/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2016 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/PhysicsCommon.h" #include "engine/PhysicsWorld.h" #include "body/CollisionBody.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexMeshShape.h" #include "collision/shapes/TriangleShape.h" #include "collision/shapes/ConcaveMeshShape.h" #include "collision/shapes/HeightFieldShape.h" #include "collision/TriangleMesh.h" #include "collision/TriangleVertexArray.h" #include "collision/RaycastInfo.h" #include "collision/PolygonVertexArray.h" #include /// Reactphysics3D namespace namespace reactphysics3d { // Enumeration for categories enum Category { CATEGORY1 = 0x0001, CATEGORY2 = 0x0002 }; /// Class WorldRaycastCallback class WorldRaycastCallback : public RaycastCallback { public: RaycastInfo raycastInfo; Collider* shapeToTest; bool isHit; WorldRaycastCallback() { isHit = false; shapeToTest = nullptr; } virtual decimal notifyRaycastHit(const RaycastInfo& info) override { if (shapeToTest->getBody()->getEntity() == info.body->getEntity()) { raycastInfo.body = info.body; raycastInfo.hitFraction = info.hitFraction; raycastInfo.collider = info.collider; 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 = nullptr; raycastInfo.hitFraction = decimal(0.0); raycastInfo.collider = nullptr; raycastInfo.worldNormal.setToZero(); raycastInfo.worldPoint.setToZero(); isHit = false; } }; // Class TestPointInside /** * Unit test for the CollisionBody::testPointInside() method. */ class TestRaycast : public Test { private : // ---------- Atributes ---------- // PhysicsCommon mPhysicsCommon; // Raycast callback class WorldRaycastCallback mCallback; DefaultAllocator mAllocator; // Epsilon decimal epsilon; // Physics world PhysicsWorld* mWorld; // Bodies CollisionBody* mBoxBody; CollisionBody* mSphereBody; CollisionBody* mCapsuleBody; CollisionBody* mConvexMeshBody; CollisionBody* mCylinderBody; CollisionBody* mCompoundBody; CollisionBody* mConcaveMeshBody; CollisionBody* mHeightFieldBody; // Transform Transform mBodyTransform; Transform mShapeTransform; Transform mLocalShapeToWorld; Transform mLocalShape2ToWorld; // Collision shapes BoxShape* mBoxShape; SphereShape* mSphereShape; CapsuleShape* mCapsuleShape; ConvexMeshShape* mConvexMeshShape; ConcaveMeshShape* mConcaveMeshShape; HeightFieldShape* mHeightFieldShape; // Collider Collider* mBoxCollider; Collider* mSphereCollider; Collider* mCapsuleCollider; Collider* mConvexMeshCollider; Collider* mCompoundSphereCollider; Collider* mCompoundCapsuleCollider; Collider* mConcaveMeshCollider; Collider* mHeightFieldCollider; // Triangle meshes TriangleMesh* mConcaveTriangleMesh; std::vector mConcaveMeshVertices; std::vector mConcaveMeshIndices; TriangleVertexArray* mConcaveMeshVertexArray; float mHeightFieldData[100]; PolygonVertexArray::PolygonFace mPolygonFaces[6]; PolygonVertexArray* mPolygonVertexArray; PolyhedronMesh* mPolyhedronMesh; Vector3 mPolyhedronVertices[8]; int mPolyhedronIndices[4 * 6]; public : // ---------- Methods ---------- // /// Constructor TestRaycast(const std::string& name) : Test(name) { epsilon = decimal(0.0001); // Create the world mWorld = mPhysicsCommon.createPhysicsWorld(); // Body transform Vector3 position(-3, 2, 7); Quaternion orientation = Quaternion::fromEulerAngles(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); mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform); mCylinderBody = mWorld->createCollisionBody(mBodyTransform); mCompoundBody = mWorld->createCollisionBody(mBodyTransform); mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform); mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform); // Collision shape transform Vector3 shapePosition(1, -4, -3); Quaternion shapeOrientation = Quaternion::fromEulerAngles(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 mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4)); mBoxCollider = mBoxBody->addCollider(mBoxShape, mShapeTransform); mSphereShape = mPhysicsCommon.createSphereShape(3); mSphereCollider = mSphereBody->addCollider(mSphereShape, mShapeTransform); mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5); mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform); mPolyhedronVertices[0] = Vector3(-2, -3, 4); mPolyhedronVertices[1] = Vector3(2, -3, 4); mPolyhedronVertices[2] = Vector3(2, -3, -4); mPolyhedronVertices[3] = Vector3(-2, -3, -4); mPolyhedronVertices[4] = Vector3(-2, 3, 4); mPolyhedronVertices[5] = Vector3(2, 3, 4); mPolyhedronVertices[6] = Vector3(2, 3, -4); mPolyhedronVertices[7] = Vector3(-2, 3, -4); mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 3; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 1; mPolyhedronIndices[4] = 4; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 7; mPolyhedronIndices[8] = 0; mPolyhedronIndices[9] = 1; mPolyhedronIndices[10] = 5; mPolyhedronIndices[11] = 4; mPolyhedronIndices[12] = 