Implement raycasting for cone shape

This commit is contained in:
Daniel Chappuis 2014-10-08 21:38:40 +02:00
parent 25c11c6d6a
commit 08e286d27c
3 changed files with 507 additions and 16 deletions

View File

@ -27,6 +27,7 @@
#include <complex> #include <complex>
#include "configuration.h" #include "configuration.h"
#include "ConeShape.h" #include "ConeShape.h"
#include "collision/ProxyShape.h"
using namespace reactphysics3d; using namespace reactphysics3d;
@ -95,20 +96,242 @@ Vector3 ConeShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
} }
// Raycast method // Raycast method
// This implementation is based on the technique described by David Eberly in the article
// "Intersection of a Line and a Cone" that can be found at
// http://www.geometrictools.com/Documentation/IntersectionLineCone.pdf
bool ConeShape::raycast(const Ray& ray, ProxyShape* proxyShape) const { bool ConeShape::raycast(const Ray& ray, ProxyShape* proxyShape) const {
// TODO : Normalize the ray direction // Transform the ray direction and origin in local-space coordinates
const Transform localToWorldTransform = proxyShape->getLocalToWorldTransform();
const Transform worldToLocalTransform = localToWorldTransform.getInverse();
Vector3 origin = worldToLocalTransform * ray.origin;
Vector3 r = worldToLocalTransform.getOrientation() * ray.direction.getUnit();
const decimal epsilon = decimal(0.00001);
Vector3 V(0, mHalfHeight, 0);
Vector3 centerBase(0, -mHalfHeight, 0);
Vector3 axis(0, decimal(-1.0), 0);
decimal heightSquare = decimal(4.0) * mHalfHeight * mHalfHeight;
decimal cosThetaSquare = heightSquare / (heightSquare + mRadius * mRadius);
decimal factor = decimal(1.0) - cosThetaSquare;
Vector3 delta = origin - V;
decimal c0 = -cosThetaSquare * delta.x * delta.x + factor * delta.y * delta.y -
cosThetaSquare * delta.z * delta.z;
decimal c1 = -cosThetaSquare * delta.x * r.x + factor * delta.y * r.y - cosThetaSquare * delta.z * r.z;
decimal c2 = -cosThetaSquare * r.x * r.x + factor * r.y * r.y - cosThetaSquare * r.z * r.z;
decimal tHit[] = {decimal(-1.0), decimal(-1.0), decimal(-1.0)};
Vector3 localHitPoint[3];
// If c2 is different from zero
if (std::abs(c2) > MACHINE_EPSILON) {
decimal gamma = c1 * c1 - c0 * c2;
// If there is no real roots in the quadratic equation
if (gamma < decimal(0.0)) {
return false;
}
else if (gamma > decimal(0.0)) { // The equation has two real roots
// Compute two intersections
decimal sqrRoot = std::sqrt(gamma);
tHit[0] = (-c1 - sqrRoot) / c2;
tHit[1] = (-c1 + sqrRoot) / c2;
}
else { // If the equation has a single real root
// Compute the intersection
tHit[0] = -c1 / c2;
}
}
else { // If c2 == 0
// If c2 = 0 and c1 != 0
if (std::abs(c1) > MACHINE_EPSILON) {
tHit[0] = -c0 / (decimal(2.0) * c1);
}
else { // If c2 = c1 = 0
// If c0 is different from zero, no solution and if c0 = 0, we have a
// degenerate case, the whole ray is contained in the cone side
// but we return no hit in this case
return false;
}
}
// If the origin of the ray is inside the cone, we return no hit
if (testPointInside(origin, NULL)) return false;
localHitPoint[0] = origin + tHit[0] * r;
localHitPoint[1] = origin + tHit[1] * r;
// Only keep hit points in one side of the double cone (the cone we are interested in)
if (axis.dot(localHitPoint[0] - V) < decimal(0.0)) {
tHit[0] = decimal(-1.0);
}
if (axis.dot(localHitPoint[1] - V) < decimal(0.0)) {
tHit[1] = decimal(-1.0);
}
// Only keep hit points that are within the correct height of the cone
if (localHitPoint[0].y < decimal(-mHalfHeight)) {
tHit[0] = decimal(-1.0);
}
if (localHitPoint[1].y < decimal(-mHalfHeight)) {
tHit[1] = decimal(-1.0);
}
if (tHit[0] >= decimal(0.0) || tHit[1] >= decimal(0.0)) return true;
// If the ray is in direction of the base plane of the cone
if (r.y > epsilon) {
// Compute the intersection with the base plane of the cone
tHit[2] = (-mHalfHeight + origin.y) / (-r.y);
// Only keep this intersection if it is inside the cone radius
localHitPoint[2] = origin + tHit[2] * r;
return ((localHitPoint[2] - centerBase).lengthSquare() <= mRadius * mRadius);
}
// TODO : Implement this method
return false; return false;
} }
// Raycast method with feedback information // Raycast method with feedback information
// This implementation is based on the technique described by David Eberly in the article
// "Intersection of a Line and a Cone" that can be found at
// http://www.geometrictools.com/Documentation/IntersectionLineCone.pdf
bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape,
decimal distance) const { decimal maxDistance) const {
// TODO : Normalize the ray direction // Transform the ray direction and origin in local-space coordinates
const Transform localToWorldTransform = proxyShape->getLocalToWorldTransform();
const Transform worldToLocalTransform = localToWorldTransform.getInverse();
Vector3 origin = worldToLocalTransform * ray.origin;
Vector3 r = worldToLocalTransform.getOrientation() * ray.direction.getUnit();
// TODO : Implement this method const decimal epsilon = decimal(0.00001);
Vector3 V(0, mHalfHeight, 0);
Vector3 centerBase(0, -mHalfHeight, 0);
Vector3 axis(0, decimal(-1.0), 0);
decimal heightSquare = decimal(4.0) * mHalfHeight * mHalfHeight;
decimal cosThetaSquare = heightSquare / (heightSquare + mRadius * mRadius);
decimal factor = decimal(1.0) - cosThetaSquare;
Vector3 delta = origin - V;
decimal c0 = -cosThetaSquare * delta.x * delta.x + factor * delta.y * delta.y -
cosThetaSquare * delta.z * delta.z;
decimal c1 = -cosThetaSquare * delta.x * r.x + factor * delta.y * r.y - cosThetaSquare * delta.z * r.z;
decimal c2 = -cosThetaSquare * r.x * r.x + factor * r.y * r.y - cosThetaSquare * r.z * r.z;
decimal tHit[] = {decimal(-1.0), decimal(-1.0), decimal(-1.0)};
Vector3 localHitPoint[3];
Vector3 localNormal[3];
// If c2 is different from zero
if (std::abs(c2) > MACHINE_EPSILON) {
decimal gamma = c1 * c1 - c0 * c2;
