/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2015 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 {
// Enumeration for categories
enum Category {
CATEGORY1 = 0x0001,
CATEGORY2 = 0x0002
};
/// Class WorldRaycastCallback
class WorldRaycastCallback : public RaycastCallback {
public:
RaycastInfo raycastInfo;
ProxyShape* shapeToTest;
bool isHit;
WorldRaycastCallback() {
isHit = false;
shapeToTest = NULL;
}
virtual decimal notifyRaycastHit(const RaycastInfo& info) {
if (shapeToTest->getBody()->getID() == info.body->getID()) {
raycastInfo.body = info.body;
raycastInfo.hitFraction = info.hitFraction;
raycastInfo.proxyShape = info.proxyShape;
raycastInfo.worldNormal = info.worldNormal;
raycastInfo.worldPoint = info.worldPoint;
isHit = true;
}
// Return a fraction of 1.0 because we need to gather all hits
return decimal(1.0);
}
void reset() {
raycastInfo.body = NULL;
raycastInfo.hitFraction = decimal(0.0);
raycastInfo.proxyShape = NULL;
raycastInfo.worldNormal.setToZero();
raycastInfo.worldPoint.setToZero();
isHit = false;
}
};
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestRaycast : public Test {
private :
// ---------- Atributes ---------- //
// Raycast callback class
WorldRaycastCallback mCallback;
// 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;
ProxyShape* mCompoundSphereShape;
ProxyShape* mCompoundCylinderShape;
public :
// ---------- Methods ---------- //
/// Constructor
TestRaycast(const std::string& name) : Test(name) {
epsilon = decimal(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;
mCompoundCylinderShape = mCompoundBody->addCollisionShape(cylinderShape, mShapeTransform);
mCompoundSphereShape = mCompoundBody->addCollisionShape(sphereShape, shapeTransform2);
// Assign proxy shapes to the different categories
mBoxShape->setCollisionCategoryBits(CATEGORY1);
mSphereShape->setCollisionCategoryBits(CATEGORY1);
mCapsuleShape->setCollisionCategoryBits(CATEGORY1);
mConeShape->setCollisionCategoryBits(CATEGORY2);
mConvexMeshShape->setCollisionCategoryBits(CATEGORY2);
mConvexMeshShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2);
mCylinderShape->setCollisionCategoryBits(CATEGORY2);
mCompoundSphereShape->setCollisionCategoryBits(CATEGORY2);
mCompoundCylinderShape->setCollisionCategoryBits(CATEGORY2);
}
/// 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 point1 = mLocalShapeToWorld * Vector3(1 , 2, 10);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -20);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
mCallback.shapeToTest = mBoxShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mBoxBody);
test(mCallback.raycastInfo.proxyShape == mBoxShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mBoxBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mBoxBody);
test(raycastInfo2.proxyShape == mBoxShape);
test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -20, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -20));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(20, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 50, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 20));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-20, 1, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -20, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -20));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(20, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 20, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -5), mLocalShapeToWorld * Vector3(-1, 2, 20));
// ----- Test raycast miss ----- //
test(!mBoxBody->raycast(ray1, raycastInfo3));
test(!mBoxShape->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray2, raycastInfo3));
test(!mBoxShape->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray3, raycastInfo3));
test(!mBoxShape->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray4, raycastInfo3));
test(!mBoxShape->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray5, raycastInfo3));
test(!mBoxShape->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray6, raycastInfo3));
test(!mBoxShape->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray7, raycastInfo3));
test(!mBoxShape->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray8, raycastInfo3));
test(!mBoxShape->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray9, raycastInfo3));
test(!mBoxShape->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mBoxBody->raycast(ray10, raycastInfo3));
test(!mBoxShape->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mBoxBody->raycast(ray11, raycastInfo3));
test(mBoxShape->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mBoxBody->raycast(ray12, raycastInfo3));
test(mBoxShape->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mBoxBody->raycast(ray13, raycastInfo3));
test(mBoxShape->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mBoxBody->raycast(ray14, raycastInfo3));
test(mBoxShape->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mBoxBody->raycast(ray15, raycastInfo3));
test(mBoxShape->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mBoxBody->raycast(ray16, raycastInfo3));
test(mBoxShape->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testSphere() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(-5 , 0, 0);
Vector3 point2 = mLocalShapeToWorld * Vector3(5, 0, 0);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0);
