Add raycasting unit tests for ConcaveMeshShape and HeightFieldShape
This commit is contained in:
Daniel Chappuis
parent
af1350e2e1
commit
274483aee2
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@ -37,8 +37,8 @@
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#include "collision/shapes/ConvexMeshShape.h"
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#include "collision/shapes/CylinderShape.h"
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#include "collision/shapes/TriangleShape.h"
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// TODO : Add test for concave shape here
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#include "collision/shapes/ConcaveMeshShape.h"
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#include "collision/shapes/HeightFieldShape.h"
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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@ -117,6 +117,8 @@ class TestRaycast : public Test {
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CollisionBody* mCylinderBody;
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CollisionBody* mCompoundBody;
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CollisionBody* mTriangleBody;
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CollisionBody* mConcaveMeshBody;
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CollisionBody* mHeightFieldBody;
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// Transform
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Transform mBodyTransform;
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@ -133,6 +135,8 @@ class TestRaycast : public Test {
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ConvexMeshShape* mConvexMeshShapeEdgesInfo;
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CylinderShape* mCylinderShape;
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TriangleShape* mTriangleShape;
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ConcaveShape* mConcaveMeshShape;
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HeightFieldShape* mHeightFieldShape;
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// Proxy Shapes
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ProxyShape* mBoxProxyShape;
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@ -145,6 +149,16 @@ class TestRaycast : public Test {
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ProxyShape* mCompoundSphereProxyShape;
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ProxyShape* mCompoundCylinderProxyShape;
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ProxyShape* mTriangleProxyShape;
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ProxyShape* mConcaveMeshProxyShape;
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ProxyShape* mHeightFieldProxyShape;
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// Triangle meshes
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TriangleMesh mConcaveTriangleMesh;
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std::vector<Vector3> mConcaveMeshVertices;
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std::vector<uint> mConcaveMeshIndices;
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float mHeightFieldData[25];
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public :
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@ -159,11 +173,8 @@ class TestRaycast : public Test {
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mWorld = new CollisionWorld();
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// Body transform
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// TODO : Uncomment this
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Vector3 position(-3, 2, 7);
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Quaternion orientation(PI / 5, PI / 6, PI / 7);
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// Vector3 position(0, 0, 0);
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// Quaternion orientation = Quaternion::identity();
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mBodyTransform = Transform(position, orientation);
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// Create the bodies
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@ -176,13 +187,12 @@ class TestRaycast : public Test {
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mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
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mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
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mTriangleBody = mWorld->createCollisionBody(mBodyTransform);
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mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform);
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mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform);
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// Collision shape transform
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// TODO : Uncomment this
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Vector3 shapePosition(1, -4, -3);
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Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
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// Vector3 shapePosition(0, 0, 0);
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// Quaternion shapeOrientation = Quaternion::identity();
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mShapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
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@ -207,7 +217,8 @@ class TestRaycast : public Test {
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mConeShape = new ConeShape(2, 6, 0);
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mConeProxyShape = mConeBody->addCollisionShape(mConeShape, mShapeTransform);
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mConvexMeshShape = new ConvexMeshShape(0.0); // Box of dimension (2, 3, 4)
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// Box of dimension (2, 3, 4)
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mConvexMeshShape = new ConvexMeshShape(0.0);
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mConvexMeshShape->addVertex(Vector3(-2, -3, -4));
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mConvexMeshShape->addVertex(Vector3(2, -3, -4));
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mConvexMeshShape->addVertex(Vector3(2, -3, 4));
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@ -255,6 +266,44 @@ class TestRaycast : public Test {
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mCompoundCylinderProxyShape = mCompoundBody->addCollisionShape(mCylinderShape, mShapeTransform);
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mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
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// Concave Mesh shape
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mConcaveMeshVertices.push_back(Vector3(-2, -3, -4));
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mConcaveMeshVertices.push_back(Vector3(2, -3, -4));
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mConcaveMeshVertices.push_back(Vector3(2, -3, 4));
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mConcaveMeshVertices.push_back(Vector3(-2, -3, 4));
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mConcaveMeshVertices.push_back(Vector3(-2, 3, -4));
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mConcaveMeshVertices.push_back(Vector3(2, 3, -4));
