/******************************************************************************** * 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 "engine/CollisionWorld.h" #include "body/CollisionBody.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConeShape.h" #include "collision/shapes/ConvexMeshShape.h" #include "collision/shapes/CylinderShape.h" /// Reactphysics3D namespace namespace reactphysics3d { // Class TestPointInside /** * Unit test for the CollisionBody::testPointInside() method. */ class TestRaycast : public Test { private : // ---------- Atributes ---------- // // Epsilon decimal epsilon; // Physics world CollisionWorld* 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 ProxyShape* mBoxShape; ProxyShape* mSphereShape; ProxyShape* mCapsuleShape; ProxyShape* mConeShape; ProxyShape* mConvexMeshShape; ProxyShape* mConvexMeshShapeEdgesInfo; ProxyShape* mCylinderShape; public : // ---------- Methods ---------- // /// Constructor TestRaycast(const std::string& name) : Test(name) { epsilon = 0.0001; // Create the world mWorld = new 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(mBodyTransform); mSphereBody = mWorld->createCollisionBody(mBodyTransform); mCapsuleBody = mWorld->createCollisionBody(mBodyTransform); mConeBody = mWorld->createCollisionBody(mBodyTransform); mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform); mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform); mCylinderBody = mWorld->createCollisionBody(mBodyTransform); mCompoundBody = mWorld->createCollisionBody(mBodyTransform); // 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, mShapeTransform); SphereShape sphereShape(3); mSphereShape = mSphereBody->addCollisionShape(sphereShape, mShapeTransform); CapsuleShape capsuleShape(2, 5); mCapsuleShape = mCapsuleBody->addCollisionShape(capsuleShape, mShapeTransform); ConeShape coneShape(2, 6, 0); mConeShape = mConeBody->addCollisionShape(coneShape, mShapeTransform); 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, mShapeTransform); 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, 2); convexMeshShapeEdgesInfo.addEdge(2, 3); convexMeshShapeEdgesInfo.addEdge(0, 3); convexMeshShapeEdgesInfo.addEdge(4, 5); convexMeshShapeEdgesInfo.addEdge(5, 6); convexMeshShapeEdgesInfo.addEdge(6, 7); convexMeshShapeEdgesInfo.addEdge(4, 7); convexMeshShapeEdgesInfo.addEdge(0, 4); convexMeshShapeEdgesInfo.addEdge(1, 5); convexMeshShapeEdgesInfo.addEdge(2, 6); convexMeshShapeEdgesInfo.addEdge(3, 7); convexMeshShapeEdgesInfo.setIsEdgesInformationUsed(true); mConvexMeshShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape( convexMeshShapeEdgesInfo, mShapeTransform); CylinderShape cylinderShape(2, 5, 0); mCylinderShape = mCylinderBody->addCollisionShape(cylinderShape, mShapeTransform); // 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, mShapeTransform); 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, epsilon)); test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // CollisionBody::raycast() RaycastInfo raycastInfo2; test(mBoxBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mBoxBody); test(raycastInfo2.proxyShape == mBoxShape); test(approxEqual(raycastInfo2.distance, 6, 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(mBoxShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mBoxBody); test(raycastInfo3.proxyShape == mBoxShape); test(approxEqual(raycastInfo3.distance, 6, 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)); 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::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testSphere() { // ----- Test feedback data ----- // Vector3 origin = mLocalShapeToWorld * Vector3(-8 , 0, 0); const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix(); Vector3 direction = mLocalToWorldMatrix * Vector3(5, 0, 0); Ray ray(origin, direction); Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0); // CollisionWorld::raycast() RaycastInfo raycastInfo; test(mWorld->raycast(ray, raycastInfo)); test(raycastInfo.body == mSphereBody); test(raycastInfo.proxyShape == mSphereShape); test(approxEqual(raycastInfo.distance, 5, epsilon)); test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // CollisionBody::raycast() RaycastInfo raycastInfo2; test(mSphereBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mSphereBody); test(raycastInfo2.proxyShape == mSphereShape); test(approxEqual(raycastInfo2.distance, 5, 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(mSphereShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mSphereBody); test(raycastInfo3.proxyShape == mSphereShape); test(approxEqual(raycastInfo3.distance, 5, 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)); 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, 2), mLocalToWorldMatrix * Vector3(-4, 0, 7)); Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7)); Ray ray5(mLocalShapeToWorld * Vector3(4, 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, -4), mLocalToWorldMatrix * Vector3(0, 5, 0)); Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8)); Ray