// If there is no real roots in the quadratic equation
if (gamma < decimal(0.0)) {
return false; return false;
}
else if (gamma > decimal(0.0)) { // The equation has two real roots
// Compute two intersections
decimal sqrRoot = std::sqrt(gamma);
tHit[0] = (-c1 - sqrRoot) / c2;
tHit[1] = (-c1 + sqrRoot) / c2;
}
else { // If the equation has a single real root
// Compute the intersection
tHit[0] = -c1 / c2;
}
}
else { // If c2 == 0
// If c2 = 0 and c1 != 0
if (std::abs(c1) > MACHINE_EPSILON) {
tHit[0] = -c0 / (decimal(2.0) * c1);
}
else { // If c2 = c1 = 0
// If c0 is different from zero, no solution and if c0 = 0, we have a
// degenerate case, the whole ray is contained in the cone side
// but we return no hit in this case
return false;
}
}
// If the origin of the ray is inside the cone, we return no hit
if (testPointInside(origin, NULL)) return false;
localHitPoint[0] = origin + tHit[0] * r;
localHitPoint[1] = origin + tHit[1] * r;
// Only keep hit points in one side of the double cone (the cone we are interested in)
if (axis.dot(localHitPoint[0] - V) < decimal(0.0)) {
tHit[0] = decimal(-1.0);
}
if (axis.dot(localHitPoint[1] - V) < decimal(0.0)) {
tHit[1] = decimal(-1.0);
}
// Only keep hit points that are within the correct height of the cone
if (localHitPoint[0].y < decimal(-mHalfHeight)) {
tHit[0] = decimal(-1.0);
}
if (localHitPoint[1].y < decimal(-mHalfHeight)) {
tHit[1] = decimal(-1.0);
}
// If the ray is in direction of the base plane of the cone
if (r.y > epsilon) {
// Compute the intersection with the base plane of the cone
tHit[2] = (-origin.y - mHalfHeight) / (r.y);
// Only keep this intersection if it is inside the cone radius
localHitPoint[2] = origin + tHit[2] * r;
if ((localHitPoint[2] - centerBase).lengthSquare() > mRadius * mRadius) {
tHit[2] = decimal(-1.0);
}
// Compute the normal direction
localNormal[2] = axis;
}
// Find the smallest positive t value
int hitIndex = -1;
decimal t = DECIMAL_LARGEST;
for (int i=0; i<3; i++) {
if (tHit[i] < decimal(0.0)) continue;
if (tHit[i] < t) {
hitIndex = i;
t = tHit[hitIndex];
}
}
if (hitIndex < 0) return false;
if (t > maxDistance) return false;
// Compute the normal direction for hit against side of the cone
if (hitIndex != 2) {
decimal m = std::sqrt(localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
decimal h = decimal(2.0) * mHalfHeight;
decimal hOverR = h / mRadius;
decimal hOverROverM = hOverR / m;
localNormal[hitIndex].x = localHitPoint[hitIndex].x * hOverROverM;
localNormal[hitIndex].y = mRadius / h;
localNormal[hitIndex].z = localHitPoint[hitIndex].z * hOverROverM;
}
raycastInfo.body = proxyShape->getBody();
raycastInfo.proxyShape = proxyShape;
raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint[hitIndex];
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * localNormal[hitIndex];
return true;
} }

View File

@ -88,7 +88,7 @@ class ConeShape : public CollisionShape {
/// Raycast method with feedback information /// Raycast method with feedback information
virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape,
decimal distance = RAYCAST_INFINITY_DISTANCE) const; decimal maxDistance = RAYCAST_INFINITY_DISTANCE) const;
public : public :

View File

@ -253,51 +253,71 @@ class TestRaycast : public Test {
test(!mWorld->raycast(ray1, raycastInfo3)); test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mBoxBody->raycast(ray1));
test(!mBoxShape->raycast(ray1));
test(!mWorld->raycast(ray1)); test(!mWorld->raycast(ray1));
test(!mBoxBody->raycast(ray2, raycastInfo3)); test(!mBoxBody->raycast(ray2, raycastInfo3));
test(!mBoxShape->raycast(ray2, raycastInfo3)); test(!mBoxShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3));
test(!mBoxBody->raycast(ray2));
test(!mBoxShape->raycast(ray2));
test(!mWorld->raycast(ray2)); test(!mWorld->raycast(ray2));
test(!mBoxBody->raycast(ray3, raycastInfo3)); test(!mBoxBody->raycast(ray3, raycastInfo3));
test(!mBoxShape->raycast(ray3, raycastInfo3)); test(!mBoxShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3));
test(!mBoxBody->raycast(ray3));
test(!mBoxShape->raycast(ray3));
test(!mWorld->raycast(ray3)); test(!mWorld->raycast(ray3));
test(!mBoxBody->raycast(ray4, raycastInfo3)); test(!mBoxBody->raycast(ray4, raycastInfo3));
test(!mBoxShape->raycast(ray4, raycastInfo3)); test(!mBoxShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3));
test(!mBoxBody->raycast(ray4));
test(!mBoxShape->raycast(ray4));
test(!mWorld->raycast(ray4)); test(!mWorld->raycast(ray4));
test(!mBoxBody->raycast(ray5, raycastInfo3)); test(!mBoxBody->raycast(ray5, raycastInfo3));
test(!mBoxShape->raycast(ray5, raycastInfo3)); test(!mBoxShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3));
test(!mBoxBody->raycast(ray5));
test(!mBoxShape->raycast(ray5));
test(!mWorld->raycast(ray5)); test(!mWorld->raycast(ray5));
test(!mBoxBody->raycast(ray6, raycastInfo3)); test(!mBoxBody->raycast(ray6, raycastInfo3));
test(!mBoxShape->raycast(ray6, raycastInfo3)); test(!mBoxShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3));
test(!mBoxBody->raycast(ray6));
test(!mBoxShape->raycast(ray6));
test(!mWorld->raycast(ray6)); test(!mWorld->raycast(ray6));
test(!mBoxBody->raycast(ray7, raycastInfo3)); test(!mBoxBody->raycast(ray7, raycastInfo3));
test(!mBoxShape->raycast(ray7, raycastInfo3)); test(!mBoxShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3));
test(!mBoxBody->raycast(ray7));
test(!mBoxShape->raycast(ray7));
test(!mWorld->raycast(ray7)); test(!mWorld->raycast(ray7));
test(!mBoxBody->raycast(ray8, raycastInfo3)); test(!mBoxBody->raycast(ray8, raycastInfo3));
test(!mBoxShape->raycast(ray8, raycastInfo3)); test(!mBoxShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3));
test(!mBoxBody->raycast(ray8));
test(!mBoxShape->raycast(ray8));
test(!mWorld->raycast(ray8)); test(!mWorld->raycast(ray8));
test(!mBoxBody->raycast(ray9, raycastInfo3)); test(!mBoxBody->raycast(ray9, raycastInfo3));