mCallback.shapeToTest = mSphereShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mSphereBody);
test(mCallback.raycastInfo.proxyShape == mSphereShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mSphereBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mSphereBody);
test(raycastInfo2.proxyShape == mSphereShape);
test(approxEqual(raycastInfo2.hitFraction, 0.2, 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.hitFraction, 0.2, 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), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(4, 6, 7));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 2), mLocalShapeToWorld * Vector3(-4, 0, 7));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(4, 6, 7));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -4), mLocalShapeToWorld * Vector3(0, 30, -4));
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalShapeToWorld * Vector3(-30, 1, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-5, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -11), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
test(!mSphereBody->raycast(ray1, raycastInfo3));
test(!mSphereShape->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray2, raycastInfo3));
test(!mSphereShape->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray3, raycastInfo3));
test(!mSphereShape->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray4, raycastInfo3));
test(!mSphereShape->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray5, raycastInfo3));
test(!mSphereShape->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray6, raycastInfo3));
test(!mSphereShape->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray7, raycastInfo3));
test(!mSphereShape->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray8, raycastInfo3));
test(!mSphereShape->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray9, raycastInfo3));
test(!mSphereShape->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mSphereBody->raycast(ray10, raycastInfo3));
test(!mSphereShape->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mSphereBody->raycast(ray11, raycastInfo3));
test(mSphereShape->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mSphereBody->raycast(ray12, raycastInfo3));
test(mSphereShape->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mSphereBody->raycast(ray13, raycastInfo3));
test(mSphereShape->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mSphereBody->raycast(ray14, raycastInfo3));
test(mSphereShape->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mSphereBody->raycast(ray15, raycastInfo3));
test(mSphereShape->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mSphereBody->raycast(ray16, raycastInfo3));
test(mSphereShape->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testCapsule() {
// ----- Test feedback data ----- //
Vector3 point1A = mLocalShapeToWorld * Vector3(4 , 1, 0);
Vector3 point1B = mLocalShapeToWorld * Vector3(-6, 1, 0);
Ray ray(point1A, point1B);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);
Vector3 point2A = mLocalShapeToWorld * Vector3(0 , 6.5, 0);
Vector3 point2B = mLocalShapeToWorld * Vector3(0, -3.5, 0);
Ray rayTop(point2A, point2B);
Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(4.5), 0);
Vector3 point3A = mLocalShapeToWorld * Vector3(0 , -6.5, 0);
Vector3 point3B = mLocalShapeToWorld * Vector3(0, 3.5, 0);
Ray rayBottom(point3A, point3B);
Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-4.5), 0);
mCallback.shapeToTest = mCapsuleShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mCapsuleBody);
test(mCallback.raycastInfo.proxyShape == mCapsuleShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mCapsuleBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mCapsuleBody);
test(raycastInfo2.proxyShape == mCapsuleShape);
test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), 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(mCapsuleShape->raycast(ray, raycastInfo3));
test(raycastInfo3.body == mCapsuleBody);
test(raycastInfo3.proxyShape == mCapsuleShape);
test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), 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));
RaycastInfo raycastInfo4;
test(mCapsuleShape->raycast(rayTop, raycastInfo4));
test(raycastInfo4.body == mCapsuleBody);
test(raycastInfo4.proxyShape == mCapsuleShape);
test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo4.worldPoint.x, hitPointTop.x, epsilon));
test(approxEqual(raycastInfo4.worldPoint.y, hitPointTop.y, epsilon));
test(approxEqual(raycastInfo4.worldPoint.z, hitPointTop.z, epsilon));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo5;
test(mCapsuleShape->raycast(rayBottom, raycastInfo5));
test(raycastInfo5.body == mCapsuleBody);
test(raycastInfo5.proxyShape == mCapsuleShape);
test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo5.worldPoint.x, hitPointBottom.x, epsilon));
test(approxEqual(raycastInfo5.worldPoint.y, hitPointBottom.y, epsilon));
test(approxEqual(raycastInfo5.worldPoint.z, hitPointBottom.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(9, 17, 14));
Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalShapeToWorld * Vector3(-3, 3, 6));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(14, 16, 17));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(1, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalShapeToWorld * Vector3(4, 7, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalShapeToWorld * Vector3(1, -9, 3));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalShapeToWorld * Vector3(-3, 9, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalShapeToWorld * Vector3(0, -4, -4));
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 2));
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1, 1.5));
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.7), mLocalShapeToWorld * Vector3(30, 2, -1.7));
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
test(!mCapsuleBody->raycast(ray1, raycastInfo3));
test(!mCapsuleShape->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray2, raycastInfo3));
test(!mCapsuleShape->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray3, raycastInfo3));
test(!mCapsuleShape->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray4, raycastInfo3));
test(!mCapsuleShape->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray5, raycastInfo3));
test(!mCapsuleShape->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray6, raycastInfo3));
test(!mCapsuleShape->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray7, raycastInfo3));
test(!mCapsuleShape->raycast(ray7, raycastInfo3));
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray8, raycastInfo3));
test(!mCapsuleShape->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray9, raycastInfo3));
test(!mCapsuleShape->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mCapsuleBody->raycast(ray10, raycastInfo3));
test(!mCapsuleShape->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mCapsuleBody->raycast(ray11, raycastInfo3));
test(mCapsuleShape->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCapsuleBody->raycast(ray12, raycastInfo3));
test(mCapsuleShape->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCapsuleBody->raycast(ray13, raycastInfo3));
test(mCapsuleShape->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCapsuleBody->raycast(ray14, raycastInfo3));
test(mCapsuleShape->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCapsuleBody->raycast(ray15, raycastInfo3));
test(mCapsuleShape->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCapsuleBody->raycast(ray16, raycastInfo3));
test(mCapsuleShape->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the ProxyConeShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testCone() {
// ----- Test feedback data ----- //
Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 0, 3);
Vector3 point1B = mLocalShapeToWorld * Vector3(0, 0, -7);
Ray ray(point1A, point1B);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1);
Vector3 point2A = mLocalShapeToWorld * Vector3(1 , -5, 0);
Vector3 point2B = mLocalShapeToWorld * Vector3(1, 5, 0);
Ray rayBottom(point2A, point2B);
Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, -3, 0);
mCallback.shapeToTest = mConeShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mConeBody);
test(mCallback.raycastInfo.proxyShape == mConeShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mConeBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mConeBody);
test(raycastInfo2.proxyShape == mConeShape);
test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), 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(mConeShape->raycast(ray, raycastInfo3));
test(raycastInfo3.body == mConeBody);
test(raycastInfo3.proxyShape == mConeShape);
test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
mCallback.reset();
mWorld->raycast(rayBottom, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mConeBody);
test(mCallback.raycastInfo.proxyShape == mConeShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon));
// CollisionBody::raycast()
RaycastInfo raycastInfo5;
test(mConeBody->raycast(rayBottom, raycastInfo5));
test(raycastInfo5.body == mConeBody);
test(raycastInfo5.proxyShape == mConeShape);
test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon));
test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon));
test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo6;
test(mConeShape->raycast(rayBottom, raycastInfo6));
test(raycastInfo6.body == mConeBody);
test(raycastInfo6.proxyShape == mConeShape);
test(approxEqual(raycastInfo6.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon));
test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon));
test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(-1, -2, 1), mLocalShapeToWorld * Vector3(-13, -2, 22));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -1), mLocalShapeToWorld * Vector3(-26, 1, -1));
Ray ray6(mLocalShapeToWorld * Vector3(3, 4, 1), mLocalShapeToWorld * Vector3(3, -16, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 3), mLocalShapeToWorld * Vector3(1, -4, -17));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(26, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 46, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, -2, -6), mLocalShapeToWorld * Vector3(-3, -2, 74));
Ray ray11(mLocalShapeToWorld * Vector3(3, -1, 0.5), mLocalShapeToWorld * Vector3(-27, -1, 0.5));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -26, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, -2, 3), mLocalShapeToWorld * Vector3(-1, -2, -27));
