(FVec3(0.0f, 0.0f, -0.5f * CapsuleSegmentLength), FVec3(0.0f, 0.0f, 0.5f * CapsuleSegmentLength), CapsuleRadius);
const FImplicitConvex3 Convex = CreateConvexBox(-0.5f * BoxSize, 0.5f * BoxSize, BoxMargin);
{
const FVec3f CapsulePos = FVec3(0, 0, -50);
const FVec3f ConvexPos = FVec3(0, 0, 100);
const FRigidTransform3 CapsuleTransform = FRigidTransform3(CapsulePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPointManifold ManifoldPoints;
Collisions::ConstructCapsuleConvexOneShotManifold(Capsule, CapsuleTransform, Convex, ConvexTransform, CullDistance, ManifoldPoints);
EXPECT_EQ(ManifoldPoints.Num(), 1);
if (ManifoldPoints.Num() == 1)
{
EXPECT_EQ(ManifoldPoints[0].ContactType, EContactPointType::VertexPlane);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactNormal.Z, -1.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactPoints[0].Z, 100.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactPoints[1].Z, -50.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].Phi, 0.0f, UE_KINDA_SMALL_NUMBER);
}
}
{
const FVec3f CapsulePos = FVec3(0, 0, 50);
const FVec3f ConvexPos = FVec3(0, 0, -100);
const FRigidTransform3 CapsuleTransform = FRigidTransform3(CapsulePos, FRotation3::FromIdentity());
const FRigidTransform3 ConvexTransform = FRigidTransform3(ConvexPos, FRotation3::FromIdentity());
FContactPointManifold ManifoldPoints;
Collisions::ConstructCapsuleConvexOneShotManifold(Capsule, CapsuleTransform, Convex, ConvexTransform, CullDistance, ManifoldPoints);
EXPECT_EQ(ManifoldPoints.Num(), 1);
if (ManifoldPoints.Num() == 1)
{
EXPECT_EQ(ManifoldPoints[0].ContactType, EContactPointType::VertexPlane);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactNormal.Z, 1.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactPoints[0].Z, -100.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].ShapeContactPoints[1].Z, 50.0f, UE_KINDA_SMALL_NUMBER);
EXPECT_NEAR(ManifoldPoints[0].Phi, 0.0f, UE_KINDA_SMALL_NUMBER);
}
}
}
}
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