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reactphysics3d/test/tests/collision/TestPointInside.h

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Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
/********************************************************************************
Changes for the next release
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
Change version number of the library
2016-04-11 18:15:20 +00:00
* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
* *
* 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. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* 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. *
* *
********************************************************************************/
#ifndef TEST_POINT_INSIDE_H
#define TEST_POINT_INSIDE_H
// Libraries
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#include "Test.h"
#include "collision/shapes/BoxShape.h"
#include "collision/shapes/SphereShape.h"
#include "collision/shapes/CapsuleShape.h"
#include "collision/shapes/ConvexMeshShape.h"
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#include "engine/CollisionWorld.h"
#include "collision/PolygonVertexArray.h"
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/// Reactphysics3D namespace
namespace reactphysics3d {
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestPointInside : public Test {
private :
// ---------- Atributes ---------- //
// Physics world
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CollisionWorld* mWorld;
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// Bodies
CollisionBody* mBoxBody;
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConeBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mConvexMeshBodyEdgesInfo;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
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Vector3 mConvexMeshCubeVertices[8];
int mConvexMeshCubeIndices[24];
PolygonVertexArray* mConvexMeshPolygonVertexArray;
PolyhedronMesh* mConvexMeshPolyhedronMesh;
PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces;
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// Collision shapes
BoxShape* mBoxShape;
SphereShape* mSphereShape;
CapsuleShape* mCapsuleShape;
ConvexMeshShape* mConvexMeshShape;
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// Transform
Transform mBodyTransform;
Transform mShapeTransform;
Transform mLocalShapeToWorld;
Transform mLocalShape2ToWorld;
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// Proxy Shapes
ProxyShape* mBoxProxyShape;
ProxyShape* mSphereProxyShape;
ProxyShape* mCapsuleProxyShape;
ProxyShape* mConvexMeshProxyShape;
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public :
// ---------- Methods ---------- //
/// Constructor
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TestPointInside(const std::string& name) : Test(name) {
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// Create the world
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mWorld = new CollisionWorld();
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// Body transform
Vector3 position(-3, 2, 7);
Remove Quaternion constructor with Euler angles and replace it by static fromEulerAngles() method
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Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7);
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mBodyTransform = Transform(position, orientation);
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// Create the bodies
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mBoxBody = mWorld->createCollisionBody(mBodyTransform);
mSphereBody = mWorld->createCollisionBody(mBodyTransform);
mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
mConeBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
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mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
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mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
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// Collision shape transform
Vector3 shapePosition(1, -4, -3);
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Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3);
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mShapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
// Create collision shapes
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mBoxShape = new BoxShape(Vector3(2, 3, 4));
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mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
mSphereShape = new SphereShape(3);
mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform);
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mCapsuleShape = new CapsuleShape(3, 10);
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mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4);
mConvexMeshCubeVertices[1] = Vector3(2, -3, 4);
mConvexMeshCubeVertices[2] = Vector3(2, -3, -4);
mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4);
mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4);
mConvexMeshCubeVertices[5] = Vector3(2, 3, 4);
mConvexMeshCubeVertices[6] = Vector3(2, 3, -4);
mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4);
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4;
mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5;
mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6;
mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3;
mConvexMeshPolygonFaces = new PolygonVertexArray::PolygonFace[6];
PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces;
for (int f = 0; f < 6; f++) {
face->indexBase = f * 4;
face->nbVertices = 4;
face++;
}
mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
mConvexMeshPolyhedronMesh = new PolyhedronMesh(mConvexMeshPolygonVertexArray);
mConvexMeshShape = new ConvexMeshShape(mConvexMeshPolyhedronMesh);
Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity());
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
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// Compound shape is a capsule and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI / 8, 1.5 * PI/ 3, PI / 13);
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Transform shapeTransform2(positionShape2, orientationShape2);
mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
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mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
}
/// Destructor
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virtual ~TestPointInside() {
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delete mWorld;
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delete mBoxShape;
delete mSphereShape;
delete mCapsuleShape;
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delete mConvexMeshShape;
Fix memory leaks in tests
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delete[] mConvexMeshPolygonFaces;
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delete mConvexMeshPolygonVertexArray;
delete mConvexMeshPolyhedronMesh;
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}
/// Run the tests
void run() {
testBox();
testSphere();
testCapsule();
testConvexMesh();
testCompound();
}
/// Test the ProxyBoxShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testBox() {
// Tests with CollisionBody
Fix compilation issue of the unit tests
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rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
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// Tests with ProxyBoxShape
Fix compilation issue of the unit tests
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rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
Add test class for the isPointInside() method
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}
/// Test the ProxySphereShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testSphere() {
// Tests with CollisionBody
Fix compilation issue of the unit tests
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rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
// Tests with ProxySphereShape
Fix compilation issue of the unit tests
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rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
Add test class for the isPointInside() method
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}
/// Test the ProxyCapsuleShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCapsule() {
// Tests with CollisionBody
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
// Tests with ProxyCapsuleShape
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
}
/// Test the ProxyConvexMeshShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testConvexMesh() {
// Tests with CollisionBody
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
// Tests with ProxyConvexMeshShape
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
}
/// Test the CollisionBody::testPointInside() method
void testCompound() {
Continue working on SAT, remove Cone and Cylinder shapes
2017-02-02 21:58:40 +00:00
// Points on the capsule
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
// Points on the sphere
Fix compilation issue of the unit tests
2018-08-05 14:10:13 +00:00
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5)));
Add test class for the isPointInside() method
2014-07-14 01:13:49 +00:00
}
};
}
#endif
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