ray11(mLocalShapeToWorld * Vector3(4, 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(-5, 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, -11), mLocalToWorldMatrix * Vector3(0, 0, 8)); // ----- Test raycast miss ----- // test(!mSphereBody->raycast(ray1, raycastInfo3)); test(!mSphereShape->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(!mSphereBody->raycast(ray2, raycastInfo3)); test(!mSphereShape->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2)); test(!mSphereBody->raycast(ray3, raycastInfo3)); test(!mSphereShape->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3)); test(!mSphereBody->raycast(ray4, raycastInfo3)); test(!mSphereShape->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4)); test(!mSphereBody->raycast(ray5, raycastInfo3)); test(!mSphereShape->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5)); test(!mSphereBody->raycast(ray6, raycastInfo3)); test(!mSphereShape->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6)); test(!mSphereBody->raycast(ray7, raycastInfo3)); test(!mSphereShape->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7)); test(!mSphereBody->raycast(ray8, raycastInfo3)); test(!mSphereShape->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8)); test(!mSphereBody->raycast(ray9, raycastInfo3)); test(!mSphereShape->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9)); test(!mSphereBody->raycast(ray10, raycastInfo3)); test(!mSphereShape->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(mSphereBody->raycast(ray11, raycastInfo3)); test(mSphereShape->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11)); test(mSphereBody->raycast(ray12, raycastInfo3)); test(mSphereShape->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12)); test(mSphereBody->raycast(ray13, raycastInfo3)); test(mSphereShape->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13)); test(mSphereBody->raycast(ray14, raycastInfo3)); test(mSphereShape->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14)); test(mSphereBody->raycast(ray15, raycastInfo3)); test(mSphereShape->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15)); test(mSphereBody->raycast(ray16, raycastInfo3)); test(mSphereShape->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16)); } /// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testCapsule() { // ----- Test feedback data ----- // Vector3 origin = mLocalShapeToWorld * Vector3(0 , 10, 0); const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix(); Vector3 direction = mLocalToWorldMatrix * Vector3(0, -3, 0); Ray ray(origin, direction); Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 7, 0); // CollisionWorld::raycast() RaycastInfo raycastInfo; test(mWorld->raycast(ray, raycastInfo)); test(raycastInfo.body == mCapsuleBody); test(raycastInfo.proxyShape == mCapsuleShape); 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(mCapsuleBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mCapsuleBody); test(raycastInfo2.proxyShape == mCapsuleShape); 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(mCapsuleShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mCapsuleBody); test(raycastInfo3.proxyShape == mCapsuleShape); 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, 3, -1), mLocalToWorldMatrix * Vector3(-4, 0, 7)); Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7)); Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0)); Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalToWorldMatrix * Vector3(0, -2, 0)); Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalToWorldMatrix * Vector3(0, 0, -2)); Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalToWorldMatrix * Vector3(1, 0, 0)); Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalToWorldMatrix * Vector3(0, 5, 0)); Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8)); Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0)); Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0)); Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8)); Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0)); Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0)); Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8)); // ----- Test raycast miss ----- // test(!mCapsuleBody->raycast(ray1, raycastInfo3)); test(!mCapsuleShape->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(!mCapsuleBody->raycast(ray2, raycastInfo3)); test(!mCapsuleShape->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2)); test(!mCapsuleBody->raycast(ray3, raycastInfo3)); test(!mCapsuleShape->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3)); test(!mCapsuleBody->raycast(ray4, raycastInfo3)); test(!mCapsuleShape->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4)); test(!mCapsuleBody->raycast(ray5, raycastInfo3)); test(!mCapsuleShape->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5)); test(!mCapsuleBody->raycast(ray6, raycastInfo3)); test(!mCapsuleShape->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6)); test(!mCapsuleBody->raycast(ray7, raycastInfo3)); test(!mCapsuleShape->