Implement raycasting for cone shape
This commit is contained in:
Daniel Chappuis
parent
25c11c6d6a
commit
08e286d27c
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@ -27,6 +27,7 @@
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#include <complex>
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#include "configuration.h"
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#include "ConeShape.h"
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#include "collision/ProxyShape.h"
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using namespace reactphysics3d;
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@ -95,20 +96,242 @@ Vector3 ConeShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
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}
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// Raycast method
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// This implementation is based on the technique described by David Eberly in the article
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// "Intersection of a Line and a Cone" that can be found at
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// http://www.geometrictools.com/Documentation/IntersectionLineCone.pdf
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bool ConeShape::raycast(const Ray& ray, ProxyShape* proxyShape) const {
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// TODO : Normalize the ray direction
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// Transform the ray direction and origin in local-space coordinates
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const Transform localToWorldTransform = proxyShape->getLocalToWorldTransform();
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const Transform worldToLocalTransform = localToWorldTransform.getInverse();
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Vector3 origin = worldToLocalTransform * ray.origin;
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Vector3 r = worldToLocalTransform.getOrientation() * ray.direction.getUnit();
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const decimal epsilon = decimal(0.00001);
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Vector3 V(0, mHalfHeight, 0);
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Vector3 centerBase(0, -mHalfHeight, 0);
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Vector3 axis(0, decimal(-1.0), 0);
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decimal heightSquare = decimal(4.0) * mHalfHeight * mHalfHeight;
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decimal cosThetaSquare = heightSquare / (heightSquare + mRadius * mRadius);
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decimal factor = decimal(1.0) - cosThetaSquare;
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Vector3 delta = origin - V;
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decimal c0 = -cosThetaSquare * delta.x * delta.x + factor * delta.y * delta.y -
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cosThetaSquare * delta.z * delta.z;
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decimal c1 = -cosThetaSquare * delta.x * r.x + factor * delta.y * r.y - cosThetaSquare * delta.z * r.z;
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decimal c2 = -cosThetaSquare * r.x * r.x + factor * r.y * r.y - cosThetaSquare * r.z * r.z;
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decimal tHit[] = {decimal(-1.0), decimal(-1.0), decimal(-1.0)};
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Vector3 localHitPoint[3];
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// If c2 is different from zero
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if (std::abs(c2) > MACHINE_EPSILON) {
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decimal gamma = c1 * c1 - c0 * c2;
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// If there is no real roots in the quadratic equation
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if (gamma < decimal(0.0)) {
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return false;
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}
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else if (gamma > decimal(0.0)) { // The equation has two real roots
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// Compute two intersections
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decimal sqrRoot = std::sqrt(gamma);
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tHit[0] = (-c1 - sqrRoot) / c2;
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tHit[1] = (-c1 + sqrRoot) / c2;
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}
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else { // If the equation has a single real root
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// Compute the intersection
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tHit[0] = -c1 / c2;
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}
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}
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else { // If c2 == 0
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// If c2 = 0 and c1 != 0
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if (std::abs(c1) > MACHINE_EPSILON) {
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tHit[0] = -c0 / (decimal(2.0) * c1);
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}
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else { // If c2 = c1 = 0
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// If c0 is different from zero, no solution and if c0 = 0, we have a
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// degenerate case, the whole ray is contained in the cone side
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// but we return no hit in this case
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return false;
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}
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}
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// If the origin of the ray is inside the cone, we return no hit
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if (testPointInside(origin, NULL)) return false;
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localHitPoint[0] = origin + tHit[0] * r;
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localHitPoint[1] = origin + tHit[1] * r;
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// Only keep hit points in one side of the double cone (the cone we are interested in)
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if (axis.dot(localHitPoint[0] - V) < decimal(0.0)) {
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tHit[0] = decimal(-1.0);
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}
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if (axis.dot(localHitPoint[1] - V) < decimal(0.0)) {
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tHit[1] = decimal(-1.0);
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}
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// Only keep hit points that are within the correct height of the cone
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if (localHitPoint[0].y < decimal(-mHalfHeight)) {
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tHit[0] = decimal(-1.0);
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}
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if (localHitPoint[1].y < decimal(-mHalfHeight)) {
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tHit[1] = decimal(-1.0);
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}
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if (tHit[0] >= decimal(0.0) || tHit[1] >= decimal(0.0)) return true;
