/******************************************************************************** * 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_POINT_INSIDE_H #define TEST_POINT_INSIDE_H // Libraries #include "Test.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 TestPointInside : public Test { private : // ---------- Atributes ---------- // // 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 TestPointInside() { // 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); // 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, 10); 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, 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, 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::testPointInside() and /// CollisionBody::testPointInside() methods void testBox() { // Tests with CollisionBody test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); // Tests with ProxyBoxShape test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); } /// 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