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7)); test(!mCapsuleBody->raycast(ray8, raycastInfo3)); test(!mCapsuleShape->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8)); test(!mCapsuleBody->raycast(ray9, raycastInfo3)); test(!mCapsuleShape->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9)); test(!mCapsuleBody->raycast(ray10, raycastInfo3)); test(!mCapsuleShape->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(mCapsuleBody->raycast(ray11, raycastInfo3)); test(mCapsuleShape->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11)); test(mCapsuleBody->raycast(ray12, raycastInfo3)); test(mCapsuleShape->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12)); test(mCapsuleBody->raycast(ray13, raycastInfo3)); test(mCapsuleShape->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13)); test(mCapsuleBody->raycast(ray14, raycastInfo3)); test(mCapsuleShape->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14)); test(mCapsuleBody->raycast(ray15, raycastInfo3)); test(mCapsuleShape->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15)); test(mCapsuleBody->raycast(ray16, raycastInfo3)); test(mCapsuleShape->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16)); } /// Test the ProxyConeShape::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testCone() { // ----- Test feedback data ----- // Vector3 origin = mLocalShapeToWorld * Vector3(0 , 0, 3); const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix(); Vector3 direction = mLocalToWorldMatrix * Vector3(0, 0, -8); Ray ray(origin, direction); Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1); // CollisionWorld::raycast() RaycastInfo raycastInfo; test(mWorld->raycast(ray, raycastInfo)); test(raycastInfo.body == mConeBody); test(raycastInfo.proxyShape == mConeShape); test(approxEqual(raycastInfo.distance, 6)); test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z)); // CollisionBody::raycast() RaycastInfo raycastInfo2; test(mConeBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mConeBody); test(raycastInfo2.proxyShape == mConeShape); test(approxEqual(raycastInfo2.distance, 6)); test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x)); test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo3; test(mConeShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mConeBody); test(raycastInfo3.proxyShape == mConeShape); test(approxEqual(raycastInfo3.distance, 6)); test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x)); test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y)); test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z)); 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, 1), mLocalToWorldMatrix * Vector3(-4, 0, 7)); Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7)); Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -1), mLocalToWorldMatrix * Vector3(-3, 0, 0)); Ray ray6(mLocalShapeToWorld * Vector3(3, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0)); Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 3), 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, -2, -6), mLocalToWorldMatrix * Vector3(0, 0, 8)); Ray ray11(mLocalShapeToWorld * Vector3(3, -1, 0.5), mLocalToWorldMatrix * Vector3(-4, 0, 0)); Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0)); Ray ray13(mLocalShapeToWorld * Vector3(-1, -2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8)); Ray ray14(mLocalShapeToWorld * Vector3(-2, 0, 0.8), mLocalToWorldMatrix * Vector3(4, 0, 0)); Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0)); Ray ray16(mLocalShapeToWorld * Vector3(-0.9, 0, -4), mLocalToWorldMatrix * Vector3(0, 0, 8)); // ----- Test raycast miss ----- // test(!mConeBody->raycast(ray1, raycastInfo3)); test(!mConeShape->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(!mConeBody->raycast(ray2, raycastInfo3)); test(!mConeShape->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2)); test(!mConeBody->raycast(ray3, raycastInfo3)); test(!mConeShape->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3)); test(!mConeBody->raycast(ray4, raycastInfo3)); test(!mConeShape->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4)); test(!mConeBody->raycast(ray5, raycastInfo3)); test(!mConeShape->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5)); test(!mConeBody->raycast(ray6, raycastInfo3)); test(!mConeShape->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6)); test(!mConeBody->raycast(ray7, raycastInfo3)); test(!mConeShape->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7)); test(!mConeBody->raycast(ray8, raycastInfo3)); test(!mConeShape->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8)); test(!mConeBody->raycast(ray9, raycastInfo3)); test(!mConeShape->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9)); test(!mConeBody->raycast(ray10, raycastInfo3)); test(!mConeShape->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(mConeBody->raycast(ray11, raycastInfo3)); test(mConeShape->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11)); test(mConeBody->raycast(ray12, raycastInfo3)); test(mConeShape->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12)); test(mConeBody->raycast(ray13, raycastInfo3)); test(mConeShape->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13)); test(mConeBody->raycast(ray14, raycastInfo3)); test(mConeShape->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14)); test(mConeBody->raycast(ray15, raycastInfo3)); test(mConeShape->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15)); test(mConeBody->raycast(ray16, raycastInfo3)); test(mConeShape->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16)); } /// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testConvexMesh() { // ----- 