separating-axis-test/test/3d.js

test for the intersection of convex polytopes in 2d or 3d, computing the minimum translation vector

var sat3d = require('../3d.js')
var test = require('tape')

test('axis-aligned boxes 3d', function (t) {
  t.deepEqual(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,0,0],[0,1,0],[1,1,0],[1,0,0],
        [0,0,1],[0,1,1],[1,1,1],[1,0,1]
      ]
    },
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [-0.5,0.4,0],[0.5,0.4,0],[0.5,-0.6,0],[-0.5,-0.6,0],
        [-0.5,0.4,1],[0.5,0.4,1],[0.5,-0.6,1],[-0.5,-0.6,1]
      ]
    }
  ), [0,0.4,0])
  t.deepEqual(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,0,0],[0,1,0],[1,1,0],[1,0,0],
        [0,0,1],[0,1,1],[1,1,1],[1,0,1]
      ]
    },
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [-0.6,0.5,0],[0.4,0.5,0],[0.4,-0.5,0],[-0.6,-0.5,0],
        [-0.6,0.5,1],[0.4,0.5,1],[0.4,-0.5,1],[-0.6,-0.5,1]
      ]
    }
  ), [0.4,0,0])
  t.deepEqual(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,0,0],[0,1,0],[1,1,0],[1,0,0],
        [0,0,1],[0,1,1],[1,1,1],[1,0,1]
      ]
    },
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [-0.4,1.5,0],[0.6,1.5,0],[0.6,0.5,0],[-0.4,0.5,0],
        [-0.4,1.5,1],[0.6,1.5,1],[0.6,0.5,1],[-0.4,0.5,1]
      ]
    }
  ), [0,-0.5,0])
  t.deepEqual(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,0,0],[0,1,0],[1,1,0],[1,0,0],
        [0,0,1],[0,1,1],[1,1,1],[1,0,1]
      ]
    },
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [-0.5,1.6,0],[0.5,1.6,0],[0.5,0.6,0],[-0.5,0.6,0],
        [-0.5,1.6,1],[0.5,1.6,1],[0.5,0.6,1],[-0.5,0.6,1]
      ]
    }
  ), [0,-0.4,0])
  t.notOk(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,1,0],[1,1,0],[1,0,0],[0,0,0],
        [0,1,1],[1,1,1],[1,0,1],[0,0,1]
      ]
    },
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [-0.5,-0.5,0],[0.5,-0.5,0],[0.5,-1.5,0],[-0.5,-1.5,0],
        [-0.5,-0.5,1],[0.5,-0.5,1],[0.5,-1.5,1],[-0.5,-1.5,1]
      ]
    }
  ))
  t.end()
})

test('oriented boxes 3d', function (t) {
  var sq22 = Math.sqrt(2)/2
  t.deepEqual(roundv3(1000,sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,1,0],[1,1,0],[1,0,0],[0,0,0],
        [0,1,1],[1,1,1],[1,0,1],[0,0,1]
      ]
    },
    {
      separatingAxes: [[sq22,sq22,0],[-sq22,sq22,0],[0,0,1]],
      positions: [
        [-0.3,0.5,0],[+0.2,0.0,0],[-0.3,-0.5,0],[-0.8,0.0,0],
        [-0.3,0.5,1],[+0.2,0.0,1],[-0.3,-0.5,1],[-0.8,0.0,1]
      ]
    }
  )), [0.1,0.1,0])
  t.notOk(sat3d(
    [],
    {
      separatingAxes: [[0,0,1],[0,1,0],[1,0,0]],
      positions: [
        [0,1,0],[1,1,0],[1,0,0],[0,0,0],
        [0,1,1],[1,1,1],[1,0,1],[0,0,1]
      ]
    },
    {
      separatingAxes: [[sq22,sq22,0],[-sq22,sq22,0],[0,0,1]],
      positions: [
        [-0.3,0.25,0],[+0.2,-0.25,0],[-0.3,-0.75,0],[-0.8,-0.25,0],
        [-0.3,0.25,1],[+0.2,-0.25,1],[-0.3,-0.75,1],[-0.8,-0.25,1]
      ]
    }
  ))
  t.end()
})

function roundv3 (n, v) {
  v[0] = Math.round(v[0]*n)/n
  v[1] = Math.round(v[1]*n)/n
  v[2] = Math.round(v[2]*n)/n
  return v
}