reactphysics3d/test/tests/collision/TestRaycast.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* This software is provided 'as-is', without any express or implied warranty.   *
* In no event will the authors be held liable for any damages arising from the  *
* use of this software.                                                         *
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* including commercial applications, and to alter it and redistribute it        *
* freely, subject to the following restrictions:                                *
*                                                                               *
* 1. The origin of this software must not be misrepresented; you must not claim *
*    that you wrote the original software. If you use this software in a        *
*    product, an acknowledgment in the product documentation would be           *
*    appreciated but is not required.                                           *
*                                                                               *
* 2. Altered source versions must be plainly marked as such, and must not be    *
*    misrepresented as being the original software.                             *
*                                                                               *
* 3. This notice may not be removed or altered from any source distribution.    *
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********************************************************************************/

#ifndef TEST_RAYCAST_H
#define TEST_RAYCAST_H

// Libraries
#include "Test.h"
#include "engine/CollisionWorld.h"
#include "body/CollisionBody.h"
#include "collision/shapes/BoxShape.h"
#include "collision/shapes/SphereShape.h"
#include "collision/shapes/CapsuleShape.h"
#include "collision/shapes/ConvexMeshShape.h"
#include "collision/shapes/TriangleShape.h"
#include "collision/shapes/ConcaveMeshShape.h"
#include "collision/shapes/HeightFieldShape.h"

/// Reactphysics3D namespace
namespace reactphysics3d {

// Enumeration for categories
enum Category {
    CATEGORY1 = 0x0001,
    CATEGORY2 = 0x0002
};

/// Class WorldRaycastCallback
class WorldRaycastCallback : public RaycastCallback {

    public:

        RaycastInfo raycastInfo;
        ProxyShape* shapeToTest;
        bool isHit;

        WorldRaycastCallback() {
            isHit = false;
            shapeToTest = nullptr;
        }

        virtual decimal notifyRaycastHit(const RaycastInfo& info) override {

            if (shapeToTest->getBody()->getID() == info.body->getID()) {
                raycastInfo.body = info.body;
                raycastInfo.hitFraction = info.hitFraction;
                raycastInfo.proxyShape = info.proxyShape;
                raycastInfo.worldNormal = info.worldNormal;
                raycastInfo.worldPoint = info.worldPoint;
                isHit = true;
            }

            // Return a fraction of 1.0 because we need to gather all hits
            return decimal(1.0);
        }

        void reset() {
            raycastInfo.body = nullptr;
            raycastInfo.hitFraction = decimal(0.0);
            raycastInfo.proxyShape = nullptr;
            raycastInfo.worldNormal.setToZero();
            raycastInfo.worldPoint.setToZero();
            isHit = false;
        }
};

// Class TestPointInside
/**
 * Unit test for the CollisionBody::testPointInside() method.
 */
class TestRaycast : public Test {

    private :

        // ---------- Atributes ---------- //

        // Raycast callback class
        WorldRaycastCallback mCallback;

        // Epsilon
        decimal epsilon;

        // Physics world
        CollisionWorld* mWorld;

        // Bodies
        CollisionBody* mBoxBody;
        CollisionBody* mSphereBody;
        CollisionBody* mCapsuleBody;
        CollisionBody* mConvexMeshBody;
        CollisionBody* mConvexMeshBodyEdgesInfo;
        CollisionBody* mCylinderBody;
        CollisionBody* mCompoundBody;
        CollisionBody* mTriangleBody;
        CollisionBody* mConcaveMeshBody;
        CollisionBody* mHeightFieldBody;

        // Transform
        Transform mBodyTransform;
        Transform mShapeTransform;
        Transform mLocalShapeToWorld;
        Transform mLocalShape2ToWorld;

        // Collision shapes
        BoxShape* mBoxShape;
        SphereShape* mSphereShape;
        CapsuleShape* mCapsuleShape;
        ConvexMeshShape* mConvexMeshShape;
        ConvexMeshShape* mConvexMeshShapeEdgesInfo;
        TriangleShape* mTriangleShape;
        ConcaveShape* mConcaveMeshShape;
        HeightFieldShape* mHeightFieldShape;