test(!mBoxShape->raycast(ray9, raycastInfo3)); test(!mBoxShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3));
test(!mBoxBody->raycast(ray9));
test(!mBoxShape->raycast(ray9));
test(!mWorld->raycast(ray9)); test(!mWorld->raycast(ray9));
test(!mBoxBody->raycast(ray10, raycastInfo3)); test(!mBoxBody->raycast(ray10, raycastInfo3));
test(!mBoxShape->raycast(ray10, raycastInfo3)); test(!mBoxShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3)); test(!mWorld->raycast(ray10, raycastInfo3));
test(!mBoxBody->raycast(ray10));
test(!mBoxShape->raycast(ray10));
test(!mWorld->raycast(ray10)); test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -312,36 +332,48 @@ class TestRaycast : public Test {
test(mBoxShape->raycast(ray11, raycastInfo3)); test(mBoxShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mBoxBody->raycast(ray11));
test(mBoxShape->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mBoxBody->raycast(ray12, raycastInfo3)); test(mBoxBody->raycast(ray12, raycastInfo3));
test(mBoxShape->raycast(ray12, raycastInfo3)); test(mBoxShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mBoxBody->raycast(ray12));
test(mBoxShape->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mBoxBody->raycast(ray13, raycastInfo3)); test(mBoxBody->raycast(ray13, raycastInfo3));
test(mBoxShape->raycast(ray13, raycastInfo3)); test(mBoxShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mBoxBody->raycast(ray13));
test(mBoxShape->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mBoxBody->raycast(ray14, raycastInfo3)); test(mBoxBody->raycast(ray14, raycastInfo3));
test(mBoxShape->raycast(ray14, raycastInfo3)); test(mBoxShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mBoxBody->raycast(ray14));
test(mBoxShape->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mBoxBody->raycast(ray15, raycastInfo3)); test(mBoxBody->raycast(ray15, raycastInfo3));
test(mBoxShape->raycast(ray15, raycastInfo3)); test(mBoxShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mBoxBody->raycast(ray15));
test(mBoxShape->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mBoxBody->raycast(ray16, raycastInfo3)); test(mBoxBody->raycast(ray16, raycastInfo3));
test(mBoxShape->raycast(ray16, raycastInfo3)); test(mBoxShape->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16, raycastInfo3, 4));
test(mBoxBody->raycast(ray16));
test(mBoxShape->raycast(ray16));
test(mWorld->raycast(ray16)); test(mWorld->raycast(ray16));
} }
@ -409,51 +441,71 @@ class TestRaycast : public Test {
test(!mWorld->raycast(ray1, raycastInfo3)); test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mSphereBody->raycast(ray1));
test(!mSphereShape->raycast(ray1));
test(!mWorld->raycast(ray1)); test(!mWorld->raycast(ray1));
test(!mSphereBody->raycast(ray2, raycastInfo3)); test(!mSphereBody->raycast(ray2, raycastInfo3));
test(!mSphereShape->raycast(ray2, raycastInfo3)); test(!mSphereShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3));
test(!mSphereBody->raycast(ray2));
test(!mSphereShape->raycast(ray2));
test(!mWorld->raycast(ray2)); test(!mWorld->raycast(ray2));
test(!mSphereBody->raycast(ray3, raycastInfo3)); test(!mSphereBody->raycast(ray3, raycastInfo3));
test(!mSphereShape->raycast(ray3, raycastInfo3)); test(!mSphereShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3));
test(!mSphereBody->raycast(ray3));
test(!mSphereShape->raycast(ray3));
test(!mWorld->raycast(ray3)); test(!mWorld->raycast(ray3));
test(!mSphereBody->raycast(ray4, raycastInfo3)); test(!mSphereBody->raycast(ray4, raycastInfo3));
test(!mSphereShape->raycast(ray4, raycastInfo3)); test(!mSphereShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3));
test(!mSphereBody->raycast(ray4));
test(!mSphereShape->raycast(ray4));
test(!mWorld->raycast(ray4)); test(!mWorld->raycast(ray4));
test(!mSphereBody->raycast(ray5, raycastInfo3)); test(!mSphereBody->raycast(ray5, raycastInfo3));
test(!mSphereShape->raycast(ray5, raycastInfo3)); test(!mSphereShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3));
test(!mSphereBody->raycast(ray5));
test(!mSphereShape->raycast(ray5));
test(!mWorld->raycast(ray5)); test(!mWorld->raycast(ray5));
test(!mSphereBody->raycast(ray6, raycastInfo3)); test(!mSphereBody->raycast(ray6, raycastInfo3));
test(!mSphereShape->raycast(ray6, raycastInfo3)); test(!mSphereShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3));
test(!mSphereBody->raycast(ray6));
test(!mSphereShape->raycast(ray6));
test(!mWorld->raycast(ray6)); test(!mWorld->raycast(ray6));
test(!mSphereBody->raycast(ray7, raycastInfo3)); test(!mSphereBody->raycast(ray7, raycastInfo3));
test(!mSphereShape->raycast(ray7, raycastInfo3)); test(!mSphereShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3));
test(!mSphereBody->raycast(ray7));
test(!mSphereShape->raycast(ray7));
test(!mWorld->raycast(ray7)); test(!mWorld->raycast(ray7));
test(!mSphereBody->raycast(ray8, raycastInfo3)); test(!mSphereBody->raycast(ray8, raycastInfo3));
test(!mSphereShape->raycast(ray8, raycastInfo3)); test(!mSphereShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3));
test(!mSphereBody->raycast(ray8));
test(!mSphereShape->raycast(ray8));
test(!mWorld->raycast(ray8)); test(!mWorld->raycast(ray8));
test(!mSphereBody->raycast(ray9, raycastInfo3)); test(!mSphereBody->raycast(ray9, raycastInfo3));
test(!mSphereShape->raycast(ray9, raycastInfo3)); test(!mSphereShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3));
test(!mSphereBody->raycast(ray9));
test(!mSphereShape->raycast(ray9));
test(!mWorld->raycast(ray9)); test(!mWorld->raycast(ray9));
test(!mSphereBody->raycast(ray10, raycastInfo3)); test(!mSphereBody->raycast(ray10, raycastInfo3));
test(!mSphereShape->raycast(ray10, raycastInfo3)); test(!mSphereShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3)); test(!mWorld->raycast(ray10, raycastInfo3));
test(!mSphereBody->raycast(ray10));
test(!mSphereShape->raycast(ray10));
