/******************************************************************************** * 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_POINT_INSIDE_H #define TEST_POINT_INSIDE_H // Libraries #include "Test.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexMeshShape.h" #include "engine/CollisionWorld.h" #include "collision/PolygonVertexArray.h" /// Reactphysics3D namespace namespace reactphysics3d { // Class TestPointInside /** * Unit test for the CollisionBody::testPointInside() method. */ class TestPointInside : public Test { private : // ---------- Atributes ---------- // // Physics world CollisionWorld* mWorld; // Bodies CollisionBody* mBoxBody; CollisionBody* mSphereBody; CollisionBody* mCapsuleBody; CollisionBody* mConeBody; CollisionBody* mConvexMeshBody; CollisionBody* mConvexMeshBodyEdgesInfo; CollisionBody* mCylinderBody; CollisionBody* mCompoundBody; Vector3 mConvexMeshCubeVertices[8]; int mConvexMeshCubeIndices[24]; PolygonVertexArray* mConvexMeshPolygonVertexArray; PolyhedronMesh* mConvexMeshPolyhedronMesh; PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces; // Collision shapes BoxShape* mBoxShape; SphereShape* mSphereShape; CapsuleShape* mCapsuleShape; ConvexMeshShape* mConvexMeshShape; // Transform Transform mBodyTransform; Transform mShapeTransform; Transform mLocalShapeToWorld; Transform mLocalShape2ToWorld; // Proxy Shapes ProxyShape* mBoxProxyShape; ProxyShape* mSphereProxyShape; ProxyShape* mCapsuleProxyShape; ProxyShape* mConvexMeshProxyShape; public : // ---------- Methods ---------- // /// Constructor TestPointInside(const std::string& name) : Test(name) { // Create the world mWorld = new CollisionWorld(); // 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); mConeBody = mWorld->createCollisionBody(mBodyTransform); mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform); mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform); mCylinderBody = mWorld->createCollisionBody(mBodyTransform); mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform); mCompoundBody = 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 = new BoxShape(Vector3(2, 3, 4)); mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); mSphereShape = new SphereShape(3); mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); mCapsuleShape = new CapsuleShape(3, 10); mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4); mConvexMeshCubeVertices[1] = Vector3(2, -3, 4); mConvexMeshCubeVertices[2] = Vector3(2, -3, -4); mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4); mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4); mConvexMeshCubeVertices[5] = Vector3(2, 3, 4); mConvexMeshCubeVertices[6] = Vector3(2, 3, -4); mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4); mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1; mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7; mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4; mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5; mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6; mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3; mConvexMeshPolygonFaces = new PolygonVertexArray::PolygonFace[6]; PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces; for (int f = 0; f < 6; f++) { face->indexBase = f * 4; face->nbVertices = 4; face++; } mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3), &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); mConvexMeshPolyhedronMesh = new PolyhedronMesh(mConvexMeshPolygonVertexArray); mConvexMeshShape = new ConvexMeshShape(mConvexMeshPolyhedronMesh); Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity()); mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); // Compound shape is a capsule 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; mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform); mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2); } /// Destructor virtual ~TestPointInside() { delete mWorld; delete mBoxShape; delete mSphereShape; delete mCapsuleShape; delete mConvexMeshShape; delete[] mConvexMeshPolygonFaces; delete mConvexMeshPolygonVertexArray; delete mConvexMeshPolyhedronMesh; } /// Run the tests void run() { testBox(); testSphere(); testCapsule(); testConvexMesh(); testCompound(); } /// Test the ProxyBoxShape::testPointInside() and /// CollisionBody::testPointInside() methods void testBox() { // Tests with CollisionBody rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); // Tests with ProxyBoxShape rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); } /// Test the ProxySphereShape::testPointInside() and /// CollisionBody::testPointInside() methods void testSphere() { // Tests with CollisionBody rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5))); rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5))); // Tests with ProxySphereShape rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5))); rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5))); rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5))); } /// Test the ProxyCapsuleShape::testPointInside() and /// CollisionBody::testPointInside() methods void testCapsule() { // Tests with CollisionBody rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4))); rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7))); // Tests with ProxyCapsuleShape rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4))); rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6))); rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7))); } /// Test the ProxyConvexMeshShape::testPointInside() and /// CollisionBody::testPointInside() methods void testConvexMesh() { // Tests with CollisionBody rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); // Tests with ProxyConvexMeshShape rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); } /// Test the CollisionBody::testPointInside() method void testCompound() { // Points on the capsule rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7))); rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7))); // Points on the sphere rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5))); rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5))); } }; } #endif