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Add classes and tests for raycasting

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This commit is contained in:
Daniel Chappuis 2014-07-21 23:08:18 +02:00
parent b5bf3ea032
commit 5dd9ee826e
11 changed files with 1005 additions and 17 deletions
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2
CMakeLists.txt
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@ -81,6 +81,7 @@ SET (REACTPHYSICS3D_SOURCES
"src/collision/shapes/SphereShape.cpp"
"src/collision/BroadPhasePair.h"
"src/collision/BroadPhasePair.cpp"
"src/collision/RaycastInfo.h"
"src/collision/CollisionDetection.h"
"src/collision/CollisionDetection.cpp"
"src/constraint/BallAndSocketJoint.h"
@ -131,7 +132,6 @@ SET (REACTPHYSICS3D_SOURCES
"src/mathematics/Vector2.cpp"
"src/mathematics/Vector3.h"
"src/mathematics/Ray.h"
"src/mathematics/Ray.cpp"
"src/mathematics/Vector3.cpp"
"src/memory/MemoryAllocator.h"
"src/memory/MemoryAllocator.cpp"

2
src/body/Body.cpp
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@ -33,7 +33,7 @@ using namespace reactphysics3d;
// Constructor
Body::Body(bodyindex id)
: mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true),
mIsSleeping(false), mSleepTime(0) {
mIsSleeping(false), mSleepTime(0), mUserData(NULL) {
}

19
src/body/Body.h
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@ -62,6 +62,9 @@ class Body {
/// Elapsed time since the body velocity was bellow the sleep velocity
decimal mSleepTime;
/// Pointer that can be used to attach user data to the body
void* mUserData;
// -------------------- Methods -------------------- //
/// Private copy-constructor
@ -98,6 +101,12 @@ class Body {
/// Set the variable to know whether or not the body is sleeping
virtual void setIsSleeping(bool isSleeping);
/// Return a pointer to the user data attached to this body
void* getUserData() const;
/// Attach user data to this body
void setUserData(void* userData);
/// Smaller than operator
bool operator<(const Body& body2) const;
@ -157,6 +166,16 @@ inline void Body::setIsSleeping(bool isSleeping) {
mIsSleeping = isSleeping;
}
// Return a pointer to the user data attached to this body
inline void* Body::getUserData() const {
return mUserData;
}
// Attach user data to this body
inline void Body::setUserData(void* userData) {
mUserData = userData;
}
// Smaller than operator
inline bool Body::operator<(const Body& body2) const {
return (mID < body2.mID);

14
src/body/CollisionBody.h
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@ -33,6 +33,7 @@
#include "../mathematics/Transform.h"
#include "../collision/shapes/AABB.h"
#include "../collision/shapes/CollisionShape.h"
#include "../collision/RaycastInfo.h"
#include "../memory/MemoryAllocator.h"
#include "../configuration.h"
@ -161,6 +162,19 @@ class CollisionBody : public Body {
/// Return the first element of the linked list of contact manifolds involving this body
const ContactManifoldListElement* getContactManifoldsLists() const;
/// Return true if a point is inside the collision body
// TODO : Implement this method
bool testPointInside(const Vector3& worldPoint) const;
/// Raycast method
// TODO : Implement this method
bool raycast(const Ray& ray, decimal distance = INFINITY_DISTANCE) const;
/// Raycast method with feedback information
// TODO : Implement this method
bool raycast(const Ray& ray, RaycastInfo& raycastInfo,
decimal distance = INFINITY_DISTANCE) const;
// -------------------- Friendship -------------------- //
friend class CollisionWorld;