1; mPolyhedronIndices[13] = 2; mPolyhedronIndices[14] = 6; mPolyhedronIndices[15] = 5; mPolyhedronIndices[16] = 2; mPolyhedronIndices[17] = 3; mPolyhedronIndices[18] = 7; mPolyhedronIndices[19] = 6; mPolyhedronIndices[20] = 0; mPolyhedronIndices[21] = 4; mPolyhedronIndices[22] = 7; mPolyhedronIndices[23] = 3; // Polygon faces descriptions for the polyhedron PolygonVertexArray::PolygonFace* face = mPolygonFaces; for (int f = 0; f < 6; f++) { face->indexBase = f * 4; face->nbVertices = 4; face++; } // Create the polygon vertex array mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3), mPolyhedronIndices, sizeof(int), 6, mPolygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); mConvexMeshCollider = mConvexMeshBody->addCollider(mConvexMeshShape, mShapeTransform); // Compound shape is a cylinder and a sphere Vector3 positionShape2(Vector3(4, 2, -3)); Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 *PI / 8, 1.5 * PI/ 3, PI / 13); Transform shapeTransform2(positionShape2, orientationShape2); mLocalShape2ToWorld = mBodyTransform * shapeTransform2; mCompoundCapsuleCollider = mCompoundBody->addCollider(mCapsuleShape, mShapeTransform); mCompoundSphereCollider = mCompoundBody->addCollider(mSphereShape, shapeTransform2); // Concave Mesh shape mConcaveMeshVertices.push_back(Vector3(-2, -3, -4)); mConcaveMeshVertices.push_back(Vector3(2, -3, -4)); mConcaveMeshVertices.push_back(Vector3(2, -3, 4)); mConcaveMeshVertices.push_back(Vector3(-2, -3, 4)); mConcaveMeshVertices.push_back(Vector3(-2, 3, -4)); mConcaveMeshVertices.push_back(Vector3(2, 3, -4)); mConcaveMeshVertices.push_back(Vector3(2, 3, 4)); mConcaveMeshVertices.push_back(Vector3(-2, 3, 4)); mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(5); TriangleVertexArray::VertexDataType vertexType = sizeof(decimal) == 4 ? TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE : TriangleVertexArray::VertexDataType::VERTEX_DOUBLE_TYPE; mConcaveMeshVertexArray = new TriangleVertexArray(8, &(mConcaveMeshVertices[0]), sizeof(Vector3), 12, &(mConcaveMeshIndices[0]), 3 * sizeof(uint), vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Add the triangle vertex array of the subpart to the triangle mesh mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh(); mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray); mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); mConcaveMeshCollider = mConcaveMeshBody->addCollider(mConcaveMeshShape, mShapeTransform); // Heightfield shape (plane height field at height=4) for (int i=0; i<100; i++) mHeightFieldData[i] = 4; mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); mHeightFieldCollider = mHeightFieldBody->addCollider(mHeightFieldShape, mShapeTransform); // Assign colliders to the different categories mBoxCollider->setCollisionCategoryBits(CATEGORY1); mSphereCollider->setCollisionCategoryBits(CATEGORY1); mCapsuleCollider->setCollisionCategoryBits(CATEGORY1); mConvexMeshCollider->setCollisionCategoryBits(CATEGORY2); mCompoundSphereCollider->setCollisionCategoryBits(CATEGORY2); mCompoundCapsuleCollider->setCollisionCategoryBits(CATEGORY2); mConcaveMeshCollider->setCollisionCategoryBits(CATEGORY2); mHeightFieldCollider->setCollisionCategoryBits(CATEGORY2); } /// Destructor virtual ~TestRaycast() { mPhysicsCommon.destroyPhysicsWorld(mWorld); mPhysicsCommon.destroyBoxShape(mBoxShape); mPhysicsCommon.destroySphereShape(mSphereShape); mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape); mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); delete mConcaveMeshVertexArray; delete mPolygonVertexArray; mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh); } /// Run the tests void run() { testBox(); testSphere(); testCapsule(); testConvexMesh(); testCompound(); testConcaveMesh(); testHeightField(); } /// Test the Collider::raycast(), CollisionBody::raycast() and /// PhysicsWorld::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 = mBoxCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mBoxBody); rp3d_test(mCallback.raycastInfo.collider == mBoxCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mBoxBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mBoxBody); rp3d_test(raycastInfo2.collider == mBoxCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mBoxCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mBoxBody); rp3d_test(raycastInfo3.collider == mBoxCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_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 ----- // rp3d_test(!mBoxBody->raycast(ray1, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray2, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray3, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray4, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray5, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray6, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray7, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray8, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray9, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray10, raycastInfo3)); rp3d_test(!mBoxCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); // ----- Test