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mConcaveMeshVertices.push_back(Vector3(2, 3, 4));
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mConcaveMeshVertices.push_back(Vector3(-2, 3, 4));
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mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(2);
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mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(3);
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mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(2);
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mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(6);
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mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(3);
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mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(7);
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mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(4);
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mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(4);
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mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(1);
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mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(5);
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mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(6);
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mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(5);
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TriangleVertexArray* vertexArray =
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new TriangleVertexArray(8, &(mConcaveMeshVertices[0]), sizeof(Vector3),
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12, &(mConcaveMeshIndices[0]), sizeof(int),
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TriangleVertexArray::VERTEX_FLOAT_TYPE,
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TriangleVertexArray::INDEX_INTEGER_TYPE);
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// Add the triangle vertex array of the subpart to the triangle mesh
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mConcaveTriangleMesh.addSubpart(vertexArray);
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mConcaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh);
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mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform);
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// Heightfield shape (plane height field at height=4)
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for (int i=0; i<100; i++) mHeightFieldData[i] = 4;
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mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HEIGHT_FLOAT_TYPE);
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mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform);
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// Assign proxy shapes to the different categories
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mBoxProxyShape->setCollisionCategoryBits(CATEGORY1);
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mSphereProxyShape->setCollisionCategoryBits(CATEGORY1);
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@ -266,6 +315,8 @@ class TestRaycast : public Test {
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mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
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mCompoundCylinderProxyShape->setCollisionCategoryBits(CATEGORY2);
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mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
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mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
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mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2);
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}
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/// Destructor
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@ -278,6 +329,8 @@ class TestRaycast : public Test {
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delete mConvexMeshShapeEdgesInfo;
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delete mCylinderShape;
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delete mTriangleShape;
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delete mConcaveMeshShape;
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delete mHeightFieldShape;
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}
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/// Run the tests
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@ -290,6 +343,8 @@ class TestRaycast : public Test {
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testCylinder();
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testCompound();
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testTriangle();
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testConcaveMesh();
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testHeightField();
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}
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/// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and
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@ -2138,6 +2193,410 @@ class TestRaycast : public Test {
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mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
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test(mCallback.isHit);
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}
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void testConcaveMesh() {
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// ----- Test feedback data ----- //
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Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
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Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
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Ray ray(point1, point2);
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Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
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mCallback.shapeToTest = mConcaveMeshProxyShape;
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// CollisionWorld::raycast()
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mCallback.reset();
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mWorld->raycast(ray, &mCallback);
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test(mCallback.isHit);
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test(mCallback.raycastInfo.body == mConcaveMeshBody);
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test(mCallback.raycastInfo.proxyShape == mConcaveMeshProxyShape);
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test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
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// Correct category filter mask
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mCallback.reset();
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mWorld->raycast(ray, &mCallback, CATEGORY2);
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test(mCallback.isHit);
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// Wrong category filter mask
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mCallback.reset();