84
src/collision/RaycastInfo.h Normal file
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@ -0,0 +1,84 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef REACTPHYSICS3D_RAYCAST_INFO_H
#define REACTPHYSICS3D_RAYCAST_INFO_H
// Libraries
#include "../mathematics/Vector3.h"
#include "../body/CollisionBody.h"
#include "shapes/CollisionShape.h"
/// ReactPhysics3D namespace
namespace reactphysics3d {
// Structure RaycastInfo
/**
* This structure contains the information about a raycast hit.
*/
struct RaycastInfo {
private:
// -------------------- Methods -------------------- //
/// Private copy constructor
RaycastInfo(const RaycastInfo& raycastInfo);
/// Private assignment operator
RaycastInfo& operator=(const RaycastInfo& raycastInfo);
public:
// -------------------- Attributes -------------------- //
/// Hit point in world-space coordinates
Vector3 worldPoint;
/// Distance from the ray origin to the hit point
decimal distance;
/// Pointer to the hit collision body
CollisionBody* body;
/// Pointer to the hit proxy collision shape
ProxyShape* proxyShape;
// -------------------- Methods -------------------- //
/// Constructor
RaycastInfo() : body(NULL), proxyShape(NULL) {
}
/// Destructor
~RaycastInfo() {
}
};
}
#endif

9
src/collision/shapes/CollisionShape.h
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@ -31,7 +31,9 @@
#include <typeinfo>
#include "../../mathematics/Vector3.h"
#include "../../mathematics/Matrix3x3.h"
#include "../../mathematics/Ray.h"
#include "AABB.h"
#include "../RaycastInfo.h"
#include "../../memory/MemoryAllocator.h"
/// ReactPhysics3D namespace
@ -200,6 +202,13 @@ class ProxyShape {
/// Return the current object margin
virtual decimal getMargin() const=0;
/// Raycast method
virtual bool raycast(const Ray& ray, decimal distance = INFINITY_DISTANCE) const=0;
/// Raycast method with feedback information
virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo,
decimal distance = INFINITY_DISTANCE) const=0;
// -------------------- Friendship -------------------- //
friend class OverlappingPair;

10
src/engine/CollisionWorld.h
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@ -34,6 +34,7 @@
#include "../mathematics/mathematics.h"
#include "Profiler.h"
#include "../body/CollisionBody.h"
#include "../collision/RaycastInfo.h"
#include "OverlappingPair.h"
#include "../collision/CollisionDetection.h"
#include "../constraint/Joint.h"
@ -119,6 +120,15 @@ class CollisionWorld {
/// Destroy a collision body
void destroyCollisionBody(CollisionBody* collisionBody);
/// Raycast method
// TODO : Implement this method
bool raycast(const Ray& ray, decimal distance = INFINITY_DISTANCE) const;
/// Raycast method with feedback information
// TODO : Implement this method
bool raycast(const Ray& ray, RaycastInfo& raycastInfo,
decimal distance = INFINITY_DISTANCE) const;
// -------------------- Friendship -------------------- //
friend class CollisionDetection;

20
src/mathematics/Ray.h
View File

@ -51,26 +51,30 @@ struct Ray {
// -------------------- Methods -------------------- //
/// Constructor with arguments
Ray(const Vector3& originPoint, const Vector3& directionVector);
Ray(const Vector3& originPoint, const Vector3& directionVector)
: origin(originPoint), direction(directionVector) {
}
/// Copy-constructor
Ray(const Ray& ray);
Ray(const Ray& ray) : origin(ray.origin), direction(ray.direction) {
}
/// Destructor
~Ray();
~Ray() {
}
/// Overloaded assignment operator
Ray& operator=(const Ray& ray);
};
// Assignment operator
inline Ray& Ray::operator=(const Ray& ray) {
Ray& operator=(const Ray& ray) {
if (&ray != this) {
origin = ray.origin;
direction = ray.direction;
}
return *this;
}
};
}