        // Proxy Shapes
        ProxyShape* mBoxProxyShape;
        ProxyShape* mSphereProxyShape;
        ProxyShape* mCapsuleProxyShape;
        ProxyShape* mConvexMeshProxyShape;
        ProxyShape* mConvexMeshProxyShapeEdgesInfo;
        ProxyShape* mCompoundSphereProxyShape;
        ProxyShape* mCompoundCapsuleProxyShape;
        ProxyShape* mTriangleProxyShape;
        ProxyShape* mConcaveMeshProxyShape;
        ProxyShape* mHeightFieldProxyShape;

        // Triangle meshes
        TriangleMesh mConcaveTriangleMesh;

        std::vector<Vector3> mConcaveMeshVertices;
        std::vector<uint> mConcaveMeshIndices;
        TriangleVertexArray* mConcaveMeshVertexArray;
        float mHeightFieldData[100];

    public :

        // ---------- Methods ---------- //

        /// Constructor
        TestRaycast(const std::string& name) : Test(name) {

            epsilon = decimal(0.0001);

            // Create the world
            mWorld = new CollisionWorld();

            // Body transform
            Vector3 position(-3, 2, 7);
            Quaternion orientation(PI / 5, PI / 6, PI / 7);
            mBodyTransform = Transform(position, orientation);

            // Create the bodies
            mBoxBody = mWorld->createCollisionBody(mBodyTransform);
            mSphereBody = mWorld->createCollisionBody(mBodyTransform);
            mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
            mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
            mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
            mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
            mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
            mTriangleBody = mWorld->createCollisionBody(mBodyTransform);
            mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform);
            mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform);

            // Collision shape transform
            Vector3 shapePosition(1, -4, -3);
            Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
            mShapeTransform = Transform(shapePosition, shapeOrientation);

            // Compute the the transform from a local shape point to world-space
            mLocalShapeToWorld = mBodyTransform * mShapeTransform;

            // Create collision shapes
            mBoxShape = new BoxShape(Vector3(2, 3, 4), 0);
            mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);

            mSphereShape = new SphereShape(3);
            mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform);

            const Vector3 triangleVertex1(100, 100, 0);
            const Vector3 triangleVertex2(105, 100, 0);
            const Vector3 triangleVertex3(100, 103, 0);
            mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3);
            mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform);

            mCapsuleShape = new CapsuleShape(2, 5);
            mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);

            // Box of dimension (2, 3, 4)
            mConvexMeshShape = new ConvexMeshShape(0.0);
            mConvexMeshShape->addVertex(Vector3(-2, -3, -4));
            mConvexMeshShape->addVertex(Vector3(2, -3, -4));
            mConvexMeshShape->addVertex(Vector3(2, -3, 4));
            mConvexMeshShape->addVertex(Vector3(-2, -3, 4));
            mConvexMeshShape->addVertex(Vector3(-2, 3, -4));
            mConvexMeshShape->addVertex(Vector3(2, 3, -4));
            mConvexMeshShape->addVertex(Vector3(2, 3, 4));
            mConvexMeshShape->addVertex(Vector3(-2, 3, 4));
            mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);

            mConvexMeshShapeEdgesInfo = new ConvexMeshShape(0.0);
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, -4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, -4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, 4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, 4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, -4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, -4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, 4));
            mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, 4));
            mConvexMeshShapeEdgesInfo->addEdge(0, 1);
            mConvexMeshShapeEdgesInfo->addEdge(1, 2);
            mConvexMeshShapeEdgesInfo->addEdge(2, 3);
            mConvexMeshShapeEdgesInfo->addEdge(0, 3);
            mConvexMeshShapeEdgesInfo->addEdge(4, 5);
            mConvexMeshShapeEdgesInfo->addEdge(5, 6);
            mConvexMeshShapeEdgesInfo->addEdge(6, 7);
            mConvexMeshShapeEdgesInfo->addEdge(4, 7);
            mConvexMeshShapeEdgesInfo->addEdge(0, 4);
            mConvexMeshShapeEdgesInfo->addEdge(1, 5);
            mConvexMeshShapeEdgesInfo->addEdge(2, 6);
            mConvexMeshShapeEdgesInfo->addEdge(3, 7);
            mConvexMeshShapeEdgesInfo->setIsEdgesInformationUsed(true);
            mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
                                                                     mConvexMeshShapeEdgesInfo,
                                                                     mShapeTransform);

            // Compound shape is a cylinder and a sphere
            Vector3 positionShape2(Vector3(4, 2, -3));
            Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
            Transform shapeTransform2(positionShape2, orientationShape2);
            mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
            mCompoundCapsuleProxyShape = mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
            mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);