test(!mWorld->raycast(ray10)); test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -468,36 +520,48 @@ class TestRaycast : public Test {
test(mSphereShape->raycast(ray11, raycastInfo3)); test(mSphereShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mSphereBody->raycast(ray11));
test(mSphereShape->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mSphereBody->raycast(ray12, raycastInfo3)); test(mSphereBody->raycast(ray12, raycastInfo3));
test(mSphereShape->raycast(ray12, raycastInfo3)); test(mSphereShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mSphereBody->raycast(ray12));
test(mSphereShape->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mSphereBody->raycast(ray13, raycastInfo3)); test(mSphereBody->raycast(ray13, raycastInfo3));
test(mSphereShape->raycast(ray13, raycastInfo3)); test(mSphereShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mSphereBody->raycast(ray13));
test(mSphereShape->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mSphereBody->raycast(ray14, raycastInfo3)); test(mSphereBody->raycast(ray14, raycastInfo3));
test(mSphereShape->raycast(ray14, raycastInfo3)); test(mSphereShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mSphereBody->raycast(ray14));
test(mSphereShape->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mSphereBody->raycast(ray15, raycastInfo3)); test(mSphereBody->raycast(ray15, raycastInfo3));
test(mSphereShape->raycast(ray15, raycastInfo3)); test(mSphereShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mSphereBody->raycast(ray15));
test(mSphereShape->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mSphereBody->raycast(ray16, raycastInfo3)); test(mSphereBody->raycast(ray16, raycastInfo3));
test(mSphereShape->raycast(ray16, raycastInfo3)); test(mSphereShape->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16, raycastInfo3, 4));
test(mSphereBody->raycast(ray16));
test(mSphereShape->raycast(ray16));
test(mWorld->raycast(ray16)); test(mWorld->raycast(ray16));
} }
@ -594,51 +658,71 @@ class TestRaycast : public Test {
test(!mWorld->raycast(ray1, raycastInfo3)); test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mCapsuleBody->raycast(ray1));
test(!mCapsuleShape->raycast(ray1));
test(!mWorld->raycast(ray1)); test(!mWorld->raycast(ray1));
test(!mCapsuleBody->raycast(ray2, raycastInfo3)); test(!mCapsuleBody->raycast(ray2, raycastInfo3));
test(!mCapsuleShape->raycast(ray2, raycastInfo3)); test(!mCapsuleShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3));
test(!mCapsuleBody->raycast(ray2));
test(!mCapsuleShape->raycast(ray2));
test(!mWorld->raycast(ray2)); test(!mWorld->raycast(ray2));
test(!mCapsuleBody->raycast(ray3, raycastInfo3)); test(!mCapsuleBody->raycast(ray3, raycastInfo3));
test(!mCapsuleShape->raycast(ray3, raycastInfo3)); test(!mCapsuleShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3));
test(!mCapsuleBody->raycast(ray3));
test(!mCapsuleShape->raycast(ray3));
test(!mWorld->raycast(ray3)); test(!mWorld->raycast(ray3));
test(!mCapsuleBody->raycast(ray4, raycastInfo3)); test(!mCapsuleBody->raycast(ray4, raycastInfo3));
test(!mCapsuleShape->raycast(ray4, raycastInfo3)); test(!mCapsuleShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3));
test(!mCapsuleBody->raycast(ray4));
test(!mCapsuleShape->raycast(ray4));
test(!mWorld->raycast(ray4)); test(!mWorld->raycast(ray4));
test(!mCapsuleBody->raycast(ray5, raycastInfo3)); test(!mCapsuleBody->raycast(ray5, raycastInfo3));
test(!mCapsuleShape->raycast(ray5, raycastInfo3)); test(!mCapsuleShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3));
test(!mCapsuleBody->raycast(ray5));
test(!mCapsuleShape->raycast(ray5));
test(!mWorld->raycast(ray5)); test(!mWorld->raycast(ray5));
test(!mCapsuleBody->raycast(ray6, raycastInfo3)); test(!mCapsuleBody->raycast(ray6, raycastInfo3));
test(!mCapsuleShape->raycast(ray6, raycastInfo3)); test(!mCapsuleShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3));
test(!mCapsuleBody->raycast(ray6));
test(!mCapsuleShape->raycast(ray6));
test(!mWorld->raycast(ray6)); test(!mWorld->raycast(ray6));
test(!mCapsuleBody->raycast(ray7, raycastInfo3)); test(!mCapsuleBody->raycast(ray7, raycastInfo3));
test(!mCapsuleShape->raycast(ray7, raycastInfo3)); test(!mCapsuleShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3));
test(!mCapsuleBody->raycast(ray7));
test(!mCapsuleShape->raycast(ray7));
test(!mWorld->raycast(ray7)); test(!mWorld->raycast(ray7));
test(!mCapsuleBody->raycast(ray8, raycastInfo3)); test(!mCapsuleBody->raycast(ray8, raycastInfo3));
test(!mCapsuleShape->raycast(ray8, raycastInfo3)); test(!mCapsuleShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3));
test(!mCapsuleBody->raycast(ray8));
test(!mCapsuleShape->raycast(ray8));
test(!mWorld->raycast(ray8)); test(!mWorld->raycast(ray8));
test(!mCapsuleBody->raycast(ray9, raycastInfo3)); test(!mCapsuleBody->raycast(ray9, raycastInfo3));
test(!mCapsuleShape->raycast(ray9, raycastInfo3)); test(!mCapsuleShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3));
test(!mCapsuleBody->raycast(ray9));
test(!mCapsuleShape->raycast(ray9));
test(!mWorld->raycast(ray9)); test(!mWorld->raycast(ray9));
test(!mCapsuleBody->raycast(ray10, raycastInfo3)); test(!mCapsuleBody->raycast(ray10, raycastInfo3));
test(!mCapsuleShape->raycast(ray10, raycastInfo3)); test(!mCapsuleShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3)); test(!mWorld->raycast(ray10, raycastInfo3));
test(!mCapsuleBody->raycast(ray10));
test(!mCapsuleShape->raycast(ray10));
test(!mWorld->raycast(ray10)); test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -653,30 +737,40 @@ class TestRaycast : public Test {
test(mCapsuleShape->raycast(ray11, raycastInfo3)); test(mCapsuleShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mCapsuleBody->raycast(ray11));
test(mCapsuleShape->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mCapsuleBody->raycast(ray12, raycastInfo3)); test(mCapsuleBody->raycast(ray12, raycastInfo3));