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// If the ray is in direction of the base plane of the cone
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if (r.y > epsilon) {
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// Compute the intersection with the base plane of the cone
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tHit[2] = (-mHalfHeight + origin.y) / (-r.y);
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// Only keep this intersection if it is inside the cone radius
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localHitPoint[2] = origin + tHit[2] * r;
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return ((localHitPoint[2] - centerBase).lengthSquare() <= mRadius * mRadius);
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}
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// TODO : Implement this method
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return false;
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}
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// Raycast method with feedback information
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// This implementation is based on the technique described by David Eberly in the article
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// "Intersection of a Line and a Cone" that can be found at
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// http://www.geometrictools.com/Documentation/IntersectionLineCone.pdf
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bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape,
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decimal distance) const {
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decimal maxDistance) const {
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// TODO : Normalize the ray direction
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// Transform the ray direction and origin in local-space coordinates
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const Transform localToWorldTransform = proxyShape->getLocalToWorldTransform();
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const Transform worldToLocalTransform = localToWorldTransform.getInverse();
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Vector3 origin = worldToLocalTransform * ray.origin;
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Vector3 r = worldToLocalTransform.getOrientation() * ray.direction.getUnit();
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// TODO : Implement this method
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return false;
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const decimal epsilon = decimal(0.00001);
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Vector3 V(0, mHalfHeight, 0);
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Vector3 centerBase(0, -mHalfHeight, 0);
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Vector3 axis(0, decimal(-1.0), 0);
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decimal heightSquare = decimal(4.0) * mHalfHeight * mHalfHeight;
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decimal cosThetaSquare = heightSquare / (heightSquare + mRadius * mRadius);
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decimal factor = decimal(1.0) - cosThetaSquare;
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Vector3 delta = origin - V;
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decimal c0 = -cosThetaSquare * delta.x * delta.x + factor * delta.y * delta.y -
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cosThetaSquare * delta.z * delta.z;
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decimal c1 = -cosThetaSquare * delta.x * r.x + factor * delta.y * r.y - cosThetaSquare * delta.z * r.z;
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decimal c2 = -cosThetaSquare * r.x * r.x + factor * r.y * r.y - cosThetaSquare * r.z * r.z;
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decimal tHit[] = {decimal(-1.0), decimal(-1.0), decimal(-1.0)};
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Vector3 localHitPoint[3];
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Vector3 localNormal[3];
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// If c2 is different from zero
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if (std::abs(c2) > MACHINE_EPSILON) {
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decimal gamma = c1 * c1 - c0 * c2;
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// If there is no real roots in the quadratic equation
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if (gamma < decimal(0.0)) {
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return false;
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}
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else if (gamma > decimal(0.0)) { // The equation has two real roots
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// Compute two intersections
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decimal sqrRoot = std::sqrt(gamma);
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tHit[0] = (-c1 - sqrRoot) / c2;
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tHit[1] = (-c1 + sqrRoot) / c2;
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}
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else { // If the equation has a single real root
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// Compute the intersection
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tHit[0] = -c1 / c2;
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}
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}
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else { // If c2 == 0
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// If c2 = 0 and c1 != 0
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if (std::abs(c1) > MACHINE_EPSILON) {
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tHit[0] = -c0 / (decimal(2.0) * c1);
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}
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else { // If c2 = c1 = 0
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// If c0 is different from zero, no solution and if c0 = 0, we have a
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// degenerate case, the whole ray is contained in the cone side
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// but we return no hit in this case
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return false;
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}
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}
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// If the origin of the ray is inside the cone, we return no hit
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if (testPointInside(origin, NULL)) return false;
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localHitPoint[0] = origin + tHit[0] * r;
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localHitPoint[1] = origin + tHit[1] * r;
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// Only keep hit points in one side of the double cone (the cone we are interested in)
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if (axis.dot(localHitPoint[0] - V) < decimal(0.0)) {
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tHit[0] = decimal(-1.0);
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}
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if (axis.dot(localHitPoint[1] - V) < decimal(0.0)) {
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tHit[1] = decimal(-1.0);
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}
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// Only keep hit points that are within the correct height of the cone