7
test/main.cpp
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@ -31,6 +31,8 @@
#include "tests/mathematics/TestQuaternion.h"
#include "tests/mathematics/TestMatrix2x2.h"
#include "tests/mathematics/TestMatrix3x3.h"
#include "tests/collision/TestPointInside.h"
#include "tests/collision/TestRaycast.h"
using namespace reactphysics3d;
@ -47,7 +49,10 @@ int main() {
testSuite.addTest(new TestMatrix3x3);
testSuite.addTest(new TestMatrix2x2);
// ----------------------------- --------- //
// ---------- Collision Detection tests ---------- //
testSuite.addTest(new TestPointInside);
testSuite.addTest(new TestRaycast);
// Run the tests
testSuite.run();

1
test/tests/collision/TestPointInside.h
View File

@ -122,7 +122,6 @@ class TestPointInside : public Test {
ConeShape coneShape(2, 6, 0);
mConeShape = mConeBody->addCollisionShape(coneShape, shapeTransform);
// TODO : IMPLEMENT THIS
ConvexMeshShape convexMeshShape(0); // Box of dimension (2, 3, 4)
convexMeshShape.addVertex(Vector3(-2, -3, 4));
convexMeshShape.addVertex(Vector3(2, -3, 4));

844
test/tests/collision/TestRaycast.h Normal file
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@ -0,0 +1,844 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef TEST_RAYCAST_H
#define TEST_RAYCAST_H
// Libraries
#include "../../Test.h"
#include "../../src/engine/CollisionWorld.h"
#include "../../src/body/CollisionBody.h"
#include "../../src/collision/shapes/BoxShape.h"
#include "../../src/collision/shapes/SphereShape.h"
#include "../../src/collision/shapes/CapsuleShape.h"
#include "../../src/collision/shapes/ConeShape.h"
#include "../../src/collision/shapes/ConvexMeshShape.h"
#include "../../src/collision/shapes/CylinderShape.h"
/// Reactphysics3D namespace
namespace reactphysics3d {
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestRaycast : public Test {
private :
// ---------- Atributes ---------- //
// Physics world
DynamicsWorld* mWorld;
// Bodies
CollisionBody* mBoxBody;
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConeBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mConvexMeshBodyEdgesInfo;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
// Transform
Transform mBodyTransform;
Transform mShapeTransform;
Transform mLocalShapeToWorld;
Transform mLocalShape2ToWorld;
// Collision Shapes
ProxyBoxShape* mBoxShape;
ProxySphereShape* mSpherShape;
ProxyCapsuleShape* mCapsuleShape;
ProxyConeShape* mConeShape;
ProxyConvexMeshShape* mConvexMeshShape;
ProxyConvexMeshShape* mConvexMeshShapeEdgesInfo;
ProxyCylinderShape* mCylinderShape;
public :
// ---------- Methods ---------- //
/// Constructor
TestRaycast() {
// Create the world
mWorld = new rp3d::CollisionWorld();
// Body transform
Vector3 position(-3, 2, 7);
Quaternion orientation(PI / 5, PI / 6, PI / 7);
mBodyTransform = Transform(position, orientation);
// Create the bodies
mBoxBody = mWorld->createCollisionBody(bodyTransform);
mSphereBody = mWorld->createCollisionBody(bodyTransform);
mCapsuleBody = mWorld->createCollisionBody(bodyTransform);
mConeBody = mWorld->createCollisionBody(bodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(bodyTransform);
mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(bodyTransform);
mCylinderBody = mWorld->createCollisionBody(bodyTransform);
// Collision shape transform
Vector3 shapePosition(1, -4, -3);
Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
mShapeTransform = Transform(shapePosition, shapeOrientation);
// Compute the the transform from a local shape point to world-space
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
// Create collision shapes
BoxShape boxShape(Vector3(2, 3, 4), 0);
mBoxShape = mBoxBody->addCollisionShape(boxShape, shapeTransform);
SphereShape sphereShape(3);
mSphereShape = mSphereBody->addCollisionShape(sphereShape, shapeTransform);
CapsuleShape capsuleShape(2, 10);
mCapsuleShape = mCapsuleBody->addCollisionShape(capsuleShape, shapeTransform);
ConeShape coneShape(2, 6, 0);
mConeShape = mConeBody->addCollisionShape(coneShape, shapeTransform);
ConvexMeshShape convexMeshShape(0); // Box of dimension (2, 3, 4)
convexMeshShape.addVertex(Vector3(-2, -3, 4));
convexMeshShape.addVertex(Vector3(2, -3, 4));
convexMeshShape.addVertex(Vector3(-2, -3, 4));