test(mCapsuleShape->raycast(ray12, raycastInfo3)); test(mCapsuleShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mCapsuleBody->raycast(ray12));
test(mCapsuleShape->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mCapsuleBody->raycast(ray13, raycastInfo3)); test(mCapsuleBody->raycast(ray13, raycastInfo3));
test(mCapsuleShape->raycast(ray13, raycastInfo3)); test(mCapsuleShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mCapsuleBody->raycast(ray13));
test(mCapsuleShape->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mCapsuleBody->raycast(ray14, raycastInfo3)); test(mCapsuleBody->raycast(ray14, raycastInfo3));
test(mCapsuleShape->raycast(ray14, raycastInfo3)); test(mCapsuleShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mCapsuleBody->raycast(ray14));
test(mCapsuleShape->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mCapsuleBody->raycast(ray15, raycastInfo3)); test(mCapsuleBody->raycast(ray15, raycastInfo3));
test(mCapsuleShape->raycast(ray15, raycastInfo3)); test(mCapsuleShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mCapsuleBody->raycast(ray15));
test(mCapsuleShape->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mCapsuleBody->raycast(ray16, raycastInfo3)); test(mCapsuleBody->raycast(ray16, raycastInfo3));
@ -697,12 +791,17 @@ class TestRaycast : public Test {
Ray ray(origin, direction); Ray ray(origin, direction);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1); 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() // CollisionWorld::raycast()
RaycastInfo raycastInfo; RaycastInfo raycastInfo;
test(mWorld->raycast(ray, raycastInfo)); test(mWorld->raycast(ray, raycastInfo));
test(raycastInfo.body == mConeBody); test(raycastInfo.body == mConeBody);
test(raycastInfo.proxyShape == mConeShape); 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.x, hitPoint.x));
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y));
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z));
@ -712,20 +811,49 @@ class TestRaycast : public Test {
test(mConeBody->raycast(ray, raycastInfo2)); test(mConeBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mConeBody); test(raycastInfo2.body == mConeBody);
test(raycastInfo2.proxyShape == mConeShape); test(raycastInfo2.proxyShape == mConeShape);
test(approxEqual(raycastInfo2.distance, 6)); test(approxEqual(raycastInfo2.distance, 2, epsilon));
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x)); test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z)); test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// ProxyCollisionShape::raycast() // ProxyCollisionShape::raycast()
RaycastInfo raycastInfo3; RaycastInfo raycastInfo3;
test(mConeShape->raycast(ray, raycastInfo3)); test(mConeShape->raycast(ray, raycastInfo3));
test(raycastInfo3.body == mConeBody); test(raycastInfo3.body == mConeBody);
test(raycastInfo3.proxyShape == mConeShape); test(raycastInfo3.proxyShape == mConeShape);
test(approxEqual(raycastInfo3.distance, 6)); test(approxEqual(raycastInfo3.distance, 2, epsilon));
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x)); test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z)); 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 ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7)); 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));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mConeBody->raycast(ray1));
test(!mConeShape->raycast(ray1));
test(!mWorld->raycast(ray1)); test(!mWorld->raycast(ray1));
test(!mConeBody->raycast(ray2, raycastInfo3)); test(!mConeBody->raycast(ray2, raycastInfo3));
test(!mConeShape->raycast(ray2, raycastInfo3)); test(!mConeShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3));
test(!mConeBody->raycast(ray2));
test(!mConeShape->raycast(ray2));
test(!mWorld->raycast(ray2)); test(!mWorld->raycast(ray2));
test(!mConeBody->raycast(ray3, raycastInfo3)); test(!mConeBody->raycast(ray3, raycastInfo3));
test(!mConeShape->raycast(ray3, raycastInfo3)); test(!mConeShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3));
test(!mConeBody->raycast(ray3));
test(!mConeShape->raycast(ray3));
test(!mWorld->raycast(ray3)); test(!mWorld->raycast(ray3));
test(!mConeBody->raycast(ray4, raycastInfo3)); test(!mConeBody->raycast(ray4, raycastInfo3));
test(!mConeShape->raycast(ray4, raycastInfo3)); test(!mConeShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3));
test(!mConeBody->raycast(ray4));
test(!mConeShape->raycast(ray4));
test(!mWorld->raycast(ray4)); test(!mWorld->raycast(ray4));
test(!mConeBody->raycast(ray5, raycastInfo3)); test(!mConeBody->raycast(ray5, raycastInfo3));
test(!mConeShape->raycast(ray5, raycastInfo3)); test(!mConeShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3));
test(!mConeBody->raycast(ray5));
test(!mConeShape->raycast(ray5));
test(!mWorld->raycast(ray5)); test(!mWorld->raycast(ray5));
test(!mConeBody->raycast(ray6, raycastInfo3)); test(!mConeBody->raycast(ray6, raycastInfo3));
test(!mConeShape->raycast(ray6, raycastInfo3)); test(!mConeShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3));
test(!mConeBody->raycast(ray6));
test(!mConeShape->raycast(ray6));
test(!mWorld->raycast(ray6)); test(!mWorld->raycast(ray6));
test(!mConeBody->raycast(ray7, raycastInfo3)); test(!mConeBody->raycast(ray7, raycastInfo3));
test(!mConeShape->raycast(ray7, raycastInfo3)); test(!mConeShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3));
test(!mConeBody->raycast(ray7));
test(!mConeShape->raycast(ray7));
test(!mWorld->raycast(ray7)); test(!mWorld->raycast(ray7));
test(!mConeBody->raycast(ray8, raycastInfo3)); test(!mConeBody->raycast(ray8, raycastInfo3));
test(!mConeShape->raycast(ray8, raycastInfo3)); test(!mConeShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3));
test(!mConeBody->raycast(ray8));
test(!mConeShape->raycast(ray8));
test(!mWorld->raycast(ray8)); test(!mWorld->raycast(ray8));
test(!mConeBody->raycast(ray9, raycastInfo3)); test(!mConeBody->raycast(ray9, raycastInfo3));