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if (localHitPoint[0].y < decimal(-mHalfHeight)) {
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tHit[0] = decimal(-1.0);
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}
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if (localHitPoint[1].y < decimal(-mHalfHeight)) {
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tHit[1] = decimal(-1.0);
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}
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// If the ray is in direction of the base plane of the cone
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if (r.y > epsilon) {
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// Compute the intersection with the base plane of the cone
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tHit[2] = (-origin.y - mHalfHeight) / (r.y);
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// Only keep this intersection if it is inside the cone radius
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localHitPoint[2] = origin + tHit[2] * r;
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if ((localHitPoint[2] - centerBase).lengthSquare() > mRadius * mRadius) {
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tHit[2] = decimal(-1.0);
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}
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// Compute the normal direction
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localNormal[2] = axis;
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}
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// Find the smallest positive t value
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int hitIndex = -1;
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decimal t = DECIMAL_LARGEST;
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for (int i=0; i<3; i++) {
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if (tHit[i] < decimal(0.0)) continue;
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if (tHit[i] < t) {
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hitIndex = i;
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t = tHit[hitIndex];
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}
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}
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if (hitIndex < 0) return false;
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if (t > maxDistance) return false;
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// Compute the normal direction for hit against side of the cone
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if (hitIndex != 2) {
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decimal m = std::sqrt(localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
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localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
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decimal h = decimal(2.0) * mHalfHeight;
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decimal hOverR = h / mRadius;
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decimal hOverROverM = hOverR / m;
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localNormal[hitIndex].x = localHitPoint[hitIndex].x * hOverROverM;
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localNormal[hitIndex].y = mRadius / h;
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localNormal[hitIndex].z = localHitPoint[hitIndex].z * hOverROverM;
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}
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raycastInfo.body = proxyShape->getBody();
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raycastInfo.proxyShape = proxyShape;
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raycastInfo.distance = t;
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raycastInfo.worldPoint = localToWorldTransform * localHitPoint[hitIndex];
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raycastInfo.worldNormal = localToWorldTransform.getOrientation() * localNormal[hitIndex];
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return true;
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}
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@ -88,7 +88,7 @@ class ConeShape : public CollisionShape {
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape,
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decimal distance = RAYCAST_INFINITY_DISTANCE) const;
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decimal maxDistance = RAYCAST_INFINITY_DISTANCE) const;
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public :
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@ -253,51 +253,71 @@ class TestRaycast : public Test {
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test(!mWorld->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3, 1));
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test(!mWorld->raycast(ray1, raycastInfo3, 100));
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test(!mBoxBody->raycast(ray1));
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test(!mBoxShape->raycast(ray1));
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test(!mWorld->raycast(ray1));
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test(!mBoxBody->raycast(ray2, raycastInfo3));
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test(!mBoxShape->raycast(ray2, raycastInfo3));
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test(!mWorld->raycast(ray2, raycastInfo3));
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test(!mBoxBody->raycast(ray2));
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test(!mBoxShape->raycast(ray2));
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test(!mWorld->raycast(ray2));
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test(!mBoxBody->raycast(ray3, raycastInfo3));
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test(!mBoxShape->raycast(ray3, raycastInfo3));
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test(!mWorld->raycast(ray3, raycastInfo3));
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test(!mBoxBody->raycast(ray3));
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test(!mBoxShape->raycast(ray3));
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test(!mWorld->raycast(ray3));
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test(!mBoxBody->raycast(ray4, raycastInfo3));
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test(!mBoxShape->raycast(ray4, raycastInfo3));
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test(!mWorld->raycast(ray4, raycastInfo3));
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test(!mBoxBody->raycast(ray4));
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test(!mBoxShape->raycast(ray4));
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test(!mWorld->raycast(ray4));
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test(!mBoxBody->raycast(ray5, raycastInfo3));
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test(!mBoxShape->raycast(ray5, raycastInfo3));
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test(!mWorld->raycast(ray5, raycastInfo3));
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test(!mBoxBody->raycast(ray5));
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test(!mBoxShape->raycast(ray5));
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test(!mWorld->raycast(ray5));
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test(!mBoxBody->raycast(ray6, raycastInfo3));
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test(!mBoxShape->raycast(ray6, raycastInfo3));
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test(!mWorld->raycast(ray6, raycastInfo3));
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test(!mBoxBody->raycast(ray6));