Ray ray14(mLocalShapeToWorld * Vector3(-2, 0, 0.8), mLocalShapeToWorld * Vector3(30, 0, 0.8));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-0.9, 0, -4), mLocalShapeToWorld * Vector3(-0.9, 0, 30));
// ----- Test raycast miss ----- //
test(!mConeBody->raycast(ray1, raycastInfo3));
test(!mConeShape->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray2, raycastInfo3));
test(!mConeShape->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray3, raycastInfo3));
test(!mConeShape->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray4, raycastInfo3));
test(!mConeShape->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray5, raycastInfo3));
test(!mConeShape->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray6, raycastInfo3));
test(!mConeShape->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray7, raycastInfo3));
test(!mConeShape->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray8, raycastInfo3));
test(!mConeShape->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray9, raycastInfo3));
test(!mConeShape->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mConeBody->raycast(ray10, raycastInfo3));
test(!mConeShape->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mConeBody->raycast(ray11, raycastInfo3));
test(mConeShape->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConeBody->raycast(ray12, raycastInfo3));
test(mConeShape->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConeBody->raycast(ray13, raycastInfo3));
test(mConeShape->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConeBody->raycast(ray14, raycastInfo3));
test(mConeShape->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConeBody->raycast(ray15, raycastInfo3));
test(mConeShape->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConeBody->raycast(ray16, raycastInfo3));
test(mConeShape->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testConvexMesh() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
mCallback.shapeToTest = mConvexMeshShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mConvexMeshBody);
test(mCallback.raycastInfo.proxyShape == mConvexMeshShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mConvexMeshBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mConvexMeshBody);
test(raycastInfo2.proxyShape == mConvexMeshShape);
test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
test(!mConvexMeshShape->raycast(ray1, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
test(!mConvexMeshShape->raycast(ray2, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
test(!mConvexMeshShape->raycast(ray3, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
test(!mConvexMeshShape->raycast(ray4, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
test(!mConvexMeshShape->raycast(ray5, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
test(!mConvexMeshShape->raycast(ray6, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
test(!mConvexMeshShape->raycast(ray7, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
test(!mConvexMeshShape->raycast(ray8, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
test(!mConvexMeshShape->raycast(ray9, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
test(!mConvexMeshShape->raycast(ray10, raycastInfo3));
test(!mConvexMeshShapeEdgesInfo->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mConvexMeshBody->raycast(ray11, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
test(mConvexMeshShape->raycast(ray11, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray12, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
test(mConvexMeshShape->raycast(ray12, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray13, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
test(mConvexMeshShape->raycast(ray13, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray14, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
test(mConvexMeshShape->raycast(ray14, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray15, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
test(mConvexMeshShape->raycast(ray15, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray16, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
test(mConvexMeshShape->raycast(ray16, raycastInfo3));
test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the ProxyCylinderShape::raycast(), CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testCylinder() {
// ----- Test feedback data ----- //
Vector3 point1A = mLocalShapeToWorld * Vector3(4 , 1, 0);
Vector3 point1B = mLocalShapeToWorld * Vector3(-6, 1, 0);
Ray ray(point1A, point1B);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);
Vector3 point2A = mLocalShapeToWorld * Vector3(0 , 4.5, 0);
Vector3 point2B = mLocalShapeToWorld * Vector3(0, -5.5, 0);
Ray rayTop(point2A, point2B);
Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(2.5), 0);
Vector3 point3A = mLocalShapeToWorld * Vector3(0 , -4.5, 0);
Vector3 point3B = mLocalShapeToWorld * Vector3(0, 5.5, 0);
Ray rayBottom(point3A, point3B);
Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-2.5), 0);
mCallback.shapeToTest = mCylinderShape;
// CollisionWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
test(mCallback.isHit);
test(mCallback.raycastInfo.body == mCylinderBody);
test(mCallback.raycastInfo.proxyShape == mCylinderShape);
test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
