Update raycasting test code for convex mesh and remove commented code
This commit is contained in:
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624e01b595
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@ -110,7 +110,6 @@ class TestRaycast : public Test {
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CollisionBody* mSphereBody;
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CollisionBody* mCapsuleBody;
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CollisionBody* mConvexMeshBody;
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CollisionBody* mConvexMeshBodyEdgesInfo;
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CollisionBody* mCylinderBody;
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CollisionBody* mCompoundBody;
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CollisionBody* mTriangleBody;
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@ -128,7 +127,6 @@ class TestRaycast : public Test {
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SphereShape* mSphereShape;
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CapsuleShape* mCapsuleShape;
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ConvexMeshShape* mConvexMeshShape;
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ConvexMeshShape* mConvexMeshShapeEdgesInfo;
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TriangleShape* mTriangleShape;
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ConcaveShape* mConcaveMeshShape;
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HeightFieldShape* mHeightFieldShape;
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@ -138,7 +136,6 @@ class TestRaycast : public Test {
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ProxyShape* mSphereProxyShape;
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ProxyShape* mCapsuleProxyShape;
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ProxyShape* mConvexMeshProxyShape;
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ProxyShape* mConvexMeshProxyShapeEdgesInfo;
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ProxyShape* mCompoundSphereProxyShape;
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ProxyShape* mCompoundCapsuleProxyShape;
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ProxyShape* mTriangleProxyShape;
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@ -152,6 +149,11 @@ class TestRaycast : public Test {
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std::vector<uint> mConcaveMeshIndices;
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TriangleVertexArray* mConcaveMeshVertexArray;
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float mHeightFieldData[100];
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PolygonVertexArray::PolygonFace mPolygonFaces[6];
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PolygonVertexArray* mPolygonVertexArray;
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PolyhedronMesh* mPolyhedronMesh;
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Vector3 mPolyhedronVertices[8];
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int mPolyhedronIndices[4 * 6];
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public :
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@ -175,7 +177,6 @@ class TestRaycast : public Test {
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mSphereBody = mWorld->createCollisionBody(mBodyTransform);
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mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
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mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
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mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
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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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@ -200,51 +201,47 @@ class TestRaycast : public Test {
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const Vector3 triangleVertex1(100, 100, 0);
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const Vector3 triangleVertex2(105, 100, 0);
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const Vector3 triangleVertex3(100, 103, 0);
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mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3);
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Vector3 triangleVerticesNormals[3] = {Vector3(0, 0, 1), Vector3(0, 0, 1), Vector3(0, 0, 1)};
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mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3, triangleVerticesNormals, 0, 0);
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mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform);
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mCapsuleShape = new CapsuleShape(2, 5);
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mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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// TODO : Create convex mesh shape with new way (polyhedron mesh) to add test again
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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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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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mConvexMeshShape->addVertex(Vector3(2, 3, 4));
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mConvexMeshShape->addVertex(Vector3(-2, 3, 4));
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
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// Box of extents (2, 3, 4)
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mPolyhedronVertices[0] = Vector3(-2, -3, -4);
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mPolyhedronVertices[1] = Vector3(2, -3, -4);
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mPolyhedronVertices[2] = Vector3(2, -3, 4);
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mPolyhedronVertices[3] = Vector3(-2, -3, 4);
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mPolyhedronVertices[4] = Vector3(-2, 3, -4);
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mPolyhedronVertices[5] = Vector3(2, 3, -4);
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mPolyhedronVertices[6] = Vector3(2, 3, 4);
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mPolyhedronVertices[7] = Vector3(-2, 3, 4);
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mConvexMeshShapeEdgesInfo = new ConvexMeshShape(0.0);
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, 4));
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mConvexMeshShapeEdgesInfo->addEdge(0, 1);
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mConvexMeshShapeEdgesInfo->addEdge(1, 2);
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mConvexMeshShapeEdgesInfo->addEdge(2, 3);
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mConvexMeshShapeEdgesInfo->addEdge(0, 3);
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mConvexMeshShapeEdgesInfo->addEdge(4, 5);
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mConvexMeshShapeEdgesInfo->addEdge(5, 6);
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mConvexMeshShapeEdgesInfo->addEdge(6, 7);
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mConvexMeshShapeEdgesInfo->addEdge(4, 7);
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mConvexMeshShapeEdgesInfo->addEdge(0, 4);
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mConvexMeshShapeEdgesInfo->addEdge(1, 5);
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mConvexMeshShapeEdgesInfo->addEdge(2, 6);
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mConvexMeshShapeEdgesInfo->addEdge(3, 7);
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mConvexMeshShapeEdgesInfo->setIsEdgesInformationUsed(true);
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mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
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mConvexMeshShapeEdgesInfo,
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mShapeTransform);
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*/
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mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 1; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 3;
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mPolyhedronIndices[4] = 1; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 2;
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mPolyhedronIndices[8] = 0; mPolyhedronIndices[9] = 4; mPolyhedronIndices[10] = 5; mPolyhedronIndices[11] = 1;
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mPolyhedronIndices[12] = 0; mPolyhedronIndices[13] = 3; mPolyhedronIndices[14] = 7; mPolyhedronIndices[15] = 4;
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mPolyhedronIndices[16] = 3; mPolyhedronIndices[17] = 2; mPolyhedronIndices[18] = 6; mPolyhedronIndices[19] = 7;
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mPolyhedronIndices[20] = 2; mPolyhedronIndices[21] = 5; mPolyhedronIndices[22] = 4; mPolyhedronIndices[23] = 7;
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// Polygon faces descriptions for the polyhedron
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for (int f=0; f < 8; f++) {
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PolygonVertexArray::PolygonFace& face = mPolygonFaces[f];
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face.indexBase = f * 4;
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face.nbVertices = 4;
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}
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// Create the polygon vertex array
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mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3),
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mPolyhedronIndices, sizeof(int), 6, mPolygonFaces,
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PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
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PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