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test(!mBoxShape->raycast(ray6));
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test(!mWorld->raycast(ray6));
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test(!mBoxBody->raycast(ray7, raycastInfo3));
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test(!mBoxShape->raycast(ray7, raycastInfo3));
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test(!mWorld->raycast(ray7, raycastInfo3));
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test(!mBoxBody->raycast(ray7));
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test(!mBoxShape->raycast(ray7));
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test(!mWorld->raycast(ray7));
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test(!mBoxBody->raycast(ray8, raycastInfo3));
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test(!mBoxShape->raycast(ray8, raycastInfo3));
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test(!mWorld->raycast(ray8, raycastInfo3));
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test(!mBoxBody->raycast(ray8));
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test(!mBoxShape->raycast(ray8));
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test(!mWorld->raycast(ray8));
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test(!mBoxBody->raycast(ray9, raycastInfo3));
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test(!mBoxShape->raycast(ray9, raycastInfo3));
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test(!mWorld->raycast(ray9, raycastInfo3));
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test(!mBoxBody->raycast(ray9));
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test(!mBoxShape->raycast(ray9));
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test(!mWorld->raycast(ray9));
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test(!mBoxBody->raycast(ray10, raycastInfo3));
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test(!mBoxShape->raycast(ray10, raycastInfo3));
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test(!mWorld->raycast(ray10, raycastInfo3));
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test(!mBoxBody->raycast(ray10));
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test(!mBoxShape->raycast(ray10));
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test(!mWorld->raycast(ray10));
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test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
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@ -312,36 +332,48 @@ class TestRaycast : public Test {
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test(mBoxShape->raycast(ray11, raycastInfo3));
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test(mWorld->raycast(ray11, raycastInfo3));
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test(mWorld->raycast(ray11, raycastInfo3, 2));
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test(mBoxBody->raycast(ray11));
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test(mBoxShape->raycast(ray11));
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test(mWorld->raycast(ray11));
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test(mBoxBody->raycast(ray12, raycastInfo3));
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test(mBoxShape->raycast(ray12, raycastInfo3));
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test(mWorld->raycast(ray12, raycastInfo3));
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test(mWorld->raycast(ray12, raycastInfo3, 2));
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test(mBoxBody->raycast(ray12));
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test(mBoxShape->raycast(ray12));
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test(mWorld->raycast(ray12));
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test(mBoxBody->raycast(ray13, raycastInfo3));
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test(mBoxShape->raycast(ray13, raycastInfo3));
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test(mWorld->raycast(ray13, raycastInfo3));
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test(mWorld->raycast(ray13, raycastInfo3, 2));
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test(mBoxBody->raycast(ray13));
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test(mBoxShape->raycast(ray13));
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test(mWorld->raycast(ray13));
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test(mBoxBody->raycast(ray14, raycastInfo3));
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test(mBoxShape->raycast(ray14, raycastInfo3));
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test(mWorld->raycast(ray14, raycastInfo3));
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test(mWorld->raycast(ray14, raycastInfo3, 2));
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test(mBoxBody->raycast(ray14));
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test(mBoxShape->raycast(ray14));
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test(mWorld->raycast(ray14));
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test(mBoxBody->raycast(ray15, raycastInfo3));
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test(mBoxShape->raycast(ray15, raycastInfo3));
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test(mWorld->raycast(ray15, raycastInfo3));
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test(mWorld->raycast(ray15, raycastInfo3, 2));
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test(mBoxBody->raycast(ray15));
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test(mBoxShape->raycast(ray15));
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test(mWorld->raycast(ray15));
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test(mBoxBody->raycast(ray16, raycastInfo3));
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test(mBoxShape->raycast(ray16, raycastInfo3));
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test(mWorld->raycast(ray16, raycastInfo3));
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test(mWorld->raycast(ray16, raycastInfo3, 4));
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test(mBoxBody->raycast(ray16));
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test(mBoxShape->raycast(ray16));
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test(mWorld->raycast(ray16));
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}
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@ -409,51 +441,71 @@ class TestRaycast : public Test {
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test(!mWorld->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3, 1));
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test(!mWorld->raycast(ray1, raycastInfo3, 100));
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test(!mSphereBody->raycast(ray1));
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test(!mSphereShape->raycast(ray1));
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test(!mWorld->raycast(ray1));
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test(!mSphereBody->raycast(ray2, raycastInfo3));
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test(!mSphereShape->raycast(ray2, raycastInfo3));
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test(!mWorld->raycast(ray2, raycastInfo3));
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test(!mSphereBody->raycast(ray2));
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test(!mSphereShape->raycast(ray2));
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test(!mWorld->raycast(ray2));
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test(!mSphereBody->raycast(ray3, raycastInfo3));
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test(!mSphereShape->raycast(ray3, raycastInfo3));
