/******************************************************************************** * 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/CollisionWorld.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" /// 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 = nullptr; } virtual decimal notifyRaycastHit(const RaycastInfo& info) override { 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 = nullptr; raycastInfo.hitFraction = decimal(0.0); raycastInfo.proxyShape = nullptr; 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; CollisionBody* mTriangleBody; CollisionBody* mConcaveMeshBody; CollisionBody* mHeightFieldBody; // Transform Transform mBodyTransform; Transform mShapeTransform; Transform mLocalShapeToWorld; Transform mLocalShape2ToWorld; // Collision shapes BoxShape* mBoxShape; SphereShape* mSphereShape; CapsuleShape* mCapsuleShape; ConvexMeshShape* mConvexMeshShape; ConvexMeshShape* mConvexMeshShapeEdgesInfo; TriangleShape* mTriangleShape; ConcaveShape* mConcaveMeshShape; HeightFieldShape* mHeightFieldShape; // Proxy Shapes ProxyShape* mBoxProxyShape; ProxyShape* mSphereProxyShape; ProxyShape* mCapsuleProxyShape; ProxyShape* mConeProxyShape; ProxyShape* mConvexMeshProxyShape; ProxyShape* mConvexMeshProxyShapeEdgesInfo; ProxyShape* mCylinderProxyShape; ProxyShape* mCompoundSphereProxyShape; ProxyShape* mCompoundCylinderProxyShape; ProxyShape* mTriangleProxyShape; ProxyShape* mConcaveMeshProxyShape; ProxyShape* mHeightFieldProxyShape; // Triangle meshes TriangleMesh mConcaveTriangleMesh; std::vector mConcaveMeshVertices; std::vector mConcaveMeshIndices; TriangleVertexArray* mConcaveMeshVertexArray; float mHeightFieldData[100]; 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); mTriangleBody = mWorld->createCollisionBody(mBodyTransform); mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform); mHeightFieldBody = 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 mBoxShape = new BoxShape(Vector3(2, 3, 4), 0); mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); mSphereShape = new SphereShape(3); mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); const Vector3 triangleVertex1(100, 100, 0); const Vector3 triangleVertex2(105, 100, 0); const Vector3 triangleVertex3(100, 103, 0); mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3); mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform); mCapsuleShape = new CapsuleShape(2, 5); mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); // Box of dimension (2, 3, 4) mConvexMeshShape = new ConvexMeshShape(0.0); mConvexMeshShape->addVertex(Vector3(-2, -3, -4)); mConvexMeshShape->addVertex(Vector3(2, -3, -4)); mConvexMeshShape->addVertex(Vector3(2, -3, 4)); mConvexMeshShape->addVertex(Vector3(-2, -3, 4)); mConvexMeshShape->addVertex(Vector3(-2, 3, -4)); mConvexMeshShape->addVertex(Vector3(2, 3, -4)); mConvexMeshShape->addVertex(Vector3(2, 3, 4)); mConvexMeshShape->addVertex(Vector3(-2, 3, 4)); mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); mConvexMeshShapeEdgesInfo = new ConvexMeshShape(0.0); mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, -4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, -4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, 4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, 4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, -4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, -4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, 4)); mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, 4)); mConvexMeshShapeEdgesInfo->addEdge(0, 1); mConvexMeshShapeEdgesInfo->addEdge(1, 2); mConvexMeshShapeEdgesInfo->addEdge(2, 3); mConvexMeshShapeEdgesInfo->addEdge(0, 3); mConvexMeshShapeEdgesInfo->addEdge(4, 5); mConvexMeshShapeEdgesInfo->addEdge(5, 6); mConvexMeshShapeEdgesInfo->addEdge(6, 7); mConvexMeshShapeEdgesInfo->addEdge(4, 7); mConvexMeshShapeEdgesInfo->addEdge(0, 4); mConvexMeshShapeEdgesInfo->addEdge(1, 5); mConvexMeshShapeEdgesInfo->addEdge(2, 6); mConvexMeshShapeEdgesInfo->addEdge(3, 7); mConvexMeshShapeEdgesInfo->setIsEdgesInformationUsed(true); mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape( mConvexMeshShapeEdgesInfo, 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; mCompoundCylinderProxyShape = mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform); mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(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]), sizeof(uint), vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Add the triangle vertex array of the subpart to the triangle mesh mConcaveTriangleMesh.addSubpart(mConcaveMeshVertexArray); mConcaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh); mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform); // Heightfield shape (plane height field at height=4) for (int i=0; i<100; i++) mHeightFieldData[i] = 4; mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform); // Assign proxy shapes to the different categories mBoxProxyShape->setCollisionCategoryBits(CATEGORY1); mSphereProxyShape->setCollisionCategoryBits(CATEGORY1); mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1); mConeProxyShape->setCollisionCategoryBits(CATEGORY2); mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2); mConvexMeshProxyShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2); mCylinderProxyShape->setCollisionCategoryBits(CATEGORY2); mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2); mCompoundCylinderProxyShape->setCollisionCategoryBits(CATEGORY2); mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1); mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2); mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2); } /// Destructor ~TestRaycast() { delete mBoxShape; delete mSphereShape; delete mCapsuleShape; delete mConvexMeshShape; delete mConvexMeshShapeEdgesInfo; delete mTriangleShape; delete mConcaveMeshShape; delete mHeightFieldShape; delete mConcaveMeshVertexArray; } /// Run the tests void run() { testBox(); testSphere(); testCapsule(); testConvexMesh(); testCompound(); testTriangle(); testConcaveMesh(); testHeightField(); } /// 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 = mBoxProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mBoxBody); test(mCallback.raycastInfo.proxyShape == mBoxProxyShape); 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 == mBoxProxyShape); 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(mBoxProxyShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mBoxBody); test(raycastInfo3.proxyShape == mBoxProxyShape); 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(!mBoxProxyShape->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(!mBoxProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray3, raycastInfo3)); test(!mBoxProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray4, raycastInfo3)); test(!mBoxProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray5, raycastInfo3)); test(!mBoxProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray6, raycastInfo3)); test(!mBoxProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray7, raycastInfo3)); test(!mBoxProxyShape->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray8, raycastInfo3)); test(!mBoxProxyShape->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray9, raycastInfo3)); test(!mBoxProxyShape->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); test(!mCallback.isHit); test(!mBoxBody->raycast(ray10, raycastInfo3)); test(!mBoxProxyShape->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(mBoxProxyShape->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(mBoxProxyShape->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(mBoxProxyShape->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(mBoxProxyShape->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(mBoxProxyShape->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(mBoxProxyShape->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 = mSphereProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mSphereBody); test(mCallback.raycastInfo.proxyShape == mSphereProxyShape); 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 == mSphereProxyShape); 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(mSphereProxyShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mSphereBody); test(raycastInfo3.proxyShape == mSphereProxyShape); 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(!mSphereProxyShape->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(!mSphereProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray3, raycastInfo3)); test(!mSphereProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray4, raycastInfo3)); test(!mSphereProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray5, raycastInfo3)); test(!mSphereProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray6, raycastInfo3)); test(!mSphereProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray7, raycastInfo3)); test(!mSphereProxyShape->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray8, raycastInfo3)); test(!mSphereProxyShape->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray9, raycastInfo3)); test(!mSphereProxyShape->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); test(!mCallback.isHit); test(!mSphereBody->raycast(ray10, raycastInfo3)); test(!mSphereProxyShape->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(mSphereProxyShape->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(mSphereProxyShape->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(mSphereProxyShape->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(mSphereProxyShape->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(mSphereProxyShape->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(mSphereProxyShape->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 = mCapsuleProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mCapsuleBody); test(mCallback.raycastInfo.proxyShape == mCapsuleProxyShape); 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 == mCapsuleProxyShape); 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(mCapsuleProxyShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mCapsuleBody); test(raycastInfo3.proxyShape == mCapsuleProxyShape); 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(mCapsuleProxyShape->raycast(rayTop, raycastInfo4)); test(raycastInfo4.body == mCapsuleBody); test(raycastInfo4.proxyShape == mCapsuleProxyShape); 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(mCapsuleProxyShape->raycast(rayBottom, raycastInfo5)); test(raycastInfo5.body == mCapsuleBody); test(raycastInfo5.proxyShape == mCapsuleProxyShape); 