            // Concave Mesh shape
            mConcaveMeshVertices.push_back(Vector3(-2, -3, -4));
            mConcaveMeshVertices.push_back(Vector3(2, -3, -4));
            mConcaveMeshVertices.push_back(Vector3(2, -3, 4));
            mConcaveMeshVertices.push_back(Vector3(-2, -3, 4));
            mConcaveMeshVertices.push_back(Vector3(-2, 3, -4));
            mConcaveMeshVertices.push_back(Vector3(2, 3, -4));
            mConcaveMeshVertices.push_back(Vector3(2, 3, 4));
            mConcaveMeshVertices.push_back(Vector3(-2, 3, 4));

            mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(2);
            mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(3);
            mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(2);
            mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(6);
            mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(3);
            mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(7);
            mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(4);
            mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(4);
            mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(1);
            mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(5);
            mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(6);
            mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(5);
            TriangleVertexArray::VertexDataType vertexType = sizeof(decimal) == 4 ? TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE :
                                                                                    TriangleVertexArray::VertexDataType::VERTEX_DOUBLE_TYPE;
            mConcaveMeshVertexArray =
                    new TriangleVertexArray(8, &(mConcaveMeshVertices[0]), sizeof(Vector3),
                                                  12, &(mConcaveMeshIndices[0]), sizeof(uint),
                                                  vertexType,
                                                 TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);


            // Add the triangle vertex array of the subpart to the triangle mesh
            mConcaveTriangleMesh.addSubpart(mConcaveMeshVertexArray);
            mConcaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh);
            mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform);


            // Heightfield shape (plane height field at height=4)
            for (int i=0; i<100; i++) mHeightFieldData[i] = 4;
            mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
            mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform);

            // Assign proxy shapes to the different categories
            mBoxProxyShape->setCollisionCategoryBits(CATEGORY1);
            mSphereProxyShape->setCollisionCategoryBits(CATEGORY1);
            mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1);
            mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
            mConvexMeshProxyShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2);
            mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
            mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2);
            mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
            mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
            mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2);
        }

        /// Destructor
        virtual ~TestRaycast() {
            delete mBoxShape;
            delete mSphereShape;
            delete mCapsuleShape;
            delete mConvexMeshShape;
            delete mConvexMeshShapeEdgesInfo;
            delete mTriangleShape;
            delete mConcaveMeshShape;
            delete mHeightFieldShape;

            delete mConcaveMeshVertexArray;
        }

        /// Run the tests
        void run() {
            testBox();
            testSphere();
            testCapsule();
            testConvexMesh();
            testCompound();
            testTriangle();
            testConcaveMesh();
            testHeightField();
        }

        /// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testBox() {

            // ----- Test feedback data ----- //
            Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 10);
            Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -20);
            Ray ray(point1, point2);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);

            mCallback.shapeToTest = mBoxProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mBoxBody);
            test(mCallback.raycastInfo.proxyShape == mBoxProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mBoxBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mBoxBody);
            test(raycastInfo2.proxyShape == mBoxProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mBoxProxyShape->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mBoxBody);
            test(raycastInfo3.proxyShape == mBoxProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
            Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
            Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
            Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -20, 1));
            Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -20));
            Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(20, 4, 0));
            Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 50, -7));
            Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 20));
            Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-20, 1, 2));
            Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -20, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -20));
            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(20, 2, -2));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 20, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -5), mLocalShapeToWorld * Vector3(-1, 2, 20));

            // ----- Test raycast miss ----- //
            test(!mBoxBody->raycast(ray1, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray2, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray3, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray4, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray5, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray6, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray7, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray7, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray7, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray8, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray8, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray8, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray9, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray9, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray9, &mCallback);
            test(!mCallback.isHit);

            test(!mBoxBody->raycast(ray10, raycastInfo3));
            test(!mBoxProxyShape->raycast(ray10, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray10, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //
            test(mBoxBody->raycast(ray11, raycastInfo3));
            test(mBoxProxyShape->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mBoxBody->raycast(ray12, raycastInfo3));
            test(mBoxProxyShape->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mBoxBody->raycast(ray13, raycastInfo3));
            test(mBoxProxyShape->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mBoxBody->raycast(ray14, raycastInfo3));
            test(mBoxProxyShape->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mBoxBody->raycast(ray15, raycastInfo3));
            test(mBoxProxyShape->raycast(ray15, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mBoxBody->raycast(ray16, raycastInfo3));
            test(mBoxProxyShape->raycast(ray16, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }

        /// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testSphere() {

            // ----- Test feedback data ----- //
            Vector3 point1 = mLocalShapeToWorld * Vector3(-5 , 0, 0);
            Vector3 point2 = mLocalShapeToWorld * Vector3(5, 0, 0);
            Ray ray(point1, point2);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0);

            mCallback.shapeToTest = mSphereProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mSphereBody);
            test(mCallback.raycastInfo.proxyShape == mSphereProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mSphereBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mSphereBody);
            test(raycastInfo2.proxyShape == mSphereProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, 0.2, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mSphereProxyShape->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mSphereBody);
            test(raycastInfo3.proxyShape == mSphereProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, 0.2, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(4, 6, 7));
            Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 2), mLocalShapeToWorld * Vector3(-4, 0, 7));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(4, 6, 7));
            Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
            Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
            Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
            Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
            Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -4), mLocalShapeToWorld * Vector3(0, 30, -4));
            Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 30));
            Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalShapeToWorld * Vector3(-30, 1, 2));
            Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
            Ray ray14(mLocalShapeToWorld * Vector3(-5, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -11), mLocalShapeToWorld * Vector3(-1, 2, 30));

            // ----- Test raycast miss ----- //
            test(!mSphereBody->raycast(ray1, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray2, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray3, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray4, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray5, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray6, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray7, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray7, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray7, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray8, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray8, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray8, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray9, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray9, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray9, &mCallback);
            test(!mCallback.isHit);

            test(!mSphereBody->raycast(ray10, raycastInfo3));
            test(!mSphereProxyShape->raycast(ray10, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray10, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //
            test(mSphereBody->raycast(ray11, raycastInfo3));
            test(mSphereProxyShape->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mSphereBody->raycast(ray12, raycastInfo3));
            test(mSphereProxyShape->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mSphereBody->raycast(ray13, raycastInfo3));
            test(mSphereProxyShape->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);

            test(mSphereBody->raycast(ray14, raycastInfo3));
            test(mSphereProxyShape->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mSphereBody->raycast(ray15, raycastInfo3));
            test(mSphereProxyShape->raycast(ray15, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mSphereBody->raycast(ray16, raycastInfo3));
            test(mSphereProxyShape->raycast(ray16, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }

        /// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testCapsule() {

            // ----- Test feedback data ----- //
            Vector3 point1A = mLocalShapeToWorld * Vector3(4 , 1, 0);
            Vector3 point1B = mLocalShapeToWorld * Vector3(-6, 1, 0);
            Ray ray(point1A, point1B);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);

            Vector3 point2A = mLocalShapeToWorld * Vector3(0 , 6.5, 0);
            Vector3 point2B = mLocalShapeToWorld * Vector3(0, -3.5, 0);
            Ray rayTop(point2A, point2B);
            Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(4.5), 0);

            Vector3 point3A = mLocalShapeToWorld * Vector3(0 , -6.5, 0);
            Vector3 point3B = mLocalShapeToWorld * Vector3(0, 3.5, 0);
            Ray rayBottom(point3A, point3B);
            Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-4.5), 0);

            mCallback.shapeToTest = mCapsuleProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mCapsuleBody);
            test(mCallback.raycastInfo.proxyShape == mCapsuleProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mCapsuleBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mCapsuleBody);
            test(raycastInfo2.proxyShape == mCapsuleProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mCapsuleProxyShape->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mCapsuleBody);
            test(raycastInfo3.proxyShape == mCapsuleProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            RaycastInfo raycastInfo4;
            test(mCapsuleProxyShape->raycast(rayTop, raycastInfo4));
            test(raycastInfo4.body == mCapsuleBody);
            test(raycastInfo4.proxyShape == mCapsuleProxyShape);
            test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo4.worldPoint.x, hitPointTop.x, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.y, hitPointTop.y, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.z, hitPointTop.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo5;
            test(mCapsuleProxyShape->raycast(rayBottom, raycastInfo5));
            test(raycastInfo5.body == mCapsuleBody);
            test(raycastInfo5.proxyShape == mCapsuleProxyShape);
            test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo5.worldPoint.x, hitPointBottom.x, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.y, hitPointBottom.y, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.z, hitPointBottom.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(9, 17, 14));
            Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalShapeToWorld * Vector3(-3, 3, 6));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(14, 16, 17));
            Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(1, 1, -5));
            Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalShapeToWorld * Vector3(4, 7, 1));
            Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalShapeToWorld * Vector3(1, -9, 3));
            Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalShapeToWorld * Vector3(-3, 9, 0));
            Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalShapeToWorld * Vector3(0, -4, -4));
            Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 2));
            Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1, 1.5));
            Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.7), mLocalShapeToWorld * Vector3(30, 2, -1.7));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));