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test(!mWorld->raycast(ray3, raycastInfo3));
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test(!mSphereBody->raycast(ray3));
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||||
test(!mSphereShape->raycast(ray3));
|
||||
test(!mWorld->raycast(ray3));
|
||||
|
||||
test(!mSphereBody->raycast(ray4, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray4, raycastInfo3));
|
||||
test(!mWorld->raycast(ray4, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray4));
|
||||
test(!mSphereShape->raycast(ray4));
|
||||
test(!mWorld->raycast(ray4));
|
||||
|
||||
test(!mSphereBody->raycast(ray5, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray5, raycastInfo3));
|
||||
test(!mWorld->raycast(ray5, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray5));
|
||||
test(!mSphereShape->raycast(ray5));
|
||||
test(!mWorld->raycast(ray5));
|
||||
|
||||
test(!mSphereBody->raycast(ray6, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray6, raycastInfo3));
|
||||
test(!mWorld->raycast(ray6, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray6));
|
||||
test(!mSphereShape->raycast(ray6));
|
||||
test(!mWorld->raycast(ray6));
|
||||
|
||||
test(!mSphereBody->raycast(ray7, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray7, raycastInfo3));
|
||||
test(!mWorld->raycast(ray7, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray7));
|
||||
test(!mSphereShape->raycast(ray7));
|
||||
test(!mWorld->raycast(ray7));
|
||||
|
||||
test(!mSphereBody->raycast(ray8, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray8, raycastInfo3));
|
||||
test(!mWorld->raycast(ray8, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray8));
|
||||
test(!mSphereShape->raycast(ray8));
|
||||
test(!mWorld->raycast(ray8));
|
||||
|
||||
test(!mSphereBody->raycast(ray9, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray9, raycastInfo3));
|
||||
test(!mWorld->raycast(ray9, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray9));
|
||||
test(!mSphereShape->raycast(ray9));
|
||||
test(!mWorld->raycast(ray9));
|
||||
|
||||
test(!mSphereBody->raycast(ray10, raycastInfo3));
|
||||
test(!mSphereShape->raycast(ray10, raycastInfo3));
|
||||
test(!mWorld->raycast(ray10, raycastInfo3));
|
||||
test(!mSphereBody->raycast(ray10));
|
||||
test(!mSphereShape->raycast(ray10));
|
||||
test(!mWorld->raycast(ray10));
|
||||
|
||||
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
||||
|
|
@ -468,36 +520,48 @@ class TestRaycast : public Test {
|
|||
test(mSphereShape->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
||||
test(mSphereBody->raycast(ray11));
|
||||
test(mSphereShape->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mSphereBody->raycast(ray12, raycastInfo3));
|
||||
test(mSphereShape->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
||||
test(mSphereBody->raycast(ray12));
|
||||
test(mSphereShape->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mSphereBody->raycast(ray13, raycastInfo3));
|
||||
test(mSphereShape->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
||||
test(mSphereBody->raycast(ray13));
|
||||
test(mSphereShape->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mSphereBody->raycast(ray14, raycastInfo3));
|
||||
test(mSphereShape->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
||||
test(mSphereBody->raycast(ray14));
|
||||
test(mSphereShape->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mSphereBody->raycast(ray15, raycastInfo3));
|
||||
test(mSphereShape->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
||||
test(mSphereBody->raycast(ray15));
|
||||
test(mSphereShape->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mSphereBody->raycast(ray16, raycastInfo3));
|
||||
test(mSphereShape->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
||||
test(mSphereBody->raycast(ray16));
|
||||
test(mSphereShape->raycast(ray16));
|
||||
test(mWorld->raycast(ray16));
|
||||
}
|
||||
|
||||
|
|
@ -594,51 +658,71 @@ class TestRaycast : public Test {
|
|||
test(!mWorld->raycast(ray1, raycastInfo3));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
||||
test(!mCapsuleBody->raycast(ray1));
|
||||
test(!mCapsuleShape->raycast(ray1));
|
||||
test(!mWorld->raycast(ray1));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray2, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray2, raycastInfo3));
|
||||
test(!mWorld->raycast(ray2, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray2));
|
||||
test(!mCapsuleShape->raycast(ray2));
|
||||
test(!mWorld->raycast(ray2));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray3, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray3, raycastInfo3));
|
||||
test(!mWorld->raycast(ray3, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray3));
|
||||
test(!mCapsuleShape->raycast(ray3));
|
||||
test(!mWorld->raycast(ray3));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray4, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray4, raycastInfo3));
|
||||
test(!mWorld->raycast(ray4, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray4));
|
||||
test(!mCapsuleShape->raycast(ray4));
|
||||
test(!mWorld->raycast(ray4));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray5, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray5, raycastInfo3));
|
||||
test(!mWorld->raycast(ray5, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray5));
|
||||
test(!mCapsuleShape->raycast(ray5));
|
||||
test(!mWorld->raycast(ray5));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray6, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray6, raycastInfo3));
|
||||
test(!mWorld->raycast(ray6, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray6));
|
||||
test(!mCapsuleShape->raycast(ray6));
|
||||
test(!mWorld->raycast(ray6));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray7, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray7, raycastInfo3));
|
||||
test(!mWorld->raycast(ray7, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray7));
|
||||
test(!mCapsuleShape->raycast(ray7));
|
||||
test(!mWorld->raycast(ray7));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray8, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray8, raycastInfo3));
|
||||
test(!mWorld->raycast(ray8, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray8));
|
||||
test(!mCapsuleShape->raycast(ray8));
|
||||
test(!mWorld->raycast(ray8));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray9, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray9, raycastInfo3));
|
||||
test(!mWorld->raycast(ray9, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray9));
|
||||
test(!mCapsuleShape->raycast(ray9));
|
||||
test(!mWorld->raycast(ray9));
|
||||
|
||||
test(!mCapsuleBody->raycast(ray10, raycastInfo3));
|
||||
test(!mCapsuleShape->raycast(ray10, raycastInfo3));
|
||||
test(!mWorld->raycast(ray10, raycastInfo3));
|
||||
test(!mCapsuleBody->raycast(ray10));
|
||||
test(!mCapsuleShape->raycast(ray10));
|
||||
test(!mWorld->raycast(ray10));
|
||||
|
||||
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
||||
|
|
@ -653,30 +737,40 @@ class TestRaycast : public Test {
|
|||
test(mCapsuleShape->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
||||
test(mCapsuleBody->raycast(ray11));
|
||||
test(mCapsuleShape->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mCapsuleBody->raycast(ray12, raycastInfo3));
|
||||
test(mCapsuleShape->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
||||
test(mCapsuleBody->raycast(ray12));
|
||||
test(mCapsuleShape->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mCapsuleBody->raycast(ray13, raycastInfo3));
|
||||
test(mCapsuleShape->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
||||
test(mCapsuleBody->raycast(ray13));
|
||||