raycast hits ----- // rp3d_test(mBoxBody->raycast(ray11, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray12, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray13, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray14, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray15, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray16, raycastInfo3)); rp3d_test(mBoxCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } /// Test the Collider::raycast(), CollisionBody::raycast() and /// PhysicsWorld::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 = mSphereCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mSphereBody); rp3d_test(mCallback.raycastInfo.collider == mSphereCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mSphereBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mSphereBody); rp3d_test(raycastInfo2.collider == mSphereCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mSphereCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mSphereBody); rp3d_test(raycastInfo3.collider == mSphereCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_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 ----- // rp3d_test(!mSphereBody->raycast(ray1, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray2, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray3, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray4, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray5, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray6, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray7, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray8, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray9, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray10, raycastInfo3)); rp3d_test(!mSphereCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); // ----- Test raycast hits ----- // rp3d_test(mSphereBody->raycast(ray11, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray12, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray13, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mSphereBody->raycast(ray14, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray15, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray16, raycastInfo3)); rp3d_test(mSphereCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } /// Test the Collider::raycast(), CollisionBody::raycast() and /// PhysicsWorld::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 = mCapsuleCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mCapsuleBody); rp3d_test(mCallback.raycastInfo.collider == mCapsuleCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mCapsuleBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mCapsuleBody); rp3d_test(raycastInfo2.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mCapsuleCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mCapsuleBody); rp3d_test(raycastInfo3.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); RaycastInfo raycastInfo4; rp3d_test(mCapsuleCollider->raycast(rayTop, raycastInfo4)); rp3d_test(raycastInfo4.body == mCapsuleBody); rp3d_test(raycastInfo4.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPointTop.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPointTop.y, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPointTop.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo5; rp3d_test(mCapsuleCollider->raycast(rayBottom, raycastInfo5)); rp3d_test(raycastInfo5.body == mCapsuleBody); rp3d_test(raycastInfo5.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPointBottom.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPointBottom.y, epsilon)); rp3d_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 ----- // rp3d_test(!mCapsuleBody->raycast(ray1, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray2, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray3, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray4, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray5, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray6, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray7, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray7, raycastInfo3)); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray8, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray9, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray10, raycastInfo3)); rp3d_test(!mCapsuleCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); // ----- Test raycast hits ----- // rp3d_test(mCapsuleBody->raycast(ray11, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray12, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray13, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray14, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray15, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray16, raycastInfo3)); rp3d_test(mCapsuleCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } /// Test