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(!mCapsuleProxyShape->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(!mCapsuleProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray3, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray4, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray5, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray6, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray7, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray7, raycastInfo3)); mWorld->raycast(ray7, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray8, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray9, raycastInfo3)); test(!mCapsuleProxyShape->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); test(!mCallback.isHit); test(!mCapsuleBody->raycast(ray10, raycastInfo3)); test(!mCapsuleProxyShape->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(mCapsuleProxyShape->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(mCapsuleProxyShape->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(mCapsuleProxyShape->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(mCapsuleProxyShape->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(mCapsuleProxyShape->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(mCapsuleProxyShape->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 testTriangle() { // ----- Test feedback data ----- // Vector3 point1 = mLocalShapeToWorld * Vector3(101, 101, 400); Vector3 point2 = mLocalShapeToWorld * Vector3(101, 101, -200); Ray ray(point1, point2); Ray rayBackward(point2, point1); Vector3 hitPoint = mLocalShapeToWorld * Vector3(101, 101, 0); Vector3 hitNormal = mLocalShapeToWorld.getOrientation() * Vector3(0, 0, 1); hitNormal.normalize(); mCallback.shapeToTest = mTriangleProxyShape; // CollisionWorld::raycast() mCallback.reset(); mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mTriangleBody); test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, 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)); test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon)); mCallback.reset(); mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); mWorld->raycast(rayBackward, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mTriangleBody); test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, 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)); test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon)); mCallback.reset(); mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mTriangleBody); test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, 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)); test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon)); mCallback.reset(); mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); mWorld->raycast(rayBackward, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mTriangleBody); test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, 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)); test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon)); test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon)); mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); // 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(mTriangleBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mTriangleBody); test(raycastInfo2.proxyShape == mTriangleProxyShape); test(approxEqual(raycastInfo2.hitFraction, 0.6666, 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(mTriangleProxyShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mTriangleBody); test(raycastInfo3.proxyShape == mTriangleProxyShape); test(approxEqual(raycastInfo3.hitFraction, 0.6666, 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(-10, 10, 4), mLocalShapeToWorld * Vector3(15, 6, -4)); Ray ray2(mLocalShapeToWorld * Vector3(102, 107, 5), mLocalShapeToWorld * Vector3(102, 107, -5)); Ray ray3(mLocalShapeToWorld * Vector3(106, 102, 6), mLocalShapeToWorld * Vector3(106, 102, -8)); Ray ray4(mLocalShapeToWorld * Vector3(100.2, 101, 5), mLocalShapeToWorld * Vector3(100.2, 101, -5)); Ray ray5(mLocalShapeToWorld * Vector3(100.5, 101.5, 4), mLocalShapeToWorld * Vector3(100.5, 101.5, -54)); Ray ray6(mLocalShapeToWorld * Vector3(102, 101, 1), mLocalShapeToWorld * Vector3(102, 102, -1)); Ray ray4Back(mLocalShapeToWorld * Vector3(100.2, 101, -5), mLocalShapeToWorld * Vector3(100.2, 101, 5)); Ray ray5Back(mLocalShapeToWorld * Vector3(100.5, 101.5, -54), mLocalShapeToWorld * Vector3(100.5, 101.5, 4)); Ray ray6Back(mLocalShapeToWorld * Vector3(102, 102, -1), mLocalShapeToWorld * Vector3(102, 101, 1)); // ----- Test raycast miss ----- // test(!mTriangleBody->raycast(ray1, raycastInfo3)); test(!mTriangleProxyShape->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(!mTriangleBody->raycast(ray2, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mTriangleBody->raycast(ray3, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); // Test backward ray against front triangles (not hit should occur) mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); test(!mTriangleBody->raycast(ray4Back, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4Back, &mCallback); test(!mCallback.isHit); test(!mTriangleBody->raycast(ray5Back, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5Back, &mCallback); test(!mCallback.isHit); test(!mTriangleBody->raycast(ray6Back, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6Back, &mCallback); test(!mCallback.isHit); // Test front ray against back triangles (not hit should occur) mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); test(!mTriangleBody->raycast(ray4, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mTriangleBody->raycast(ray5, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mTriangleBody->raycast(ray6, raycastInfo3)); test(!mTriangleProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); // ----- Test