test(mCapsuleShape->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mCapsuleBody->raycast(ray14, raycastInfo3));
|
||||
test(mCapsuleShape->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
||||
test(mCapsuleBody->raycast(ray14));
|
||||
test(mCapsuleShape->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mCapsuleBody->raycast(ray15, raycastInfo3));
|
||||
test(mCapsuleShape->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
||||
test(mCapsuleBody->raycast(ray15));
|
||||
test(mCapsuleShape->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mCapsuleBody->raycast(ray16, raycastInfo3));
|
||||
|
|
@ -697,12 +791,17 @@ class TestRaycast : public Test {
|
|||
Ray ray(origin, direction);
|
||||
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1);
|
||||
|
||||
Vector3 origin2 = mLocalShapeToWorld * Vector3(1 , -5, 0);
|
||||
Vector3 direction2 = mLocalToWorldMatrix * Vector3(0, 3, 0);
|
||||
Ray rayBottom(origin2, direction2);
|
||||
Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, -3, 0);
|
||||
|
||||
// CollisionWorld::raycast()
|
||||
RaycastInfo raycastInfo;
|
||||
test(mWorld->raycast(ray, raycastInfo));
|
||||
test(raycastInfo.body == mConeBody);
|
||||
test(raycastInfo.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo.distance, 6));
|
||||
test(approxEqual(raycastInfo.distance, 2, epsilon));
|
||||
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x));
|
||||
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y));
|
||||
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z));
|
||||
|
|
@ -712,20 +811,49 @@ class TestRaycast : public Test {
|
|||
test(mConeBody->raycast(ray, raycastInfo2));
|
||||
test(raycastInfo2.body == mConeBody);
|
||||
test(raycastInfo2.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo2.distance, 6));
|
||||
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x));
|
||||
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y));
|
||||
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z));
|
||||
test(approxEqual(raycastInfo2.distance, 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(mConeShape->raycast(ray, raycastInfo3));
|
||||
test(raycastInfo3.body == mConeBody);
|
||||
test(raycastInfo3.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo3.distance, 6));
|
||||
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x));
|
||||
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y));
|
||||
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z));
|
||||
test(approxEqual(raycastInfo3.distance, 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(mWorld->raycast(rayBottom, raycastInfo4));
|
||||
test(raycastInfo4.body == mConeBody);
|
||||
test(raycastInfo4.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo4.distance, 2, epsilon));
|
||||
test(approxEqual(raycastInfo4.worldPoint.x, hitPoint2.x));
|
||||
test(approxEqual(raycastInfo4.worldPoint.y, hitPoint2.y));
|
||||
test(approxEqual(raycastInfo4.worldPoint.z, hitPoint2.z));
|
||||
|
||||
// CollisionBody::raycast()
|
||||
RaycastInfo raycastInfo5;
|
||||
test(mConeBody->raycast(rayBottom, raycastInfo5));
|
||||
test(raycastInfo5.body == mConeBody);
|
||||
test(raycastInfo5.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo5.distance, 2, 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(mConeShape->raycast(rayBottom, raycastInfo6));
|
||||
test(raycastInfo6.body == mConeBody);
|
||||
test(raycastInfo6.proxyShape == mConeShape);
|
||||
test(approxEqual(raycastInfo6.distance, 2, 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, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
|
||||
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
||||
|
|
@ -750,51 +878,71 @@ class TestRaycast : public Test {
|
|||
test(!mWorld->raycast(ray1, raycastInfo3));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
||||
test(!mConeBody->raycast(ray1));
|
||||
test(!mConeShape->raycast(ray1));
|
||||
test(!mWorld->raycast(ray1));
|
||||
|
||||
test(!mConeBody->raycast(ray2, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray2, raycastInfo3));
|
||||
test(!mWorld->raycast(ray2, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray2));
|
||||
test(!mConeShape->raycast(ray2));
|
||||
test(!mWorld->raycast(ray2));
|
||||
|
||||
test(!mConeBody->raycast(ray3, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray3, raycastInfo3));
|
||||
test(!mWorld->raycast(ray3, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray3));
|
||||
test(!mConeShape->raycast(ray3));
|
||||
test(!mWorld->raycast(ray3));
|
||||
|
||||
test(!mConeBody->raycast(ray4, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray4, raycastInfo3));
|
||||
test(!mWorld->raycast(ray4, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray4));
|
||||
test(!mConeShape->raycast(ray4));
|
||||
test(!mWorld->raycast(ray4));
|
||||
|
||||
test(!mConeBody->raycast(ray5, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray5, raycastInfo3));
|
||||
test(!mWorld->raycast(ray5, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray5));
|
||||
test(!mConeShape->raycast(ray5));
|
||||
test(!mWorld->raycast(ray5));
|
||||
|
||||
test(!mConeBody->raycast(ray6, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray6, raycastInfo3));
|
||||
test(!mWorld->raycast(ray6, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray6));
|
||||
test(!mConeShape->raycast(ray6));
|
||||
test(!mWorld->raycast(ray6));
|
||||
|
||||
test(!mConeBody->raycast(ray7, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray7, raycastInfo3));
|
||||
test(!mWorld->raycast(ray7, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray7));
|
||||
test(!mConeShape->raycast(ray7));
|
||||
test(!mWorld->raycast(ray7));
|
||||
|
||||
test(!mConeBody->raycast(ray8, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray8, raycastInfo3));
|
||||
test(!mWorld->raycast(ray8, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray8));
|
||||
test(!mConeShape->raycast(ray8));
|
||||
test(!mWorld->raycast(ray8));
|
||||
|
||||
test(!mConeBody->raycast(ray9, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray9, raycastInfo3));
|
||||
test(!mWorld->raycast(ray9, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray9));
|
||||
test(!mConeShape->raycast(ray9));
|
||||
test(!mWorld->raycast(ray9));
|
||||
|
||||
test(!mConeBody->raycast(ray10, raycastInfo3));
|
||||
test(!mConeShape->raycast(ray10, raycastInfo3));
|
||||
test(!mWorld->raycast(ray10, raycastInfo3));
|
||||
test(!mConeBody->raycast(ray10));
|
||||
test(!mConeShape->raycast(ray10));
|
||||
test(!mWorld->raycast(ray10));
|
||||
|
||||
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
||||
|
|
@ -809,36 +957,48 @@ class TestRaycast : public Test {
|
|||
test(mConeShape->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
||||
test(mConeBody->raycast(ray11));
|
||||
test(mConeShape->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mConeBody->raycast(ray12, raycastInfo3));
|
||||
test(mConeShape->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
||||
test(mConeBody->raycast(ray12));
|
||||
test(mConeShape->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mConeBody->raycast(ray13, raycastInfo3));
|
||||
test(mConeShape->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
||||
test(mConeBody->raycast(ray13));
|
||||
test(mConeShape->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mConeBody->raycast(ray14, raycastInfo3));
|
||||
test(mConeShape->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
||||
test(mConeBody->raycast(ray14));
|
||||
test(mConeShape->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mConeBody->raycast(ray15, raycastInfo3));
|
||||
test(mConeShape->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
||||
test(mConeBody->raycast(ray15));
|
||||