test(!mConeShape->raycast(ray9, raycastInfo3)); test(!mConeShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3));
test(!mConeBody->raycast(ray9));
test(!mConeShape->raycast(ray9));
test(!mWorld->raycast(ray9)); test(!mWorld->raycast(ray9));
test(!mConeBody->raycast(ray10, raycastInfo3)); test(!mConeBody->raycast(ray10, raycastInfo3));
test(!mConeShape->raycast(ray10, raycastInfo3)); test(!mConeShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3)); test(!mWorld->raycast(ray10, raycastInfo3));
test(!mConeBody->raycast(ray10));
test(!mConeShape->raycast(ray10));
test(!mWorld->raycast(ray10)); test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -809,36 +957,48 @@ class TestRaycast : public Test {
test(mConeShape->raycast(ray11, raycastInfo3)); test(mConeShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mConeBody->raycast(ray11));
test(mConeShape->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mConeBody->raycast(ray12, raycastInfo3)); test(mConeBody->raycast(ray12, raycastInfo3));
test(mConeShape->raycast(ray12, raycastInfo3)); test(mConeShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mConeBody->raycast(ray12));
test(mConeShape->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mConeBody->raycast(ray13, raycastInfo3)); test(mConeBody->raycast(ray13, raycastInfo3));
test(mConeShape->raycast(ray13, raycastInfo3)); test(mConeShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mConeBody->raycast(ray13));
test(mConeShape->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mConeBody->raycast(ray14, raycastInfo3)); test(mConeBody->raycast(ray14, raycastInfo3));
test(mConeShape->raycast(ray14, raycastInfo3)); test(mConeShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mConeBody->raycast(ray14));
test(mConeShape->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mConeBody->raycast(ray15, raycastInfo3)); test(mConeBody->raycast(ray15, raycastInfo3));
test(mConeShape->raycast(ray15, raycastInfo3)); test(mConeShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mConeBody->raycast(ray15));
test(mConeShape->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mConeBody->raycast(ray16, raycastInfo3)); test(mConeBody->raycast(ray16, raycastInfo3));
test(mConeShape->raycast(ray16, raycastInfo3)); test(mConeShape->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16, raycastInfo3, 4));
test(mConeBody->raycast(ray16));
test(mConeShape->raycast(ray16));
test(mWorld->raycast(ray16)); test(mWorld->raycast(ray16));
} }
@ -928,6 +1088,10 @@ class TestRaycast : public Test {
test(!mWorld->raycast(ray1, raycastInfo3)); test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); 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(!mWorld->raycast(ray1));
test(!mConvexMeshBody->raycast(ray2, raycastInfo3)); test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
@ -935,6 +1099,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray2, raycastInfo3)); test(!mConvexMeshShape->raycast(ray2, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray2));
test(!mConvexMeshBody->raycast(ray3, raycastInfo3)); test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
@ -942,6 +1110,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray3, raycastInfo3)); test(!mConvexMeshShape->raycast(ray3, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray3));
test(!mConvexMeshBody->raycast(ray4, raycastInfo3)); test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
@ -949,6 +1121,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray4, raycastInfo3)); test(!mConvexMeshShape->raycast(ray4, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray4));
test(!mConvexMeshBody->raycast(ray5, raycastInfo3)); test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
@ -956,6 +1132,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray5, raycastInfo3)); test(!mConvexMeshShape->raycast(ray5, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray5));
test(!mConvexMeshBody->raycast(ray6, raycastInfo3)); test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
@ -963,6 +1143,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray6, raycastInfo3)); test(!mConvexMeshShape->raycast(ray6, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray6));
test(!mConvexMeshBody->raycast(ray7, raycastInfo3)); test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
@ -970,6 +1154,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray7, raycastInfo3)); test(!mConvexMeshShape->raycast(ray7, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray7));
test(!mConvexMeshBody->raycast(ray8, raycastInfo3)); test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
@ -977,6 +1165,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray8, raycastInfo3)); test(!mConvexMeshShape->raycast(ray8, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray8));
test(!mConvexMeshBody->raycast(ray9, raycastInfo3)); test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
@ -984,6 +1176,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray9, raycastInfo3)); test(!mConvexMeshShape->raycast(ray9, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3));
test(!mWorld->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(!mWorld->raycast(ray9));
test(!mConvexMeshBody->raycast(ray10, raycastInfo3)); test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
@ -991,6 +1187,10 @@ class TestRaycast : public Test {
test(!mConvexMeshShape->raycast(ray10, raycastInfo3)); test(!mConvexMeshShape->raycast(ray10, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray10, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray10, raycastInfo3));
test(!mWorld->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(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -1007,6 +1207,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); 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(mWorld->raycast(ray11));
