/********************************************************************************
* 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 <reactphysics3d/engine/PhysicsCommon.h>
#include <reactphysics3d/engine/PhysicsWorld.h>
#include <reactphysics3d/body/CollisionBody.h>
#include <reactphysics3d/collision/shapes/BoxShape.h>
#include <reactphysics3d/collision/shapes/SphereShape.h>
#include <reactphysics3d/collision/shapes/CapsuleShape.h>
#include <reactphysics3d/collision/shapes/ConvexMeshShape.h>
#include <reactphysics3d/collision/shapes/TriangleShape.h>
#include <reactphysics3d/collision/shapes/ConcaveMeshShape.h>
#include <reactphysics3d/collision/shapes/HeightFieldShape.h>
#include <reactphysics3d/collision/TriangleMesh.h>
#include <reactphysics3d/collision/TriangleVertexArray.h>
#include <reactphysics3d/collision/RaycastInfo.h>
#include <reactphysics3d/collision/PolygonVertexArray.h>
#include <vector>
/// Reactphysics3D namespace
namespace reactphysics3d {
// Enumeration for categories
enum Category {
CATEGORY1 = 0x0001,
CATEGORY2 = 0x0002
};
/// Class WorldRaycastCallback
class WorldRaycastCallback : public RaycastCallback {
public:
RaycastInfo raycastInfo;
Collider* shapeToTest;
bool isHit;
WorldRaycastCallback() {
isHit = false;
shapeToTest = nullptr;
}
virtual decimal notifyRaycastHit(const RaycastInfo& info) override {
if (shapeToTest->getBody()->getEntity() == info.body->getEntity()) {
raycastInfo.body = info.body;
raycastInfo.hitFraction = info.hitFraction;
raycastInfo.collider = info.collider;
raycastInfo.worldNormal = info.worldNormal;
raycastInfo.worldPoint = info.worldPoint;
isHit = true;
}
// Return a fraction of 1.0 because we need to gather all hits
return decimal(1.0);
}
void reset() {
raycastInfo.body = nullptr;
raycastInfo.hitFraction = decimal(0.0);
raycastInfo.collider = nullptr;
raycastInfo.worldNormal.setToZero();
raycastInfo.worldPoint.setToZero();
isHit = false;
}
};
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestRaycast : public Test {
private :
// ---------- Atributes ---------- //
PhysicsCommon mPhysicsCommon;
// Raycast callback class
WorldRaycastCallback mCallback;
DefaultAllocator mAllocator;
// Epsilon
decimal epsilon;
// Physics world
PhysicsWorld* mWorld;
// Bodies
CollisionBody* mBoxBody;
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
CollisionBody* mConcaveMeshBody;
CollisionBody* mHeightFieldBody;
// Transform
Transform mBodyTransform;
Transform mShapeTransform;
Transform mLocalShapeToWorld;
Transform mLocalShape2ToWorld;
// Collision shapes
BoxShape* mBoxShape;
SphereShape* mSphereShape;
CapsuleShape* mCapsuleShape;
ConvexMeshShape* mConvexMeshShape;
ConcaveMeshShape* mConcaveMeshShape;
HeightFieldShape* mHeightFieldShape;
// Collider
Collider* mBoxCollider;
Collider* mSphereCollider;
Collider* mCapsuleCollider;
Collider* mConvexMeshCollider;
Collider* mCompoundSphereCollider;
Collider* mCompoundCapsuleCollider;
Collider* mConcaveMeshCollider;
Collider* mHeightFieldCollider;
// Triangle meshes
TriangleMesh* mConcaveTriangleMesh;
std::vector<Vector3> mConcaveMeshVertices;
std::vector<uint> mConcaveMeshIndices;
TriangleVertexArray* mConcaveMeshVertexArray;
float mHeightFieldData[100];
PolygonVertexArray::PolygonFace mPolygonFaces[6];
PolygonVertexArray* mPolygonVertexArray;
PolyhedronMesh* mPolyhedronMesh;
Vector3 mPolyhedronVertices[8];
int mPolyhedronIndices[4 * 6];
public :
// ---------- Methods ---------- //
/// Constructor
TestRaycast(const std::string& name) : Test(name) {
epsilon = decimal(0.0001);
// Create the world
mWorld = mPhysicsCommon.createPhysicsWorld();
// Body transform
Vector3 position(-3, 2, 7);
Quaternion orientation = Quaternion::fromEulerAngles(PI_RP3D / 5, PI_RP3D / 6, PI_RP3D / 7);
mBodyTransform = Transform(position, orientation);
// Create the bodies
mBoxBody = mWorld->createCollisionBody(mBodyTransform);
mSphereBody = mWorld->createCollisionBody(mBodyTransform);
mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform);
mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform);
// Collision shape transform
Vector3 shapePosition(1, -4, -3);
Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI_RP3D / 6 , -PI_RP3D / 8, PI_RP3D / 3);
mShapeTransform = Transform(shapePosition, shapeOrientation);
// Compute the the transform from a local shape point to world-space
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
// Create collision shapes
mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4));
mBoxCollider = mBoxBody->addCollider(mBoxShape, mShapeTransform);
mSphereShape = mPhysicsCommon.createSphereShape(3);
mSphereCollider = mSphereBody->addCollider(mSphereShape, mShapeTransform);
mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5);
mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform);
mPolyhedronVertices[0] = Vector3(-2, -3, 4);
mPolyhedronVertices[1] = Vector3(2, -3, 4);