test(mConeShape->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mConeBody->raycast(ray16, raycastInfo3));
|
||||
test(mConeShape->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
||||
test(mConeBody->raycast(ray16));
|
||||
test(mConeShape->raycast(ray16));
|
||||
test(mWorld->raycast(ray16));
|
||||
}
|
||||
|
||||
|
|
@ -928,6 +1088,10 @@ class TestRaycast : public Test {
|
|||
test(!mWorld->raycast(ray1, raycastInfo3));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
||||
test(!mConvexMeshBody->raycast(ray1));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray1));
|
||||
test(!mConvexMeshShape->raycast(ray1));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray1));
|
||||
test(!mWorld->raycast(ray1));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
|
||||
|
|
@ -935,6 +1099,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray2, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3));
|
||||
test(!mWorld->raycast(ray2, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray2));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray2));
|
||||
test(!mConvexMeshShape->raycast(ray2));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray2));
|
||||
test(!mWorld->raycast(ray2));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
|
||||
|
|
@ -942,6 +1110,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray3, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3));
|
||||
test(!mWorld->raycast(ray3, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray3));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray3));
|
||||
test(!mConvexMeshShape->raycast(ray3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray3));
|
||||
test(!mWorld->raycast(ray3));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
|
||||
|
|
@ -949,6 +1121,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray4, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3));
|
||||
test(!mWorld->raycast(ray4, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray4));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray4));
|
||||
test(!mConvexMeshShape->raycast(ray4));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray4));
|
||||
test(!mWorld->raycast(ray4));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
|
||||
|
|
@ -956,6 +1132,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray5, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3));
|
||||
test(!mWorld->raycast(ray5, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray5));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray5));
|
||||
test(!mConvexMeshShape->raycast(ray5));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray5));
|
||||
test(!mWorld->raycast(ray5));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
|
||||
|
|
@ -963,6 +1143,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray6, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3));
|
||||
test(!mWorld->raycast(ray6, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray6));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray6));
|
||||
test(!mConvexMeshShape->raycast(ray6));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray6));
|
||||
test(!mWorld->raycast(ray6));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
|
||||
|
|
@ -970,6 +1154,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray7, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3));
|
||||
test(!mWorld->raycast(ray7, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray7));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray7));
|
||||
test(!mConvexMeshShape->raycast(ray7));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray7));
|
||||
test(!mWorld->raycast(ray7));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
|
||||
|
|
@ -977,6 +1165,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray8, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3));
|
||||
test(!mWorld->raycast(ray8, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray8));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray8));
|
||||
test(!mConvexMeshShape->raycast(ray8));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray8));
|
||||
test(!mWorld->raycast(ray8));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
|
||||
|
|
@ -984,6 +1176,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray9, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3));
|
||||
test(!mWorld->raycast(ray9, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray9));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray9));
|
||||
test(!mConvexMeshShape->raycast(ray9));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray9));
|
||||
test(!mWorld->raycast(ray9));
|
||||
|
||||
test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
|
||||
|
|
@ -991,6 +1187,10 @@ class TestRaycast : public Test {
|
|||
test(!mConvexMeshShape->raycast(ray10, raycastInfo3));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray10, raycastInfo3));
|
||||
test(!mWorld->raycast(ray10, raycastInfo3));
|
||||
test(!mConvexMeshBody->raycast(ray10));
|
||||
test(!mConvexMeshBodyEdgesInfo->raycast(ray10));
|
||||
test(!mConvexMeshShape->raycast(ray10));
|
||||
test(!mConvexMeshShapeEdgesInfo->raycast(ray10));
|
||||
test(!mWorld->raycast(ray10));
|
||||
|
||||
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
||||
|
|
@ -1007,6 +1207,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
||||
test(mConvexMeshBody->raycast(ray11));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray11));
|
||||
test(mConvexMeshShape->raycast(ray11));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mConvexMeshBody->raycast(ray12, raycastInfo3));
|
||||
|
|
@ -1015,6 +1219,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
||||
test(mConvexMeshBody->raycast(ray12));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray12));
|
||||
test(mConvexMeshShape->raycast(ray12));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mConvexMeshBody->raycast(ray13, raycastInfo3));
|
||||
|
|
@ -1023,6 +1231,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
||||
test(mConvexMeshBody->raycast(ray13));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray13));
|
||||
test(mConvexMeshShape->raycast(ray13));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mConvexMeshBody->raycast(ray14, raycastInfo3));
|
||||
|
|
@ -1031,6 +1243,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
||||
test(mConvexMeshBody->raycast(ray14));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray14));
|
||||
test(mConvexMeshShape->raycast(ray14));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mConvexMeshBody->raycast(ray15, raycastInfo3));
|
||||
|
|
@ -1039,6 +1255,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
||||
test(mConvexMeshBody->raycast(ray15));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray15));
|
||||
test(mConvexMeshShape->raycast(ray15));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mConvexMeshBody->raycast(ray16, raycastInfo3));
|
||||
|
|
@ -1047,6 +1267,10 @@ class TestRaycast : public Test {
|
|||
test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
||||
test(mConvexMeshBody->raycast(ray16));
|
||||
test(mConvexMeshBodyEdgesInfo->raycast(ray16));
|
||||
test(mConvexMeshShape->raycast(ray16));
|
||||
test(mConvexMeshShapeEdgesInfo->raycast(ray16));
|
||||
test(mWorld->raycast(ray16));
|
||||
}
|
||||
|
||||
|
|
@ -1144,51 +1368,71 @@ class TestRaycast : public Test {
|
|||
test(!mWorld->raycast(ray1, raycastInfo3));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
||||
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
||||
test(!mCylinderBody->raycast(ray1));
|
||||
test(!mCylinderShape->raycast(ray1));
|
||||
test(!mWorld->raycast(ray1));
|
||||
|
||||
test(!mCylinderBody->raycast(ray2, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray2, raycastInfo3));
