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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE Rigid_Body

#include <boost/test/floating_point_comparison.hpp>

#include <boost/test/unit_test.hpp>



#include "Car.hpp"



using namespace Vamos_Body;

using namespace Vamos_Geometry;



bool vector_equal(const Three_Vector& v1, const Three_Vector& v2)

{

    if ((v1 - v2).magnitude() > 1e-6)

    {

        std::cerr << v1 << " != " << v2 << std::endl;

        return false;

    }

    return true;

}



struct Crash_Box_Fixture

{

    Crash_Box_Fixture() : v(1.0, 1.0, 1.0)

    {

        crash_box.front = 1.0;

        crash_box.back = 0.0;

        crash_box.left = 1.0;

        crash_box.right = 0.0;

        crash_box.top = 1.0;

        crash_box.bottom = 0.0;

    }



    Car::Crash_Box crash_box;



    Three_Vector v;

    Three_Vector null;

    Three_Vector x;

};



BOOST_AUTO_TEST_CASE(outside_of_box)

{

    Crash_Box_Fixture f;



    f.x = Three_Vector(2.0, 2.0, 2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(-2.0, -2.0, -2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(-2.0, 2.0, 2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(2.0, -2.0, -2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);



    f.x = Three_Vector(2.0, 0.5, 0.5);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(-2.0, 0.5, 0.5);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(0.5, 2.0, 0.5);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(0.5, -2.0, 0.5);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(0.5, 0.5, 2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

    f.x = Three_Vector(0.5, 0.5, -2.0);

    BOOST_CHECK_EQUAL(f.crash_box.penetration(f.x, f.v, false), f.null);

}



BOOST_AUTO_TEST_CASE(inside_box)

{

    Crash_Box_Fixture f;



    f.x = Three_Vector(0.1, 0.5, 0.5);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(-0.1, 0.0, 0.0)));

    f.x = Three_Vector(0.5, 0.1, 0.5);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(0.0, -0.1, 0.0)));

    f.x = Three_Vector(0.5, 0.5, 0.1);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(0.0, 0.0, -0.1)));



    f.x = Three_Vector(0.9, 0.5, 0.5);

    f.v = Three_Vector(-1.0, -1.0, -1.0);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(0.1, 0.0, 0.0)));

    f.x = Three_Vector(0.5, 0.9, 0.5);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(0.0, 0.1, 0.0)));

    f.x = Three_Vector(0.5, 0.5, 0.9);

    BOOST_CHECK(vector_equal(f.crash_box.penetration(f.x, f.v, false),

                             Three_Vector(0.0, 0.0, 0.1)));

}