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mWorld->raycast(ray, &mCallback, CATEGORY1);
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test(!mCallback.isHit);
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// CollisionBody::raycast()
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RaycastInfo raycastInfo2;
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test(mConcaveMeshBody->raycast(ray, raycastInfo2));
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test(raycastInfo2.body == mConcaveMeshBody);
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test(raycastInfo2.proxyShape == mConcaveMeshProxyShape);
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test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
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test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo3;
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test(mConcaveMeshBody->raycast(ray, raycastInfo3));
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test(raycastInfo3.body == mConcaveMeshBody);
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test(raycastInfo3.proxyShape == mConcaveMeshProxyShape);
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test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
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test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo4;
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test(mConcaveMeshBody->raycast(ray, raycastInfo4));
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test(raycastInfo4.body == mConcaveMeshBody);
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test(raycastInfo4.proxyShape == mConcaveMeshProxyShape);
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test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
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test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo5;
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test(mConcaveMeshBody->raycast(ray, raycastInfo5));
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test(raycastInfo5.body == mConcaveMeshBody);
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test(raycastInfo5.proxyShape == mConcaveMeshProxyShape);
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test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
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test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));
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Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
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Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
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Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
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Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
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Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
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Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
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Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
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Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
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Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
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Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
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Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
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Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
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Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
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Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
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Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
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Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
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// ----- Test raycast miss ----- //
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test(!mConcaveMeshBody->raycast(ray1, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray1, &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray2, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray2, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray2, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray3, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray3, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray3, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray4, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray4, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray4, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray5, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray5, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray5, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray6, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray6, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray6, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray7, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray7, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray7, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray8, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray8, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray8, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray9, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray9, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray9, &mCallback);
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test(!mCallback.isHit);
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test(!mConcaveMeshBody->raycast(ray10, raycastInfo3));
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test(!mConcaveMeshProxyShape->raycast(ray10, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray10, &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
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test(!mCallback.isHit);
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// ----- Test raycast hits ----- //
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test(mConcaveMeshBody->raycast(ray11, raycastInfo3));
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test(mConcaveMeshProxyShape->raycast(ray11, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray11, &mCallback);
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test(mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
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test(mCallback.isHit);
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test(mConcaveMeshBody->raycast(ray12, raycastInfo3));
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test(mConcaveMeshProxyShape->raycast(ray12, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray12, &mCallback);
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test(mCallback.isHit);
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mCallback.reset();
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mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mConcaveMeshBody->raycast(ray13, raycastInfo3));