|
||||
test(!mWorld->raycast(ray2, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray2));
|
||||
test(!mCylinderShape->raycast(ray2));
|
||||
test(!mWorld->raycast(ray2));
|
||||
|
||||
test(!mCylinderBody->raycast(ray3, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray3, raycastInfo3));
|
||||
test(!mWorld->raycast(ray3, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray3));
|
||||
test(!mCylinderShape->raycast(ray3));
|
||||
test(!mWorld->raycast(ray3));
|
||||
|
||||
test(!mCylinderBody->raycast(ray4, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray4, raycastInfo3));
|
||||
test(!mWorld->raycast(ray4, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray4));
|
||||
test(!mCylinderShape->raycast(ray4));
|
||||
test(!mWorld->raycast(ray4));
|
||||
|
||||
test(!mCylinderBody->raycast(ray5, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray5, raycastInfo3));
|
||||
test(!mWorld->raycast(ray5, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray5));
|
||||
test(!mCylinderShape->raycast(ray5));
|
||||
test(!mWorld->raycast(ray5));
|
||||
|
||||
test(!mCylinderBody->raycast(ray6, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray6, raycastInfo3));
|
||||
test(!mWorld->raycast(ray6, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray6));
|
||||
test(!mCylinderShape->raycast(ray6));
|
||||
test(!mWorld->raycast(ray6));
|
||||
|
||||
test(!mCylinderBody->raycast(ray7, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray7, raycastInfo3));
|
||||
test(!mWorld->raycast(ray7, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray7));
|
||||
test(!mCylinderShape->raycast(ray7));
|
||||
test(!mWorld->raycast(ray7));
|
||||
|
||||
test(!mCylinderBody->raycast(ray8, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray8, raycastInfo3));
|
||||
test(!mWorld->raycast(ray8, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray8));
|
||||
test(!mCylinderShape->raycast(ray8));
|
||||
test(!mWorld->raycast(ray8));
|
||||
|
||||
test(!mCylinderBody->raycast(ray9, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray9, raycastInfo3));
|
||||
test(!mWorld->raycast(ray9, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray9));
|
||||
test(!mCylinderShape->raycast(ray9));
|
||||
test(!mWorld->raycast(ray9));
|
||||
|
||||
test(!mCylinderBody->raycast(ray10, raycastInfo3));
|
||||
test(!mCylinderShape->raycast(ray10, raycastInfo3));
|
||||
test(!mWorld->raycast(ray10, raycastInfo3));
|
||||
test(!mCylinderBody->raycast(ray10));
|
||||
test(!mCylinderShape->raycast(ray10));
|
||||
test(!mWorld->raycast(ray10));
|
||||
|
||||
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
||||
|
|
@ -1203,36 +1447,48 @@ class TestRaycast : public Test {
|
|||
test(mCylinderShape->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3));
|
||||
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
||||
test(mCylinderBody->raycast(ray11));
|
||||
test(mCylinderShape->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mCylinderBody->raycast(ray12, raycastInfo3));
|
||||
test(mCylinderShape->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3));
|
||||
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
||||
test(mCylinderBody->raycast(ray12));
|
||||
test(mCylinderShape->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mCylinderBody->raycast(ray13, raycastInfo3));
|
||||
test(mCylinderShape->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3));
|
||||
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
||||
test(mCylinderBody->raycast(ray13));
|
||||
test(mCylinderShape->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mCylinderBody->raycast(ray14, raycastInfo3));
|
||||
test(mCylinderShape->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3));
|
||||
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
||||
test(mCylinderBody->raycast(ray14));
|
||||
test(mCylinderShape->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mCylinderBody->raycast(ray15, raycastInfo3));
|
||||
test(mCylinderShape->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3));
|
||||
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
||||
test(mCylinderBody->raycast(ray15));
|
||||
test(mCylinderShape->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mCylinderBody->raycast(ray16, raycastInfo3));
|
||||
test(mCylinderShape->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3));
|
||||
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
||||
test(mCylinderBody->raycast(ray16));
|
||||
test(mCylinderShape->raycast(ray16));
|
||||
test(mWorld->raycast(ray16));
|
||||
}
|
||||
|
||||
|
|
@ -1255,31 +1511,37 @@ class TestRaycast : public Test {
|
|||
test(mCompoundBody->raycast(ray1, raycastInfo));
|
||||
test(mWorld->raycast(ray1, raycastInfo));
|
||||
test(mWorld->raycast(ray1, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray1));
|
||||
test(mWorld->raycast(ray1));
|
||||
|
||||
test(mCompoundBody->raycast(ray2, raycastInfo));
|
||||
test(mWorld->raycast(ray2, raycastInfo));
|
||||
test(mWorld->raycast(ray2, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray2));
|
||||
test(mWorld->raycast(ray2));
|
||||
|
||||
test(mCompoundBody->raycast(ray3, raycastInfo));
|
||||
test(mWorld->raycast(ray3, raycastInfo));
|
||||
test(mWorld->raycast(ray3, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray3));
|
||||
test(mWorld->raycast(ray3));
|
||||
|
||||
test(mCompoundBody->raycast(ray4, raycastInfo));
|
||||
test(mWorld->raycast(ray4, raycastInfo));
|
||||
test(mWorld->raycast(ray4, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray4));
|
||||
test(mWorld->raycast(ray4));
|
||||
|
||||
test(mCompoundBody->raycast(ray5, raycastInfo));
|
||||
test(mWorld->raycast(ray5, raycastInfo));
|
||||
test(mWorld->raycast(ray5, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray5));
|
||||
test(mWorld->raycast(ray5));
|
||||
|
||||
test(mCompoundBody->raycast(ray6, raycastInfo));
|
||||
test(mWorld->raycast(ray6, raycastInfo));
|
||||
test(mWorld->raycast(ray6, raycastInfo, 4));
|
||||
test(mCompoundBody->raycast(ray6));
|
||||
test(mWorld->raycast(ray6));
|
||||
|
||||
// Raycast hit agains the cylinder shape
|
||||
|
|
@ -1293,31 +1555,37 @@ class TestRaycast : public Test {
|
|||
test(mCompoundBody->raycast(ray11, raycastInfo));
|
||||
test(mWorld->raycast(ray11, raycastInfo));
|
||||
test(mWorld->raycast(ray11, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray11));
|
||||
test(mWorld->raycast(ray11));
|
||||
|
||||
test(mCompoundBody->raycast(ray12, raycastInfo));
|
||||
test(mWorld->raycast(ray12, raycastInfo));
|
||||
test(mWorld->raycast(ray12, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray12));
|
||||
test(mWorld->raycast(ray12));
|
||||
|
||||
test(mCompoundBody->raycast(ray13, raycastInfo));
|
||||
test(mWorld->raycast(ray13, raycastInfo));
|
||||
test(mWorld->raycast(ray13, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray13));
|
||||
test(mWorld->raycast(ray13));
|
||||
|
||||
test(mCompoundBody->raycast(ray14, raycastInfo));
|
||||
test(mWorld->raycast(ray14, raycastInfo));
|
||||
test(mWorld->raycast(ray14, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray14));
|
||||
test(mWorld->raycast(ray14));
|
||||
|
||||
test(mCompoundBody->raycast(ray15, raycastInfo));
|
||||
test(mWorld->raycast(ray15, raycastInfo));
|
||||
test(mWorld->raycast(ray15, raycastInfo, 2));
|
||||
test(mCompoundBody->raycast(ray15));
|
||||
test(mWorld->raycast(ray15));
|
||||
|
||||
test(mCompoundBody->raycast(ray16, raycastInfo));
|
||||
test(mWorld->raycast(ray16, raycastInfo));
|
||||
test(mWorld->raycast(ray16, raycastInfo, 4));
|
||||
test(mCompoundBody->raycast(ray16));
|
||||
test(mWorld->raycast(ray16));
|
||||
}
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user