the Collider::raycast(), CollisionBody::raycast() and /// PhysicsWorld::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 = mConvexMeshCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mConvexMeshBody); rp3d_test(mCallback.raycastInfo.collider == mConvexMeshCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mConvexMeshBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mConvexMeshBody); rp3d_test(raycastInfo2.collider == mConvexMeshCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo4; rp3d_test(mConvexMeshCollider->raycast(ray, raycastInfo4)); rp3d_test(raycastInfo4.body == mConvexMeshBody); rp3d_test(raycastInfo4.collider == mConvexMeshCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo4.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 ----- // RaycastInfo raycastInfo3; rp3d_test(!mConvexMeshBody->raycast(ray1, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray2, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray3, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray4, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray5, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray6, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray7, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray8, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray9, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray10, raycastInfo3)); rp3d_test(!mConvexMeshCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); // ----- Test raycast hits ----- // rp3d_test(mConvexMeshBody->raycast(ray11, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray12, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray13, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray14, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray15, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray16, raycastInfo3)); rp3d_test(mConvexMeshCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } /// Test the CollisionBody::raycast() and /// PhysicsWorld::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 = mCompoundSphereCollider; // Correct category filter mask mCallback.reset(); mWorld->raycast(ray1, &mCallback, CATEGORY2); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray1, &mCallback, CATEGORY1); rp3d_test(!mCallback.isHit); RaycastInfo raycastInfo; rp3d_test(mCompoundBody->raycast(ray1, raycastInfo)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray2, raycastInfo)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray2.point1, ray2.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray3, raycastInfo)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray3.point1, ray3.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray4, raycastInfo)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray5, raycastInfo)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray6, raycastInfo)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); // Raycast hit agains the capsule 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 = mCompoundCapsuleCollider; rp3d_test(mCompoundBody->raycast(ray11, raycastInfo)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray12, raycastInfo)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray13, raycastInfo)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray14, raycastInfo)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray15, raycastInfo)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCompoundBody->raycast(ray16, raycastInfo)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } void testConcaveMesh() { // ----- 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 = mConcaveMeshCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mConcaveMeshBody); rp3d_test(mCallback.raycastInfo.collider == mConcaveMeshCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mConcaveMeshBody); rp3d_test(raycastInfo2.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mConcaveMeshBody); rp3d_test(raycastInfo3.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo4; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo4)); rp3d_test(raycastInfo4.body == mConcaveMeshBody); rp3d_test(raycastInfo4.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo5; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo5)); rp3d_test(raycastInfo5.body == mConcaveMeshBody); rp3d_test(raycastInfo5.