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mPolyhedronMesh = new PolyhedronMesh(mPolygonVertexArray);
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mConvexMeshShape = new ConvexMeshShape(mPolyhedronMesh);
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
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// Compound shape is a cylinder and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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@ -300,8 +297,7 @@ class TestRaycast : public Test {
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mBoxProxyShape->setCollisionCategoryBits(CATEGORY1);
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mSphereProxyShape->setCollisionCategoryBits(CATEGORY1);
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mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1);
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//mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
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//mConvexMeshProxyShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2);
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mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
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mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
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mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2);
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mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
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@ -314,13 +310,15 @@ class TestRaycast : public Test {
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delete mBoxShape;
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delete mSphereShape;
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delete mCapsuleShape;
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//delete mConvexMeshShape;
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//delete mConvexMeshShapeEdgesInfo;
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delete mConvexMeshShape;
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delete mTriangleShape;
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delete mConcaveMeshShape;
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delete mHeightFieldShape;
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delete mConcaveMeshVertexArray;
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delete mPolygonVertexArray;
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delete mPolyhedronMesh;
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}
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/// Run the tests
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@ -1299,7 +1297,6 @@ class TestRaycast : public Test {
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/// CollisionWorld::raycast() methods.
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void testConvexMesh() {
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/*
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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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@ -1339,16 +1336,6 @@ class TestRaycast : public Test {
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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(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3));
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test(raycastInfo3.body == mConvexMeshBodyEdgesInfo);
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test(raycastInfo3.proxyShape == mConvexMeshProxyShapeEdgesInfo);
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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(mConvexMeshProxyShape->raycast(ray, raycastInfo4));
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@ -1359,16 +1346,6 @@ class TestRaycast : public Test {
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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(mConvexMeshProxyShapeEdgesInfo->raycast(ray, raycastInfo5));
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test(raycastInfo5.body == mConvexMeshBodyEdgesInfo);
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test(raycastInfo5.proxyShape == mConvexMeshProxyShapeEdgesInfo);
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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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@ -1387,10 +1364,9 @@ class TestRaycast : public Test {
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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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RaycastInfo raycastInfo3;
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test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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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@ -1402,73 +1378,55 @@ class TestRaycast : public Test {
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test(!mCallback.isHit);
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test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray3, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray4, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray5, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray6, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray7, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray8, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray9, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray10, raycastInfo3));
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test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
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test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3));
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test(!mConvexMeshProxyShapeEdgesInfo->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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@ -1494,9 +1452,7 @@ class TestRaycast : public Test {
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// ----- Test raycast hits ----- //
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test(mConvexMeshBody->raycast(ray11, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray11, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->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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@ -1505,9 +1461,7 @@ class TestRaycast : public Test {
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test(mCallback.isHit);
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test(mConvexMeshBody->raycast(ray12, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray12, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->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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@ -1516,9 +1470,7 @@ class TestRaycast : public Test {
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test(mCallback.isHit);
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test(mConvexMeshBody->raycast(ray13, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray13, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->raycast(ray13, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray13, &mCallback);
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test(mCallback.isHit);
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@ -1527,9 +1479,7 @@ class TestRaycast : public Test {
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test(mCallback.isHit);
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test(mConvexMeshBody->raycast(ray14, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray14, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->raycast(ray14, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray14, &mCallback);
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test(mCallback.isHit);
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@ -1538,9 +1488,7 @@ class TestRaycast : public Test {
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test(mCallback.isHit);
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test(mConvexMeshBody->raycast(ray15, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray15, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->raycast(ray15, raycastInfo3));
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mCallback.reset();
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mWorld->raycast(ray15, &mCallback);
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test(mCallback.isHit);
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@ -1549,16 +1497,13 @@ class TestRaycast : public Test {
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test(mCallback.isHit);
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test(mConvexMeshBody->raycast(ray16, raycastInfo3));
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test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
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test(mConvexMeshProxyShape->raycast(ray16, raycastInfo3));
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test(mConvexMeshProxyShapeEdgesInfo->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);
|
||||
*/
|
||||
}
|
||||
|
||||
/// Test the CollisionBody::raycast() and
|
||||
|
|
|
@ -40,13 +40,6 @@ ConvexMesh::ConvexMesh(const openglframework::Vector3 &position,
|
|||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4::identity();
|
||||
|
||||
// Vertex and Indices array for the triangle mesh (data in shared and not copied)
|
||||
/*mPolygonVertexArray =
|
||||
new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
|
||||
getNbFaces(0), &(mIndices[0][0]), sizeof(int),
|
||||
rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
|
||||
rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);*/
|
||||
|
||||
// Polygon faces descriptions for the polyhedron
|
||||
mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
|
||||
rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
|
||||
|
|
Loading…
Reference in New Issue
Block a user