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 == mConvexMeshBody); test(raycastInfo.proxyShape == mConvexMeshShape); test(approxEqual(raycastInfo.distance, 6, epsilon)); test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // CollisionBody::raycast() RaycastInfo raycastInfo2; test(mConvexMeshBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mConvexMeshBody); test(raycastInfo2.proxyShape == mConvexMeshShape); test(approxEqual(raycastInfo2.distance, 6, 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(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mConvexMeshBodyEdgesInfo); test(raycastInfo3.proxyShape == mConvexMeshShapeEdgesInfo); test(approxEqual(raycastInfo3.distance, 6, 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)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo4; test(mConvexMeshShape->raycast(ray, raycastInfo4)); test(raycastInfo4.body == mConvexMeshBody); test(raycastInfo4.proxyShape == mConvexMeshShape); test(approxEqual(raycastInfo4.distance, 6, epsilon)); test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo5; test(mConvexMeshShapeEdgesInfo->raycast(ray, raycastInfo5)); test(raycastInfo5.body == mConvexMeshBodyEdgesInfo); test(raycastInfo5.proxyShape == mConvexMeshShapeEdgesInfo); test(approxEqual(raycastInfo5.distance, 6, epsilon)); test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon)); Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1)); Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7)); 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(!mConvexMeshBody->raycast(ray1, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3)); test(!mConvexMeshShape->raycast(ray1, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->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(!mConvexMeshBody->raycast(ray2, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3)); test(!mConvexMeshShape->raycast(ray2, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2)); test(!mConvexMeshBody->raycast(ray3, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3)); test(!mConvexMeshShape->raycast(ray3, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3)); test(!mConvexMeshBody->raycast(ray4, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3)); test(!mConvexMeshShape->raycast(ray4, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4)); test(!mConvexMeshBody->raycast(ray5, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3)); test(!mConvexMeshShape->raycast(ray5, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5)); test(!mConvexMeshBody->raycast(ray6, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3)); test(!mConvexMeshShape->raycast(ray6, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6)); test(!mConvexMeshBody->raycast(ray7, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3)); test(!mConvexMeshShape->raycast(ray7, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7)); test(!mConvexMeshBody->raycast(ray8, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3)); test(!mConvexMeshShape->raycast(ray8, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8)); test(!mConvexMeshBody->raycast(ray9, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3)); test(!mConvexMeshShape->raycast(ray9, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9)); test(!mConvexMeshBody->raycast(ray10, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3)); test(!mConvexMeshShape->raycast(ray10, raycastInfo3)); test(!mConvexMeshShapeEdgesInfo->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(mConvexMeshBody->raycast(ray11, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3)); test(mConvexMeshShape->raycast(ray11, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11)); test(mConvexMeshBody->raycast(ray12, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3)); test(mConvexMeshShape->raycast(ray12, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12)); test(mConvexMeshBody->raycast(ray13, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3)); test(mConvexMeshShape->raycast(ray13, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13)); test(mConvexMeshBody->raycast(ray14, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3)); test(mConvexMeshShape->raycast(ray14, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14)); test(mConvexMeshBody->raycast(ray15, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3)); test(mConvexMeshShape->raycast(ray15, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15)); test(mConvexMeshBody->raycast(ray16, raycastInfo3)); test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3)); test(mConvexMeshShape->raycast(ray16, raycastInfo3)); test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16)); } /// Test