raycast hits ----- // // Test front ray against front triangles mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); test(mTriangleBody->raycast(ray4, raycastInfo3)); test(mTriangleProxyShape->raycast(ray4, raycastInfo3)); 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(mTriangleBody->raycast(ray5, raycastInfo3)); test(mTriangleProxyShape->raycast(ray5, raycastInfo3)); 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(mTriangleBody->raycast(ray6, raycastInfo3)); test(mTriangleProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback); // Test back ray against back triangles mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); test(mTriangleBody->raycast(ray4Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4Back, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback); test(mCallback.isHit); test(mTriangleBody->raycast(ray5Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5Back, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback); test(mCallback.isHit); test(mTriangleBody->raycast(ray6Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6Back, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback); // Test front ray against front-back triangles mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); test(mTriangleBody->raycast(ray4, raycastInfo3)); test(mTriangleProxyShape->raycast(ray4, raycastInfo3)); 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(mTriangleBody->raycast(ray5, raycastInfo3)); test(mTriangleProxyShape->raycast(ray5, raycastInfo3)); 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(mTriangleBody->raycast(ray6, raycastInfo3)); test(mTriangleProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback); // Test back ray against front-back triangles mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); test(mTriangleBody->raycast(ray4Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4Back, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback); test(mCallback.isHit); test(mTriangleBody->raycast(ray5Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5Back, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback); test(mCallback.isHit); test(mTriangleBody->raycast(ray6Back, raycastInfo3)); test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6Back, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback); } /// 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 = mConvexMeshProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mConvexMeshBody); test(mCallback.raycastInfo.proxyShape == mConvexMeshProxyShape); 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 == mConvexMeshProxyShape); 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 == mConvexMeshProxyShapeEdgesInfo); 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(mConvexMeshProxyShape->raycast(ray, raycastInfo4)); test(raycastInfo4.body == mConvexMeshBody); test(raycastInfo4.proxyShape == mConvexMeshProxyShape); 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(mConvexMeshProxyShapeEdgesInfo->raycast(ray, raycastInfo5)); test(raycastInfo5.body == mConvexMeshBodyEdgesInfo); test(raycastInfo5.proxyShape == mConvexMeshProxyShapeEdgesInfo); 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(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->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(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray3, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray4, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray5, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray6, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray7, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray8, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray9, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); test(!mCallback.isHit); test(!mConvexMeshBody->raycast(ray10, raycastInfo3)); test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3)); test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3)); test(!mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray11, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray12, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray13, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray14, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray15, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->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(mConvexMeshProxyShape->raycast(ray16, raycastInfo3)); test(mConvexMeshProxyShapeEdgesInfo->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback); test(mCallback.isHit); } /// Test the CollisionBody::raycast() and /// 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 = mCompoundSphereProxyShape; // 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 capsule shape // TODO : Previous it was a cylinder, now it is a capsule shape, maybe those tests are wrong now 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 = mCompoundCylinderProxyShape; 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); } 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 = mConcaveMeshProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mConcaveMeshBody); test(mCallback.raycastInfo.proxyShape == mConcaveMeshProxyShape); 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(mConcaveMeshBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mConcaveMeshBody); test(raycastInfo2.proxyShape == mConcaveMeshProxyShape); 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(mConcaveMeshBody->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mConcaveMeshBody); test(raycastInfo3.proxyShape == mConcaveMeshProxyShape); 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(mConcaveMeshBody->raycast(ray, raycastInfo4)); test(raycastInfo4.body == mConcaveMeshBody); test(raycastInfo4.proxyShape == mConcaveMeshProxyShape); 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(mConcaveMeshBody->raycast(ray, raycastInfo5)); test(raycastInfo5.body == mConcaveMeshBody); test(raycastInfo5.proxyShape == mConcaveMeshProxyShape); 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(!mConcaveMeshBody->raycast(ray1, raycastInfo3)); test(!mConvexMeshProxyShape->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(!mConcaveMeshBody->raycast(ray2, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray3, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray4, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray5, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray6, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray7, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray8, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray9, raycastInfo3)); test(!mConcaveMeshProxyShape->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); test(!mCallback.isHit); test(!mConcaveMeshBody->raycast(ray10, raycastInfo3)); test(!mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray11, raycastInfo3)); test(mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray12, raycastInfo3)); test(mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray13, raycastInfo3)); test(mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray14, raycastInfo3)); test(mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray15, raycastInfo3)); test(mConcaveMeshProxyShape->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(mConcaveMeshBody->raycast(ray16, raycastInfo3)); test(mConcaveMeshProxyShape->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); } 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 = mHeightFieldProxyShape; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mHeightFieldBody); test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), 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(mHeightFieldBody->raycast(ray, raycastInfo2)); test(raycastInfo2.body == mHeightFieldBody); test(raycastInfo2.proxyShape == mHeightFieldProxyShape); test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon)); test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); // ProxyCollisionShape::raycast() RaycastInfo raycastInfo3; test(mHeightFieldProxyShape->raycast(ray, raycastInfo3)); test(raycastInfo3.body == mHeightFieldBody); test(raycastInfo3.proxyShape == mHeightFieldProxyShape); test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon)); test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); mCallback.reset(); mWorld->raycast(rayBottom, &mCallback); test(mCallback.isHit); test(mCallback.raycastInfo.body == mHeightFieldBody); test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape); test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), 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(mHeightFieldBody->raycast(rayBottom, raycastInfo5)); test(raycastInfo5.body == mHeightFieldBody); test(raycastInfo5.proxyShape == mHeightFieldProxyShape); test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), 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(mHeightFieldProxyShape->raycast(rayBottom, raycastInfo6)); test(raycastInfo6.body == mHeightFieldBody); test(raycastInfo6.proxyShape == mHeightFieldProxyShape); test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), 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, 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 ----- // test(!mHeightFieldBody->raycast(ray1, raycastInfo3)); test(!mHeightFieldProxyShape->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(!mHeightFieldBody->raycast(ray2, raycastInfo3)); test(!mHeightFieldProxyShape->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); test(!mCallback.isHit); test(!mHeightFieldBody->raycast(ray3, raycastInfo3)); test(!mHeightFieldProxyShape->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); test(!mCallback.isHit); test(!mHeightFieldBody->raycast(ray4, raycastInfo3)); test(!mHeightFieldProxyShape->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); test(!mCallback.isHit); test(!mHeightFieldBody->raycast(ray5, raycastInfo3)); test(!mHeightFieldProxyShape->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); test(!mCallback.isHit); mCallback.reset(); // ----- Test raycast hits ----- // test(mHeightFieldBody->raycast(ray11, raycastInfo3)); test(mHeightFieldProxyShape->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.95)), &mCallback); test(mCallback.isHit); test(mHeightFieldBody->raycast(ray12, raycastInfo3)); test(mHeightFieldProxyShape->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); test(mCallback.isHit); mCallback.reset(); mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.87)), &mCallback); test(mCallback.isHit); test(mHeightFieldBody->raycast(ray13, raycastInfo3)); test(mHeightFieldProxyShape->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(mHeightFieldBody->raycast(ray14, raycastInfo3)); test(mHeightFieldProxyShape->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); } }; } #endif