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon)); rp3d_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 ----- // rp3d_test(!mConcaveMeshBody->raycast(ray1, raycastInfo3)); //rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray2, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray3, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray4, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray5, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray6, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray7, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray8, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray9, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray10, raycastInfo3)); rp3d_test(!mConcaveMeshCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); // ----- Test raycast hits ----- // rp3d_test(mConcaveMeshBody->raycast(ray11, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray12, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray13, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray14, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray15, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray16, raycastInfo3)); rp3d_test(mConcaveMeshCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } void testHeightField() { // ----- Test feedback data ----- // Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 10, 2); Vector3 point1B = mLocalShapeToWorld * Vector3(0, -10, 2); Ray ray(point1A, point1B); Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 2, 2); Vector3 point2A = mLocalShapeToWorld * Vector3(1 , 8, -4); Vector3 point2B = mLocalShapeToWorld * Vector3(1, -8, -4); Ray rayBottom(point2A, point2B); Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, 2, -4); mCallback.shapeToTest = mHeightFieldCollider; // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody); rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); // Correct category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY2); rp3d_test(mCallback.isHit); // Wrong category filter mask mCallback.reset(); mWorld->raycast(ray, &mCallback, CATEGORY1); rp3d_test(!mCallback.isHit); // CollisionBody::raycast() RaycastInfo raycastInfo2; rp3d_test(mHeightFieldBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mHeightFieldBody); rp3d_test(raycastInfo2.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mHeightFieldCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mHeightFieldBody); rp3d_test(raycastInfo3.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); mCallback.reset(); mWorld->raycast(rayBottom, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody); rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon)); // CollisionBody::raycast() RaycastInfo raycastInfo5; rp3d_test(mHeightFieldBody->raycast(rayBottom, raycastInfo5)); rp3d_test(raycastInfo5.body == mHeightFieldBody); rp3d_test(raycastInfo5.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon)); // Collider::raycast() RaycastInfo raycastInfo6; rp3d_test(mHeightFieldCollider->raycast(rayBottom, raycastInfo6)); rp3d_test(raycastInfo6.body == mHeightFieldBody); rp3d_test(raycastInfo6.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon)); rp3d_test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon)); Ray ray1(mLocalShapeToWorld * Vector3(0, 5, 0), mLocalShapeToWorld * Vector3(5, 7, 5)); Ray ray2(mLocalShapeToWorld * Vector3(-4, -4, 7), mLocalShapeToWorld * Vector3(-4, 15, 7)); Ray ray3(mLocalShapeToWorld * Vector3(23, 7, 2), mLocalShapeToWorld * Vector3(23, 1, 2)); Ray ray4(mLocalShapeToWorld * Vector3(10, 3, 10), mLocalShapeToWorld * Vector3(22, 3, 31)); Ray ray5(mLocalShapeToWorld * Vector3(4, 10, -1), mLocalShapeToWorld * Vector3(4, 3, -1)); Ray ray11(mLocalShapeToWorld * Vector3(3, 15, 0.5), mLocalShapeToWorld * Vector3(3, 1, 0.5)); Ray ray12(mLocalShapeToWorld * Vector3(0, 45, 0), mLocalShapeToWorld * Vector3(0, -5, 0)); Ray ray13(mLocalShapeToWorld * Vector3(1, 23, 2), mLocalShapeToWorld * Vector3(1, -23, 2)); Ray ray14(mLocalShapeToWorld * Vector3(3, 8, 3), mLocalShapeToWorld * Vector3(3, 0, 3)); // ----- Test raycast miss ----- // rp3d_test(!mHeightFieldBody->raycast(ray1, raycastInfo3)); rp3d_test(!mHeightFieldCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray2, raycastInfo3)); rp3d_test(!mHeightFieldCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray3, raycastInfo3)); rp3d_test(!mHeightFieldCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray4, raycastInfo3)); rp3d_test(!mHeightFieldCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray5, raycastInfo3)); rp3d_test(!mHeightFieldCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); mCallback.reset(); // ----- Test raycast hits ----- // rp3d_test(mHeightFieldBody->raycast(ray11, raycastInfo3)); rp3d_test(mHeightFieldCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.95)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray12, raycastInfo3)); rp3d_test(mHeightFieldCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.87)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray13, raycastInfo3)); rp3d_test(mHeightFieldCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray14, raycastInfo3)); rp3d_test(mHeightFieldCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback); rp3d_test(mCallback.isHit); } }; } #endif