the ProxyCylinderShape::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testCylinder() { // ----- Test feedback data ----- // Vector3 origin = mLocalShapeToWorld * Vector3(6 , 1, 0); const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix(); Vector3 direction = mLocalToWorldMatrix * Vector3(-2, 0, 0); Ray ray(origin, direction); Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0); Vector3 origin2 = mLocalShapeToWorld * Vector3(0 , 10, 0); Vector3 direction2 = mLocalToWorldMatrix * Vector3(0, -3, 0); Ray rayTop(origin2, direction2); Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(2.5), 0); Vector3 origin3 = mLocalShapeToWorld * Vector3(0 , -10, 0); Vector3 direction3 = mLocalToWorldMatrix * Vector3(0, 3, 0); Ray rayBottom(origin3, direction3); Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-2.5), 0); // CollisionWorld::raycast() RaycastInfo raycastInfo; test(mWorld->raycast(ray, raycastInfo)); test(raycastInfo.body == mCylinderBody); test(raycastInfo.proxyShape == mCylinderShape); test(approxEqual(raycastInfo.distance, 4, epsilon)); test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // CollisionBody::raycast() RaycastInfo raycastInfo2; test(mCylinderBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mCylinderBody); test(raycastInfo2.proxyShape == mCylinderShape); test(approxEqual(raycastInfo2.distance, 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(mCylinderShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mCylinderBody); test(raycastInfo3.proxyShape == mCylinderShape); test(approxEqual(raycastInfo3.distance, 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)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo5; test(mCylinderShape->raycast(rayTop, raycastInfo5)); test(raycastInfo5.body == mCylinderBody); test(raycastInfo5.proxyShape == mCylinderShape); test(approxEqual(raycastInfo5.distance, decimal(7.5), epsilon)); test(approxEqual(raycastInfo5.worldPoint.x, hitPointTop.x, epsilon)); test(approxEqual(raycastInfo5.worldPoint.y, hitPointTop.y, epsilon)); test(approxEqual(raycastInfo5.worldPoint.z, hitPointTop.z, epsilon)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo6; test(mCylinderShape->raycast(rayBottom, raycastInfo6)); test(raycastInfo6.body == mCylinderBody); test(raycastInfo6.proxyShape == mCylinderShape); test(approxEqual(raycastInfo6.distance, decimal(7.5), epsilon)); test(approxEqual(raycastInfo6.worldPoint.x, hitPointBottom.x, epsilon)); test(approxEqual(raycastInfo6.worldPoint.y, hitPointBottom.y, epsilon)); test(approxEqual(raycastInfo6.worldPoint.z, hitPointBottom.z, epsilon)); Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1)); Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7)); Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalToWorldMatrix * Vector3(-4, 0, 7)); Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7)); Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0)); Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalToWorldMatrix * Vector3(0, -2, 0)); Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalToWorldMatrix * Vector3(0, 0, -2)); Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalToWorldMatrix * Vector3(1, 0, 0)); Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalToWorldMatrix * Vector3(0, 5, 0)); Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8)); Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalToWorldMatrix * Vector3(-4, 0, 0)); Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0)); Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8)); Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0)); Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0)); Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8)); // ----- Test raycast miss ----- // test(!mCylinderBody->raycast(ray1, raycastInfo3)); test(!mCylinderShape->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(!mCylinderBody->raycast(ray2, raycastInfo3)); test(!mCylinderShape->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2, raycastInfo3)); test(!mWorld->raycast(ray2)); test(!mCylinderBody->raycast(ray3, raycastInfo3)); test(!mCylinderShape->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3, raycastInfo3)); test(!mWorld->raycast(ray3)); test(!mCylinderBody->raycast(ray4, raycastInfo3)); test(!mCylinderShape->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4, raycastInfo3)); test(!mWorld->raycast(ray4)); test(!mCylinderBody->raycast(ray5, raycastInfo3)); test(!mCylinderShape->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5, raycastInfo3)); test(!mWorld->raycast(ray5)); test(!mCylinderBody->raycast(ray6, raycastInfo3)); test(!mCylinderShape->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6, raycastInfo3)); test(!mWorld->raycast(ray6)