            // ----- Test raycast miss ----- //
            test(!mCapsuleBody->raycast(ray1, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray2, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray3, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray4, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray5, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray6, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray7, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray7, raycastInfo3));
            mWorld->raycast(ray7, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray8, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray8, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray8, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray9, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray9, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray9, &mCallback);
            test(!mCallback.isHit);

            test(!mCapsuleBody->raycast(ray10, raycastInfo3));
            test(!mCapsuleProxyShape->raycast(ray10, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray10, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //
            test(mCapsuleBody->raycast(ray11, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCapsuleBody->raycast(ray12, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCapsuleBody->raycast(ray13, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCapsuleBody->raycast(ray14, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCapsuleBody->raycast(ray15, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray15, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCapsuleBody->raycast(ray16, raycastInfo3));
            test(mCapsuleProxyShape->raycast(ray16, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }

        /// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testTriangle() {

            // ----- Test feedback data ----- //
            Vector3 point1 = mLocalShapeToWorld * Vector3(101, 101, 400);
            Vector3 point2 = mLocalShapeToWorld * Vector3(101, 101, -200);
            Ray ray(point1, point2);            
            Ray rayBackward(point2, point1);

            Vector3 hitPoint = mLocalShapeToWorld * Vector3(101, 101, 0);
            Vector3 hitNormal = mLocalShapeToWorld.getOrientation() * Vector3(0, 0, 1);
            hitNormal.normalize();
            mCallback.shapeToTest = mTriangleProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mTriangleBody);
            test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon));

            mCallback.reset();
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);
            mWorld->raycast(rayBackward, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mTriangleBody);
            test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon));

            mCallback.reset();
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mTriangleBody);
            test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon));

            mCallback.reset();
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
            mWorld->raycast(rayBackward, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mTriangleBody);
            test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon));

            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mTriangleBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mTriangleBody);
            test(raycastInfo2.proxyShape == mTriangleProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, 0.6666, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mTriangleProxyShape->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mTriangleBody);
            test(raycastInfo3.proxyShape == mTriangleProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, 0.6666, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(-10, 10, 4), mLocalShapeToWorld * Vector3(15, 6, -4));
            Ray ray2(mLocalShapeToWorld * Vector3(102, 107, 5), mLocalShapeToWorld * Vector3(102, 107, -5));
            Ray ray3(mLocalShapeToWorld * Vector3(106, 102, 6), mLocalShapeToWorld * Vector3(106, 102, -8));

            Ray ray4(mLocalShapeToWorld * Vector3(100.2, 101, 5), mLocalShapeToWorld * Vector3(100.2, 101, -5));
            Ray ray5(mLocalShapeToWorld * Vector3(100.5, 101.5, 4), mLocalShapeToWorld * Vector3(100.5, 101.5, -54));
            Ray ray6(mLocalShapeToWorld * Vector3(102, 101, 1), mLocalShapeToWorld * Vector3(102, 102, -1));

            Ray ray4Back(mLocalShapeToWorld * Vector3(100.2, 101, -5), mLocalShapeToWorld * Vector3(100.2, 101, 5));
            Ray ray5Back(mLocalShapeToWorld * Vector3(100.5, 101.5, -54), mLocalShapeToWorld * Vector3(100.5, 101.5, 4));
            Ray ray6Back(mLocalShapeToWorld * Vector3(102, 102, -1), mLocalShapeToWorld * Vector3(102, 101, 1));

            // ----- Test raycast miss ----- //
            test(!mTriangleBody->raycast(ray1, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray2, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray3, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            // Test backward ray against front triangles (not hit should occur)
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);

            test(!mTriangleBody->raycast(ray4Back, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4Back, &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray5Back, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5Back, &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray6Back, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6Back, &mCallback);
            test(!mCallback.isHit);