|
||||
test(mConcaveMeshProxyShape->raycast(ray13, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray13, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mConcaveMeshBody->raycast(ray14, raycastInfo3));
|
||||
test(mConcaveMeshProxyShape->raycast(ray14, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray14, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mConcaveMeshBody->raycast(ray15, raycastInfo3));
|
||||
test(mConcaveMeshProxyShape->raycast(ray15, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray15, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mConcaveMeshBody->raycast(ray16, raycastInfo3));
|
||||
test(mConcaveMeshProxyShape->raycast(ray16, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray16, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
}
|
||||
|
||||
void testHeightField() {
|
||||
|
||||
// ----- Test feedback data ----- //
|
||||
Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 10, 2);
|
||||
Vector3 point1B = mLocalShapeToWorld * Vector3(0, -10, 2);
|
||||
Ray ray(point1A, point1B);
|
||||
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 2, 2);
|
||||
|
||||
Vector3 point2A = mLocalShapeToWorld * Vector3(1 , 8, -4);
|
||||
Vector3 point2B = mLocalShapeToWorld * Vector3(1, -8, -4);
|
||||
Ray rayBottom(point2A, point2B);
|
||||
Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, 2, -4);
|
||||
|
||||
mCallback.shapeToTest = mHeightFieldProxyShape;
|
||||
|
||||
// CollisionWorld::raycast()
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
test(mCallback.raycastInfo.body == mHeightFieldBody);
|
||||
test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
||||
|
||||
// Correct category filter mask
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray, &mCallback, CATEGORY2);
|
||||
test(mCallback.isHit);
|
||||
|
||||
// Wrong category filter mask
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray, &mCallback, CATEGORY1);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
// CollisionBody::raycast()
|
||||
RaycastInfo raycastInfo2;
|
||||
test(mHeightFieldBody->raycast(ray, raycastInfo2));
|
||||
test(raycastInfo2.body == mHeightFieldBody);
|
||||
test(raycastInfo2.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon));
|
||||
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
|
||||
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
|
||||
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
|
||||
|
||||
// ProxyCollisionShape::raycast()
|
||||
RaycastInfo raycastInfo3;
|
||||
test(mHeightFieldProxyShape->raycast(ray, raycastInfo3));
|
||||
test(raycastInfo3.body == mHeightFieldBody);
|
||||
test(raycastInfo3.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon));
|
||||
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
|
||||
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
|
||||
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
|
||||
|
||||
mCallback.reset();
|
||||
mWorld->raycast(rayBottom, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
test(mCallback.raycastInfo.body == mHeightFieldBody);
|
||||
test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon));
|
||||
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon));
|
||||
|
||||
// CollisionBody::raycast()
|
||||
RaycastInfo raycastInfo5;
|
||||
test(mHeightFieldBody->raycast(rayBottom, raycastInfo5));
|
||||
test(raycastInfo5.body == mHeightFieldBody);
|
||||
test(raycastInfo5.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), epsilon));
|
||||
test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon));
|
||||
test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon));
|
||||
test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon));
|
||||
|
||||
// ProxyCollisionShape::raycast()
|
||||
RaycastInfo raycastInfo6;
|
||||
test(mHeightFieldProxyShape->raycast(rayBottom, raycastInfo6));
|
||||
test(raycastInfo6.body == mHeightFieldBody);
|
||||
test(raycastInfo6.proxyShape == mHeightFieldProxyShape);
|
||||
test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), epsilon));
|
||||
test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon));
|
||||
test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon));
|
||||
test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon));
|
||||
|
||||
Ray ray1(mLocalShapeToWorld * Vector3(0, 5, 0), mLocalShapeToWorld * Vector3(5, 7, 5));
|
||||
Ray ray2(mLocalShapeToWorld * Vector3(-4, -4, 7), mLocalShapeToWorld * Vector3(-4, 15, 7));
|
||||
Ray ray3(mLocalShapeToWorld * Vector3(23, 7, 2), mLocalShapeToWorld * Vector3(23, 1, 2));
|
||||
Ray ray4(mLocalShapeToWorld * Vector3(10, 3, 10), mLocalShapeToWorld * Vector3(22, 3, 31));
|
||||
Ray ray5(mLocalShapeToWorld * Vector3(4, 10, -1), mLocalShapeToWorld * Vector3(4, 3, -1));
|
||||
|
||||
Ray ray11(mLocalShapeToWorld * Vector3(3, 15, 0.5), mLocalShapeToWorld * Vector3(3, 1, 0.5));
|
||||
Ray ray12(mLocalShapeToWorld * Vector3(0, 45, 0), mLocalShapeToWorld * Vector3(0, -5, 0));
|
||||
Ray ray13(mLocalShapeToWorld * Vector3(1, 23, 2), mLocalShapeToWorld * Vector3(1, -23, 2));
|
||||
Ray ray14(mLocalShapeToWorld * Vector3(3, 8, 3), mLocalShapeToWorld * Vector3(3, 0, 3));
|
||||
|
||||
// ----- Test raycast miss ----- //
|
||||
test(!mHeightFieldBody->raycast(ray1, raycastInfo3));
|
||||
test(!mHeightFieldProxyShape->raycast(ray1, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray1, &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
test(!mHeightFieldBody->raycast(ray2, raycastInfo3));
|
||||
test(!mHeightFieldProxyShape->raycast(ray2, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray2, &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
test(!mHeightFieldBody->raycast(ray3, raycastInfo3));
|
||||
test(!mHeightFieldProxyShape->raycast(ray3, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray3, &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
test(!mHeightFieldBody->raycast(ray4, raycastInfo3));
|
||||
test(!mHeightFieldProxyShape->raycast(ray4, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4, &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
test(!mHeightFieldBody->raycast(ray5, raycastInfo3));
|
||||
test(!mHeightFieldProxyShape->raycast(ray5, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5, &mCallback);
|
||||
test(!mCallback.isHit);
|
||||
|
||||
mCallback.reset();
|
||||
|
||||
// ----- Test raycast hits ----- //
|
||||
test(mHeightFieldBody->raycast(ray11, raycastInfo3));
|
||||
test(mHeightFieldProxyShape->raycast(ray11, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray11, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.95)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mHeightFieldBody->raycast(ray12, raycastInfo3));
|
||||
test(mHeightFieldProxyShape->raycast(ray12, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray12, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.87)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mHeightFieldBody->raycast(ray13, raycastInfo3));
|
||||
test(mHeightFieldProxyShape->raycast(ray13, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray13, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
|
||||
test(mHeightFieldBody->raycast(ray14, raycastInfo3));
|
||||
test(mHeightFieldProxyShape->raycast(ray14, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray14, &mCallback);
|
||||
test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
|
||||
test(mCallback.isHit);
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user