convexMeshShape.addVertex(Vector3(2, -3, -4));
convexMeshShape.addVertex(Vector3(-2, 3, 4));
convexMeshShape.addVertex(Vector3(2, 3, 4));
convexMeshShape.addVertex(Vector3(-2, 3, -4));
convexMeshShape.addVertex(Vector3(2, 3, -4));
mConvexMeshShape = mConvexMeshBody->addCollisionShape(convexMeshShape, shapeTransform);
ConvexMeshShape convexMeshShapeEdgesInfo(0);
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, -4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, -4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, -4));
convexMeshShapeEdgesInfo.addEdge(0, 1);
convexMeshShapeEdgesInfo.addEdge(1, 3);
convexMeshShapeEdgesInfo.addEdge(2, 3);
convexMeshShapeEdgesInfo.addEdge(0, 2);
convexMeshShapeEdgesInfo.addEdge(4, 5);
convexMeshShapeEdgesInfo.addEdge(5, 7);
convexMeshShapeEdgesInfo.addEdge(6, 7);
convexMeshShapeEdgesInfo.addEdge(4, 6);
convexMeshShapeEdgesInfo.addEdge(0, 4);
convexMeshShapeEdgesInfo.addEdge(1, 5);
convexMeshShapeEdgesInfo.addEdge(2, 6);
convexMeshShapeEdgesInfo.addEdge(3, 7);
convexMeshShapeEdgesInfo.setIsEdgesInformationUsed(true);
mConvexMeshShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
convexMeshShapeEdgesInfo);
CylinderShape cylinderShape(3, 8, 0);
mCylinderShape = mCylinderBody->addCollisionShape(cylinderShape, shapeTransform);
// Compound shape is a cylinder and a sphere
Vector3 positionShape2(Vector3(4, 2, -3));
Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
Transform shapeTransform2(positionShape2, orientationShape2);
mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
mCompoundBody->addCollisionShape(cylinderShape, shapeTransform);
mCompoundBody->addCollisionShape(sphereShape, shapeTransform2);
}
/// Run the tests
void run() {
testBox();
testSphere();
testCapsule();
testCone();
testConvexMesh();
testCylinder();
testCompound();
}
/// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testBox() {
// ----- Test feedback data ----- //
Vector3 origin = mLocalShapeToWorld * Vector3(1 , 2, 10);
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
Vector3 direction = mLocalToWorldMatrix * Vector3(0, 0, -5);
Ray ray(origin, direction);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
// CollisionWorld::raycast()
RaycastInfo raycastInfo;
test(mWorld->raycast(ray, raycastInfo));
test(raycastInfo.body == mBoxBody);
test(raycastInfo.proxyShape == mBoxShape);
test(approxEqual(raycastInfo.distance, 6));
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x));
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y));
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z));
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mBoxBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mBoxBody);
test(raycastInfo2.proxyShape == mBoxShape);
test(approxEqual(raycastInfo2.distance, 6));
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x));
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y));
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo3;
test(mBoxShape->raycast(ray, raycastInfo3));
test(raycastInfo3.body == mBoxBody);
test(raycastInfo3.proxyShape == mBoxShape);
test(approxEqual(raycastInfo3.distance, 6));
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x));
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y));
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z));
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 ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalToWorldMatrix * Vector3(-4, 0, 7));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalToWorldMatrix * Vector3(0, 5, 0));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
// ----- Test raycast miss ----- //
test(!mBoxBody->raycast(ray1, raycastInfo3));
test(!mBoxShape->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3));
test(!mWorld->raycast(ray1, raycastInfo3, 1));
test(!mWorld->raycast(ray1, raycastInfo3, 100));
test(!mWorld->raycast(ray1));
test(!mBoxBody->raycast(ray2, raycastInfo3));
test(!mBoxShape->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2, raycastInfo3));
test(!mWorld->raycast(ray2));
test(!mBoxBody->raycast(ray3, raycastInfo3));
test(!mBoxShape->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3, raycastInfo3));
test(!mWorld->raycast(ray3));
test(!mBoxBody->raycast(ray4, raycastInfo3));