test(mConvexMeshBody->raycast(ray12, raycastInfo3)); test(mConvexMeshBody->raycast(ray12, raycastInfo3));
@ -1015,6 +1219,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); 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(mWorld->raycast(ray12));
test(mConvexMeshBody->raycast(ray13, raycastInfo3)); test(mConvexMeshBody->raycast(ray13, raycastInfo3));
@ -1023,6 +1231,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); 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(mWorld->raycast(ray13));
test(mConvexMeshBody->raycast(ray14, raycastInfo3)); test(mConvexMeshBody->raycast(ray14, raycastInfo3));
@ -1031,6 +1243,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); 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(mWorld->raycast(ray14));
test(mConvexMeshBody->raycast(ray15, raycastInfo3)); test(mConvexMeshBody->raycast(ray15, raycastInfo3));
@ -1039,6 +1255,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); 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(mWorld->raycast(ray15));
test(mConvexMeshBody->raycast(ray16, raycastInfo3)); test(mConvexMeshBody->raycast(ray16, raycastInfo3));
@ -1047,6 +1267,10 @@ class TestRaycast : public Test {
test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4)); 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)); test(mWorld->raycast(ray16));
} }
@ -1144,51 +1368,71 @@ class TestRaycast : public Test {
test(!mWorld->raycast(ray1, raycastInfo3)); test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1)); test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100)); test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mCylinderBody->raycast(ray1));
test(!mCylinderShape->raycast(ray1));
test(!mWorld->raycast(ray1)); test(!mWorld->raycast(ray1));
test(!mCylinderBody->raycast(ray2, raycastInfo3)); test(!mCylinderBody->raycast(ray2, raycastInfo3));
test(!mCylinderShape->raycast(ray2, raycastInfo3)); test(!mCylinderShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3));
test(!mCylinderBody->raycast(ray2));
test(!mCylinderShape->raycast(ray2));
test(!mWorld->raycast(ray2)); test(!mWorld->raycast(ray2));
test(!mCylinderBody->raycast(ray3, raycastInfo3)); test(!mCylinderBody->raycast(ray3, raycastInfo3));
test(!mCylinderShape->raycast(ray3, raycastInfo3)); test(!mCylinderShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3));
test(!mCylinderBody->raycast(ray3));
test(!mCylinderShape->raycast(ray3));
test(!mWorld->raycast(ray3)); test(!mWorld->raycast(ray3));
test(!mCylinderBody->raycast(ray4, raycastInfo3)); test(!mCylinderBody->raycast(ray4, raycastInfo3));
test(!mCylinderShape->raycast(ray4, raycastInfo3)); test(!mCylinderShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3));
test(!mCylinderBody->raycast(ray4));
test(!mCylinderShape->raycast(ray4));
test(!mWorld->raycast(ray4)); test(!mWorld->raycast(ray4));
test(!mCylinderBody->raycast(ray5, raycastInfo3)); test(!mCylinderBody->raycast(ray5, raycastInfo3));
test(!mCylinderShape->raycast(ray5, raycastInfo3)); test(!mCylinderShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3));
test(!mCylinderBody->raycast(ray5));
test(!mCylinderShape->raycast(ray5));
test(!mWorld->raycast(ray5)); test(!mWorld->raycast(ray5));
test(!mCylinderBody->raycast(ray6, raycastInfo3)); test(!mCylinderBody->raycast(ray6, raycastInfo3));
test(!mCylinderShape->raycast(ray6, raycastInfo3)); test(!mCylinderShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3));
test(!mCylinderBody->raycast(ray6));
test(!mCylinderShape->raycast(ray6));
test(!mWorld->raycast(ray6)); test(!mWorld->raycast(ray6));
test(!mCylinderBody->raycast(ray7, raycastInfo3)); test(!mCylinderBody->raycast(ray7, raycastInfo3));
test(!mCylinderShape->raycast(ray7, raycastInfo3)); test(!mCylinderShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3));
test(!mCylinderBody->raycast(ray7));
test(!mCylinderShape->raycast(ray7));
test(!mWorld->raycast(ray7)); test(!mWorld->raycast(ray7));
test(!mCylinderBody->raycast(ray8, raycastInfo3)); test(!mCylinderBody->raycast(ray8, raycastInfo3));
test(!mCylinderShape->raycast(ray8, raycastInfo3)); test(!mCylinderShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3));
test(!mCylinderBody->raycast(ray8));
test(!mCylinderShape->raycast(ray8));
test(!mWorld->raycast(ray8)); test(!mWorld->raycast(ray8));
test(!mCylinderBody->raycast(ray9, raycastInfo3)); test(!mCylinderBody->raycast(ray9, raycastInfo3));
test(!mCylinderShape->raycast(ray9, raycastInfo3)); test(!mCylinderShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3));
test(!mCylinderBody->raycast(ray9));
test(!mCylinderShape->raycast(ray9));
test(!mWorld->raycast(ray9)); test(!mWorld->raycast(ray9));
test(!mCylinderBody->raycast(ray10, raycastInfo3)); test(!mCylinderBody->raycast(ray10, raycastInfo3));
test(!mCylinderShape->raycast(ray10, raycastInfo3)); test(!mCylinderShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3)); test(!mWorld->raycast(ray10, raycastInfo3));
test(!mCylinderBody->raycast(ray10));
test(!mCylinderShape->raycast(ray10));
test(!mWorld->raycast(ray10)); test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5)); test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
@ -1203,36 +1447,48 @@ class TestRaycast : public Test {
test(mCylinderShape->raycast(ray11, raycastInfo3)); test(mCylinderShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mCylinderBody->raycast(ray11));
test(mCylinderShape->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mCylinderBody->raycast(ray12, raycastInfo3)); test(mCylinderBody->raycast(ray12, raycastInfo3));
test(mCylinderShape->raycast(ray12, raycastInfo3)); test(mCylinderShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mCylinderBody->raycast(ray12));
test(mCylinderShape->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mCylinderBody->raycast(ray13, raycastInfo3)); test(mCylinderBody->raycast(ray13, raycastInfo3));