            // Test front ray against back triangles (not hit should occur)
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);

            test(!mTriangleBody->raycast(ray4, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray5, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mTriangleBody->raycast(ray6, raycastInfo3));
            test(!mTriangleProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //

            // Test front ray against front triangles
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);

            test(mTriangleBody->raycast(ray4, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray5, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray6, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            mCallback.reset();
            mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);

            // Test back ray against back triangles
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);

            test(mTriangleBody->raycast(ray4Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4Back, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray5Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5Back, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray6Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6Back, &mCallback);
            mCallback.reset();
            mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback);

            // Test front ray against front-back triangles
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);

            test(mTriangleBody->raycast(ray4, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray5, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray6, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            mCallback.reset();
            mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);

            // Test back ray against front-back triangles
            mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);

            test(mTriangleBody->raycast(ray4Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4Back, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray5Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5Back, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback);
            test(mCallback.isHit);

            test(mTriangleBody->raycast(ray6Back, raycastInfo3));
            test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6Back, &mCallback);
            mCallback.reset();
            mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback);
        }

        /// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testConvexMesh() {

            // ----- Test feedback data ----- //
            Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
            Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
            Ray ray(point1, point2);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);

            mCallback.shapeToTest = mConvexMeshProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mConvexMeshBody);
            test(mCallback.raycastInfo.proxyShape == mConvexMeshProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mConvexMeshBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mConvexMeshBody);
            test(raycastInfo2.proxyShape == mConvexMeshProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mConvexMeshBodyEdgesInfo);
            test(raycastInfo3.proxyShape == mConvexMeshProxyShapeEdgesInfo);
            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo4;
            test(mConvexMeshProxyShape->raycast(ray, raycastInfo4));
            test(raycastInfo4.body == mConvexMeshBody);
            test(raycastInfo4.proxyShape == mConvexMeshProxyShape);
            test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo5;
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray, raycastInfo5));
            test(raycastInfo5.body == mConvexMeshBodyEdgesInfo);
            test(raycastInfo5.proxyShape == mConvexMeshProxyShapeEdgesInfo);
            test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
            Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
            Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
            Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
            Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
            Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
            Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
            Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
            Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
            Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));

            // ----- Test raycast miss ----- //
            test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray7, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray7, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray8, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray8, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray9, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray9, &mCallback);
            test(!mCallback.isHit);

            test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
            test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3));
            test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray10, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray10, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //
            test(mConvexMeshBody->raycast(ray11, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray11, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConvexMeshBody->raycast(ray12, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray12, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConvexMeshBody->raycast(ray13, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray13, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConvexMeshBody->raycast(ray14, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray14, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConvexMeshBody->raycast(ray15, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray15, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray15, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConvexMeshBody->raycast(ray16, raycastInfo3));
            test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
            test(mConvexMeshProxyShape->raycast(ray16, raycastInfo3));
            test(mConvexMeshProxyShapeEdgesInfo->raycast(ray16, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }

        /// Test the CollisionBody::raycast() and
        /// CollisionWorld::raycast() methods.
        void testCompound() {

            // ----- Test feedback data ----- //

            // Raycast hit against the sphere shape
            Ray ray1(mLocalShape2ToWorld * Vector3(4, 1, 2), mLocalShape2ToWorld * Vector3(-30, 1, 2));
            Ray ray2(mLocalShape2ToWorld * Vector3(1, 4, -1), mLocalShape2ToWorld * Vector3(1, -30, -1));
            Ray ray3(mLocalShape2ToWorld * Vector3(-1, 2, 5), mLocalShape2ToWorld * Vector3(-1, 2, -30));
            Ray ray4(mLocalShape2ToWorld * Vector3(-5, 2, -2), mLocalShape2ToWorld * Vector3(30, 2, -2));
            Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalShape2ToWorld * Vector3(0, 30, 1));
            Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalShape2ToWorld * Vector3(-1, 2, 30));

            mCallback.shapeToTest = mCompoundSphereProxyShape;

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback, CATEGORY2);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback, CATEGORY1);
            test(!mCallback.isHit);