test(!mBoxShape->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4, raycastInfo3));
test(!mWorld->raycast(ray4));
test(!mBoxBody->raycast(ray5, raycastInfo3));
test(!mBoxShape->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5, raycastInfo3));
test(!mWorld->raycast(ray5));
test(!mBoxBody->raycast(ray6, raycastInfo3));
test(!mBoxShape->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6, raycastInfo3));
test(!mWorld->raycast(ray6));
test(!mBoxBody->raycast(ray7, raycastInfo3));
test(!mBoxShape->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7, raycastInfo3));
test(!mWorld->raycast(ray7));
test(!mBoxBody->raycast(ray8, raycastInfo3));
test(!mBoxShape->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8, raycastInfo3));
test(!mWorld->raycast(ray8));
test(!mBoxBody->raycast(ray9, raycastInfo3));
test(!mBoxShape->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9, raycastInfo3));
test(!mWorld->raycast(ray9));
test(!mBoxBody->raycast(ray10, raycastInfo3));
test(!mBoxShape->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10, raycastInfo3));
test(!mWorld->raycast(ray10));
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
test(!mWorld->raycast(ray16, raycastInfo3, 2));
// ----- Test raycast hits ----- //
test(mBoxBody->raycast(ray11, raycastInfo3));
test(mBoxShape->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3));
test(mWorld->raycast(ray11, raycastInfo3, 2));
test(mWorld->raycast(ray11));
test(mBoxBody->raycast(ray12, raycastInfo3));
test(mBoxShape->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3));
test(mWorld->raycast(ray12, raycastInfo3, 2));
test(mWorld->raycast(ray12));
test(mBoxBody->raycast(ray13, raycastInfo3));
test(mBoxShape->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3));
test(mWorld->raycast(ray13, raycastInfo3, 2));
test(mWorld->raycast(ray13));
test(mBoxBody->raycast(ray14, raycastInfo3));
test(mBoxShape->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3));
test(mWorld->raycast(ray14, raycastInfo3, 2));
test(mWorld->raycast(ray14));
test(mBoxBody->raycast(ray15, raycastInfo3));
test(mBoxShape->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3));
test(mWorld->raycast(ray15, raycastInfo3, 2));
test(mWorld->raycast(ray15));
test(mBoxBody->raycast(ray16, raycastInfo3));
test(mBoxShape->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3));
test(mWorld->raycast(ray16, raycastInfo3, 4));
test(mWorld->raycast(ray16));
}
/// Test the ProxySphereShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testSphere() {
// Tests with CollisionBody
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
// Tests with ProxySphereShape
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
}
/// Test the ProxyCapsuleShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCapsule() {
// Tests with CollisionBody
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
// Tests with ProxyCapsuleShape
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
}
/// Test the ProxyConeShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCone() {
// Tests with CollisionBody
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
// Tests with ProxyConeShape
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
}
/// Test the ProxyConvexMeshShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testConvexMesh() {
// ----- Tests without using edges information ----- //
// Tests with CollisionBody
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// ----- Tests using edges information ----- //
// Tests with CollisionBody
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
}
/// Test the ProxyCylinderShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCylinder() {
// Tests with CollisionBody
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
test(!!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
// Tests with ProxyCylinderShape
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
test(!!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
}
/// Test the CollisionBody::testPointInside() method
void testCompound() {
// Points on the cylinder
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
// Points on the sphere
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5)));
}
};
}
#endif