); test(!mCylinderBody->raycast(ray7, raycastInfo3)); test(!mCylinderShape->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7, raycastInfo3)); test(!mWorld->raycast(ray7)); test(!mCylinderBody->raycast(ray8, raycastInfo3)); test(!mCylinderShape->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8, raycastInfo3)); test(!mWorld->raycast(ray8)); test(!mCylinderBody->raycast(ray9, raycastInfo3)); test(!mCylinderShape->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9, raycastInfo3)); test(!mWorld->raycast(ray9)); test(!mCylinderBody->raycast(ray10, raycastInfo3)); test(!mCylinderShape->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(mCylinderBody->raycast(ray11, raycastInfo3)); test(mCylinderShape->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3)); test(mWorld->raycast(ray11, raycastInfo3, 2)); test(mWorld->raycast(ray11)); test(mCylinderBody->raycast(ray12, raycastInfo3)); test(mCylinderShape->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3)); test(mWorld->raycast(ray12, raycastInfo3, 2)); test(mWorld->raycast(ray12)); test(mCylinderBody->raycast(ray13, raycastInfo3)); test(mCylinderShape->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3)); test(mWorld->raycast(ray13, raycastInfo3, 2)); test(mWorld->raycast(ray13)); test(mCylinderBody->raycast(ray14, raycastInfo3)); test(mCylinderShape->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3)); test(mWorld->raycast(ray14, raycastInfo3, 2)); test(mWorld->raycast(ray14)); test(mCylinderBody->raycast(ray15, raycastInfo3)); test(mCylinderShape->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3)); test(mWorld->raycast(ray15, raycastInfo3, 2)); test(mWorld->raycast(ray15)); test(mCylinderBody->raycast(ray16, raycastInfo3)); test(mCylinderShape->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3)); test(mWorld->raycast(ray16, raycastInfo3, 4)); test(mWorld->raycast(ray16)); } /// Test the CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testCompound() { // ----- Test feedback data ----- // const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix(); // Raycast hit agains the sphere shape Ray ray1(mLocalShape2ToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0)); Ray ray2(mLocalShape2ToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0)); Ray ray3(mLocalShape2ToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8)); Ray ray4(mLocalShape2ToWorld * Vector3(-5, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0)); Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0)); Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalToWorldMatrix * Vector3(0, 0, 8)); RaycastInfo raycastInfo; test(mCompoundBody->raycast(ray1, raycastInfo)); test(mWorld->raycast(ray1, raycastInfo)); test(mWorld->raycast(ray1, raycastInfo, 2)); test(mWorld->raycast(ray1)); test(mCompoundBody->raycast(ray2, raycastInfo)); test(mWorld->raycast(ray2, raycastInfo)); test(mWorld->raycast(ray2, raycastInfo, 2)); test(mWorld->raycast(ray2)); test(mCompoundBody->raycast(ray3, raycastInfo)); test(mWorld->raycast(ray3, raycastInfo)); test(mWorld->raycast(ray3, raycastInfo, 2)); test(mWorld->raycast(ray3)); test(mCompoundBody->raycast(ray4, raycastInfo)); test(mWorld->raycast(ray4, raycastInfo)); test(mWorld->raycast(ray4, raycastInfo, 2)); test(mWorld->raycast(ray4)); test(mCompoundBody->raycast(ray5, raycastInfo)); test(mWorld->raycast(ray5, raycastInfo)); test(mWorld->raycast(ray5, raycastInfo, 2)); test(mWorld->raycast(ray5)); test(mCompoundBody->raycast(ray6, raycastInfo)); test(mWorld->raycast(ray6, raycastInfo)); test(mWorld->raycast(ray6, raycastInfo, 4)); test(mWorld->raycast(ray6)); // Raycast hit agains the cylinder shape Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0)); Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0)); Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8)); Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0)); Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0)); Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8)); test(mCompoundBody->raycast(ray11, raycastInfo)); test(mWorld->raycast(ray11, raycastInfo)); test(mWorld->raycast(ray11, raycastInfo, 2)); test(mWorld->raycast(ray11)); test(mCompoundBody->raycast(ray12, raycastInfo)); test(mWorld->raycast(ray12, raycastInfo)); test(mWorld->raycast(ray12, raycastInfo, 2)); test(mWorld->raycast(ray12)); test(mCompoundBody->raycast(ray13, raycastInfo)); test(mWorld->raycast(ray13, raycastInfo)); test(mWorld->raycast(ray13, raycastInfo, 2)); test(mWorld->raycast(ray13)); test(mCompoundBody->raycast(ray14, raycastInfo)); test(mWorld->raycast(ray14, raycastInfo)); test(mWorld->raycast(ray14, raycastInfo, 2)); test(mWorld->raycast(ray14)); test(mCompoundBody->raycast(ray15, raycastInfo)); test(mWorld->raycast(ray15, raycastInfo)); test(mWorld->raycast(ray15, raycastInfo, 2)); test(mWorld->raycast(ray15)); test(mCompoundBody->raycast(ray16, raycastInfo)); test(mWorld->raycast(ray16, raycastInfo)); test(mWorld->raycast(ray16, raycastInfo, 4)); test(mWorld->raycast(ray16)); } }; } #endif