test(mCylinderBody->raycast(ray, raycastInfo2));
test(raycastInfo2.body == mCylinderBody);
test(raycastInfo2.proxyShape == mCylinderShape);
test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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.hitFraction, decimal(0.2), 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), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 20, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalShapeToWorld * Vector3(-11,3, 20));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalShapeToWorld * Vector3(1, -9, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalShapeToWorld * Vector3(30, 9, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalShapeToWorld * Vector3(0, 30, -4));
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1, 1.5));
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.7), mLocalShapeToWorld * Vector3(30, 2, -1.7));
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
test(!mCylinderBody->raycast(ray1, raycastInfo3));
test(!mCylinderShape->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray2, raycastInfo3));
test(!mCylinderShape->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray3, raycastInfo3));
test(!mCylinderShape->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray4, raycastInfo3));
test(!mCylinderShape->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray5, raycastInfo3));
test(!mCylinderShape->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray6, raycastInfo3));
test(!mCylinderShape->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray7, raycastInfo3));
test(!mCylinderShape->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray8, raycastInfo3));
test(!mCylinderShape->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray9, raycastInfo3));
test(!mCylinderShape->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mCylinderBody->raycast(ray10, raycastInfo3));
test(!mCylinderShape->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
test(!mCallback.isHit);
// ----- Test raycast hits ----- //
test(mCylinderBody->raycast(ray11, raycastInfo3));
test(mCylinderShape->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCylinderBody->raycast(ray12, raycastInfo3));
test(mCylinderShape->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCylinderBody->raycast(ray13, raycastInfo3));
test(mCylinderShape->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCylinderBody->raycast(ray14, raycastInfo3));
test(mCylinderShape->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCylinderBody->raycast(ray15, raycastInfo3));
test(mCylinderShape->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCylinderBody->raycast(ray16, raycastInfo3));
test(mCylinderShape->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
/// Test the CollisionBody::raycast() and
/// CollisionWorld::raycast() methods.
void testCompound() {
// ----- Test feedback data ----- //
// Raycast hit against the sphere shape
Ray ray1(mLocalShape2ToWorld * Vector3(4, 1, 2), mLocalShape2ToWorld * Vector3(-30, 1, 2));
Ray ray2(mLocalShape2ToWorld * Vector3(1, 4, -1), mLocalShape2ToWorld * Vector3(1, -30, -1));
Ray ray3(mLocalShape2ToWorld * Vector3(-1, 2, 5), mLocalShape2ToWorld * Vector3(-1, 2, -30));
Ray ray4(mLocalShape2ToWorld * Vector3(-5, 2, -2), mLocalShape2ToWorld * Vector3(30, 2, -2));
Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalShape2ToWorld * Vector3(0, 30, 1));
Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalShape2ToWorld * Vector3(-1, 2, 30));
mCallback.shapeToTest = mCompoundSphereShape;
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray1, &mCallback, CATEGORY2);
test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray1, &mCallback, CATEGORY1);
test(!mCallback.isHit);
RaycastInfo raycastInfo;
test(mCompoundBody->raycast(ray1, raycastInfo));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray2, raycastInfo));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray2.point1, ray2.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray3, raycastInfo));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray3.point1, ray3.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray4, raycastInfo));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray5, raycastInfo));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray6, raycastInfo));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
// Raycast hit agains the cylinder shape
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1.5, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1.5, 9, -1), mLocalShapeToWorld * Vector3(1.5, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.5), mLocalShapeToWorld * Vector3(30, 1, -1.5));
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
mCallback.shapeToTest = mCompoundCylinderShape;
test(mCompoundBody->raycast(ray11, raycastInfo));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray12, raycastInfo));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray13, raycastInfo));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray14, raycastInfo));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray15, raycastInfo));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
test(mCompoundBody->raycast(ray16, raycastInfo));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
}
};
}
#endif