            RaycastInfo raycastInfo;
            test(mCompoundBody->raycast(ray1, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray2, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray2.point1, ray2.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray3, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray3.point1, ray3.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray4, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray5, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray6, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            // Raycast hit agains the capsule shape
            // TODO : Previous it was a cylinder, now it is a capsule shape, maybe those tests are wrong now
            Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1.5, 2));
            Ray ray12(mLocalShapeToWorld * Vector3(1.5, 9, -1), mLocalShapeToWorld * Vector3(1.5, -30, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.5), mLocalShapeToWorld * Vector3(30, 1, -1.5));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));

            mCallback.shapeToTest = mCompoundCapsuleProxyShape;

            test(mCompoundBody->raycast(ray11, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray12, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray13, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray14, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray15, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mCompoundBody->raycast(ray16, raycastInfo));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }


        void testConcaveMesh() {

            // ----- Test feedback data ----- //
            Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
            Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
            Ray ray(point1, point2);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);

            mCallback.shapeToTest = mConcaveMeshProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mConcaveMeshBody);
            test(mCallback.raycastInfo.proxyShape == mConcaveMeshProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mConcaveMeshBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mConcaveMeshBody);
            test(raycastInfo2.proxyShape == mConcaveMeshProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mConcaveMeshBody->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mConcaveMeshBody);
            test(raycastInfo3.proxyShape == mConcaveMeshProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo4;
            test(mConcaveMeshBody->raycast(ray, raycastInfo4));
            test(raycastInfo4.body == mConcaveMeshBody);
            test(raycastInfo4.proxyShape == mConcaveMeshProxyShape);
            test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo5;
            test(mConcaveMeshBody->raycast(ray, raycastInfo5));
            test(raycastInfo5.body == mConcaveMeshBody);
            test(raycastInfo5.proxyShape == mConcaveMeshProxyShape);
            test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
            test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
            Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
            Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
            Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
            Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
            Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
            Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
            Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
            Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
            Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
            Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
            Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
            Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
            Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
            Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));

            // ----- Test raycast miss ----- //
            test(!mConcaveMeshBody->raycast(ray1, raycastInfo3));
            test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray2, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray3, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray4, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray5, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray6, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray6, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray6, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray7, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray7, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray7, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray8, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray8, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray8, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray9, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray9, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray9, &mCallback);
            test(!mCallback.isHit);

            test(!mConcaveMeshBody->raycast(ray10, raycastInfo3));
            test(!mConcaveMeshProxyShape->raycast(ray10, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray10, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);

            // ----- Test raycast hits ----- //
            test(mConcaveMeshBody->raycast(ray11, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConcaveMeshBody->raycast(ray12, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConcaveMeshBody->raycast(ray13, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConcaveMeshBody->raycast(ray14, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConcaveMeshBody->raycast(ray15, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray15, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray15, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mConcaveMeshBody->raycast(ray16, raycastInfo3));
            test(mConcaveMeshProxyShape->raycast(ray16, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray16, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }

        void testHeightField() {

            // ----- Test feedback data ----- //
            Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 10, 2);
            Vector3 point1B = mLocalShapeToWorld * Vector3(0, -10, 2);
            Ray ray(point1A, point1B);
            Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 2, 2);

            Vector3 point2A = mLocalShapeToWorld * Vector3(1 , 8, -4);
            Vector3 point2B = mLocalShapeToWorld * Vector3(1, -8, -4);
            Ray rayBottom(point2A, point2B);
            Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, 2, -4);

            mCallback.shapeToTest = mHeightFieldProxyShape;

            // CollisionWorld::raycast()
            mCallback.reset();
            mWorld->raycast(ray, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mHeightFieldBody);
            test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));

            // Correct category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY2);
            test(mCallback.isHit);

            // Wrong category filter mask
            mCallback.reset();
            mWorld->raycast(ray, &mCallback, CATEGORY1);
            test(!mCallback.isHit);

            // CollisionBody::raycast()
            RaycastInfo raycastInfo2;
            test(mHeightFieldBody->raycast(ray, raycastInfo2));
            test(raycastInfo2.body == mHeightFieldBody);
            test(raycastInfo2.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon));
            test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo3;
            test(mHeightFieldProxyShape->raycast(ray, raycastInfo3));
            test(raycastInfo3.body == mHeightFieldBody);
            test(raycastInfo3.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon));
            test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
            test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));

            mCallback.reset();
            mWorld->raycast(rayBottom, &mCallback);
            test(mCallback.isHit);
            test(mCallback.raycastInfo.body == mHeightFieldBody);
            test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon));
            test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon));