test(mCylinderShape->raycast(ray13, raycastInfo3)); test(mCylinderShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mCylinderBody->raycast(ray13));
test(mCylinderShape->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mCylinderBody->raycast(ray14, raycastInfo3)); test(mCylinderBody->raycast(ray14, raycastInfo3));
test(mCylinderShape->raycast(ray14, raycastInfo3)); test(mCylinderShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mCylinderBody->raycast(ray14));
test(mCylinderShape->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mCylinderBody->raycast(ray15, raycastInfo3)); test(mCylinderBody->raycast(ray15, raycastInfo3));
test(mCylinderShape->raycast(ray15, raycastInfo3)); test(mCylinderShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mCylinderBody->raycast(ray15));
test(mCylinderShape->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mCylinderBody->raycast(ray16, raycastInfo3)); test(mCylinderBody->raycast(ray16, raycastInfo3));
test(mCylinderShape->raycast(ray16, raycastInfo3)); test(mCylinderShape->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16, raycastInfo3, 4));
test(mCylinderBody->raycast(ray16));
test(mCylinderShape->raycast(ray16));
test(mWorld->raycast(ray16)); test(mWorld->raycast(ray16));
} }
@ -1255,31 +1511,37 @@ class TestRaycast : public Test {
test(mCompoundBody->raycast(ray1, raycastInfo)); test(mCompoundBody->raycast(ray1, raycastInfo));
test(mWorld->raycast(ray1, raycastInfo)); test(mWorld->raycast(ray1, raycastInfo));
test(mWorld->raycast(ray1, raycastInfo, 2)); test(mWorld->raycast(ray1, raycastInfo, 2));
test(mCompoundBody->raycast(ray1));
test(mWorld->raycast(ray1)); test(mWorld->raycast(ray1));
test(mCompoundBody->raycast(ray2, raycastInfo)); test(mCompoundBody->raycast(ray2, raycastInfo));
test(mWorld->raycast(ray2, raycastInfo)); test(mWorld->raycast(ray2, raycastInfo));
test(mWorld->raycast(ray2, raycastInfo, 2)); test(mWorld->raycast(ray2, raycastInfo, 2));
test(mCompoundBody->raycast(ray2));
test(mWorld->raycast(ray2)); test(mWorld->raycast(ray2));
test(mCompoundBody->raycast(ray3, raycastInfo)); test(mCompoundBody->raycast(ray3, raycastInfo));
test(mWorld->raycast(ray3, raycastInfo)); test(mWorld->raycast(ray3, raycastInfo));
test(mWorld->raycast(ray3, raycastInfo, 2)); test(mWorld->raycast(ray3, raycastInfo, 2));
test(mCompoundBody->raycast(ray3));
test(mWorld->raycast(ray3)); test(mWorld->raycast(ray3));
test(mCompoundBody->raycast(ray4, raycastInfo)); test(mCompoundBody->raycast(ray4, raycastInfo));
test(mWorld->raycast(ray4, raycastInfo)); test(mWorld->raycast(ray4, raycastInfo));
test(mWorld->raycast(ray4, raycastInfo, 2)); test(mWorld->raycast(ray4, raycastInfo, 2));
test(mCompoundBody->raycast(ray4));
test(mWorld->raycast(ray4)); test(mWorld->raycast(ray4));
test(mCompoundBody->raycast(ray5, raycastInfo)); test(mCompoundBody->raycast(ray5, raycastInfo));
test(mWorld->raycast(ray5, raycastInfo)); test(mWorld->raycast(ray5, raycastInfo));
test(mWorld->raycast(ray5, raycastInfo, 2)); test(mWorld->raycast(ray5, raycastInfo, 2));
test(mCompoundBody->raycast(ray5));
test(mWorld->raycast(ray5)); test(mWorld->raycast(ray5));
test(mCompoundBody->raycast(ray6, raycastInfo)); test(mCompoundBody->raycast(ray6, raycastInfo));
test(mWorld->raycast(ray6, raycastInfo)); test(mWorld->raycast(ray6, raycastInfo));
test(mWorld->raycast(ray6, raycastInfo, 4)); test(mWorld->raycast(ray6, raycastInfo, 4));
test(mCompoundBody->raycast(ray6));
test(mWorld->raycast(ray6)); test(mWorld->raycast(ray6));
// Raycast hit agains the cylinder shape // Raycast hit agains the cylinder shape
@ -1293,31 +1555,37 @@ class TestRaycast : public Test {
test(mCompoundBody->raycast(ray11, raycastInfo)); test(mCompoundBody->raycast(ray11, raycastInfo));
test(mWorld->raycast(ray11, raycastInfo)); test(mWorld->raycast(ray11, raycastInfo));
test(mWorld->raycast(ray11, raycastInfo, 2)); test(mWorld->raycast(ray11, raycastInfo, 2));
test(mCompoundBody->raycast(ray11));
test(mWorld->raycast(ray11)); test(mWorld->raycast(ray11));
test(mCompoundBody->raycast(ray12, raycastInfo)); test(mCompoundBody->raycast(ray12, raycastInfo));
test(mWorld->raycast(ray12, raycastInfo)); test(mWorld->raycast(ray12, raycastInfo));
test(mWorld->raycast(ray12, raycastInfo, 2)); test(mWorld->raycast(ray12, raycastInfo, 2));
test(mCompoundBody->raycast(ray12));
test(mWorld->raycast(ray12)); test(mWorld->raycast(ray12));
test(mCompoundBody->raycast(ray13, raycastInfo)); test(mCompoundBody->raycast(ray13, raycastInfo));
test(mWorld->raycast(ray13, raycastInfo)); test(mWorld->raycast(ray13, raycastInfo));
test(mWorld->raycast(ray13, raycastInfo, 2)); test(mWorld->raycast(ray13, raycastInfo, 2));
test(mCompoundBody->raycast(ray13));
test(mWorld->raycast(ray13)); test(mWorld->raycast(ray13));
test(mCompoundBody->raycast(ray14, raycastInfo)); test(mCompoundBody->raycast(ray14, raycastInfo));
test(mWorld->raycast(ray14, raycastInfo)); test(mWorld->raycast(ray14, raycastInfo));
test(mWorld->raycast(ray14, raycastInfo, 2)); test(mWorld->raycast(ray14, raycastInfo, 2));
test(mCompoundBody->raycast(ray14));
test(mWorld->raycast(ray14)); test(mWorld->raycast(ray14));
test(mCompoundBody->raycast(ray15, raycastInfo)); test(mCompoundBody->raycast(ray15, raycastInfo));
test(mWorld->raycast(ray15, raycastInfo)); test(mWorld->raycast(ray15, raycastInfo));
test(mWorld->raycast(ray15, raycastInfo, 2)); test(mWorld->raycast(ray15, raycastInfo, 2));
test(mCompoundBody->raycast(ray15));
test(mWorld->raycast(ray15)); test(mWorld->raycast(ray15));
test(mCompoundBody->raycast(ray16, raycastInfo)); test(mCompoundBody->raycast(ray16, raycastInfo));
test(mWorld->raycast(ray16, raycastInfo)); test(mWorld->raycast(ray16, raycastInfo));
test(mWorld->raycast(ray16, raycastInfo, 4)); test(mWorld->raycast(ray16, raycastInfo, 4));
test(mCompoundBody->raycast(ray16));
test(mWorld->raycast(ray16)); test(mWorld->raycast(ray16));
} }
}; };