            // CollisionBody::raycast()
            RaycastInfo raycastInfo5;
            test(mHeightFieldBody->raycast(rayBottom, raycastInfo5));
            test(raycastInfo5.body == mHeightFieldBody);
            test(raycastInfo5.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), epsilon));
            test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon));
            test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon));

            // ProxyCollisionShape::raycast()
            RaycastInfo raycastInfo6;
            test(mHeightFieldProxyShape->raycast(rayBottom, raycastInfo6));
            test(raycastInfo6.body == mHeightFieldBody);
            test(raycastInfo6.proxyShape == mHeightFieldProxyShape);
            test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), epsilon));
            test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon));
            test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon));
            test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon));

            Ray ray1(mLocalShapeToWorld * Vector3(0, 5, 0), mLocalShapeToWorld * Vector3(5, 7, 5));
            Ray ray2(mLocalShapeToWorld * Vector3(-4, -4, 7), mLocalShapeToWorld * Vector3(-4, 15, 7));
            Ray ray3(mLocalShapeToWorld * Vector3(23, 7, 2), mLocalShapeToWorld * Vector3(23, 1, 2));
            Ray ray4(mLocalShapeToWorld * Vector3(10, 3, 10), mLocalShapeToWorld * Vector3(22, 3, 31));
            Ray ray5(mLocalShapeToWorld * Vector3(4, 10, -1), mLocalShapeToWorld * Vector3(4, 3, -1));

            Ray ray11(mLocalShapeToWorld * Vector3(3, 15, 0.5), mLocalShapeToWorld * Vector3(3, 1, 0.5));
            Ray ray12(mLocalShapeToWorld * Vector3(0, 45, 0), mLocalShapeToWorld * Vector3(0, -5, 0));
            Ray ray13(mLocalShapeToWorld * Vector3(1, 23, 2), mLocalShapeToWorld * Vector3(1, -23, 2));
            Ray ray14(mLocalShapeToWorld * Vector3(3, 8, 3), mLocalShapeToWorld * Vector3(3, 0, 3));

            // ----- Test raycast miss ----- //
            test(!mHeightFieldBody->raycast(ray1, raycastInfo3));
            test(!mHeightFieldProxyShape->raycast(ray1, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray1, &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
            test(!mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
            test(!mCallback.isHit);

            test(!mHeightFieldBody->raycast(ray2, raycastInfo3));
            test(!mHeightFieldProxyShape->raycast(ray2, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray2, &mCallback);
            test(!mCallback.isHit);

            test(!mHeightFieldBody->raycast(ray3, raycastInfo3));
            test(!mHeightFieldProxyShape->raycast(ray3, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray3, &mCallback);
            test(!mCallback.isHit);

            test(!mHeightFieldBody->raycast(ray4, raycastInfo3));
            test(!mHeightFieldProxyShape->raycast(ray4, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray4, &mCallback);
            test(!mCallback.isHit);

            test(!mHeightFieldBody->raycast(ray5, raycastInfo3));
            test(!mHeightFieldProxyShape->raycast(ray5, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray5, &mCallback);
            test(!mCallback.isHit);

            mCallback.reset();

            // ----- Test raycast hits ----- //
            test(mHeightFieldBody->raycast(ray11, raycastInfo3));
            test(mHeightFieldProxyShape->raycast(ray11, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray11, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.95)), &mCallback);
            test(mCallback.isHit);

            test(mHeightFieldBody->raycast(ray12, raycastInfo3));
            test(mHeightFieldProxyShape->raycast(ray12, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray12, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.87)), &mCallback);
            test(mCallback.isHit);

            test(mHeightFieldBody->raycast(ray13, raycastInfo3));
            test(mHeightFieldProxyShape->raycast(ray13, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray13, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);

            test(mHeightFieldBody->raycast(ray14, raycastInfo3));
            test(mHeightFieldProxyShape->raycast(ray14, raycastInfo3));
            mCallback.reset();
            mWorld->raycast(ray14, &mCallback);
            test(mCallback.isHit);
            mCallback.reset();
            mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
            test(mCallback.isHit);
        }
};

}

#endif