mPolyhedronVertices[2] = Vector3(2, -3, -4);
mPolyhedronVertices[3] = Vector3(-2, -3, -4);
mPolyhedronVertices[4] = Vector3(-2, 3, 4);
mPolyhedronVertices[5] = Vector3(2, 3, 4);
mPolyhedronVertices[6] = Vector3(2, 3, -4);
mPolyhedronVertices[7] = Vector3(-2, 3, -4);
mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 3; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 1;
mPolyhedronIndices[4] = 4; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 7;
mPolyhedronIndices[8] = 0; mPolyhedronIndices[9] = 1; mPolyhedronIndices[10] = 5; mPolyhedronIndices[11] = 4;
mPolyhedronIndices[12] = 1; mPolyhedronIndices[13] = 2; mPolyhedronIndices[14] = 6; mPolyhedronIndices[15] = 5;
mPolyhedronIndices[16] = 2; mPolyhedronIndices[17] = 3; mPolyhedronIndices[18] = 7; mPolyhedronIndices[19] = 6;
mPolyhedronIndices[20] = 0; mPolyhedronIndices[21] = 4; mPolyhedronIndices[22] = 7; mPolyhedronIndices[23] = 3;
// Polygon faces descriptions for the polyhedron
PolygonVertexArray::PolygonFace* face = mPolygonFaces;
for (int f = 0; f < 6; f++) {
face->indexBase = f * 4;
face->nbVertices = 4;
face++;
}
// Create the polygon vertex array
mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3),
mPolyhedronIndices, sizeof(int), 6, mPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray);
mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh);
mConvexMeshCollider = mConvexMeshBody->addCollider(mConvexMeshShape, mShapeTransform);
// Compound shape is a cylinder and a sphere
Vector3 positionShape2(Vector3(4, 2, -3));
Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI_RP3D / 8, 1.5 * PI_RP3D/ 3, PI_RP3D / 13);
Transform shapeTransform2(positionShape2, orientationShape2);
mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
mCompoundCapsuleCollider = mCompoundBody->addCollider(mCapsuleShape, mShapeTransform);
mCompoundSphereCollider = mCompoundBody->addCollider(mSphereShape, shapeTransform2);
// Concave Mesh shape
mConcaveMeshVertices.push_back(Vector3(-2, -3, -4));
mConcaveMeshVertices.push_back(Vector3(2, -3, -4));
mConcaveMeshVertices.push_back(Vector3(2, -3, 4));
mConcaveMeshVertices.push_back(Vector3(-2, -3, 4));
mConcaveMeshVertices.push_back(Vector3(-2, 3, -4));
mConcaveMeshVertices.push_back(Vector3(2, 3, -4));
mConcaveMeshVertices.push_back(Vector3(2, 3, 4));
mConcaveMeshVertices.push_back(Vector3(-2, 3, 4));
mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(2);
mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(3);
mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(2);
mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(6);
mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(3);
mConcaveMeshIndices.push_back(2); mConcaveMeshIndices.push_back(6); mConcaveMeshIndices.push_back(7);
mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(4);
mConcaveMeshIndices.push_back(3); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(4);
mConcaveMeshIndices.push_back(0); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(1);
mConcaveMeshIndices.push_back(1); mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(5);
mConcaveMeshIndices.push_back(5); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(6);
mConcaveMeshIndices.push_back(4); mConcaveMeshIndices.push_back(7); mConcaveMeshIndices.push_back(5);
TriangleVertexArray::VertexDataType vertexType = sizeof(decimal) == 4 ? TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE :
TriangleVertexArray::VertexDataType::VERTEX_DOUBLE_TYPE;
mConcaveMeshVertexArray =
new TriangleVertexArray(8, &(mConcaveMeshVertices[0]), sizeof(Vector3),
12, &(mConcaveMeshIndices[0]), 3 * sizeof(uint),
vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
// Add the triangle vertex array of the subpart to the triangle mesh
mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh();
mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray);
mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh);
mConcaveMeshCollider = mConcaveMeshBody->addCollider(mConcaveMeshShape, mShapeTransform);
// Heightfield shape (plane height field at height=4)
for (int i=0; i<100; i++) mHeightFieldData[i] = 4;
mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
mHeightFieldCollider = mHeightFieldBody->addCollider(mHeightFieldShape, mShapeTransform);
// Assign colliders to the different categories
mBoxCollider->setCollisionCategoryBits(CATEGORY1);
mSphereCollider->setCollisionCategoryBits(CATEGORY1);
mCapsuleCollider->setCollisionCategoryBits(CATEGORY1);
mConvexMeshCollider->setCollisionCategoryBits(CATEGORY2);
mCompoundSphereCollider->setCollisionCategoryBits(CATEGORY2);
mCompoundCapsuleCollider->setCollisionCategoryBits(CATEGORY2);
mConcaveMeshCollider->setCollisionCategoryBits(CATEGORY2);
mHeightFieldCollider->setCollisionCategoryBits(CATEGORY2);
}
/// Destructor
virtual ~TestRaycast() {
mPhysicsCommon.destroyPhysicsWorld(mWorld);
mPhysicsCommon.destroyBoxShape(mBoxShape);
mPhysicsCommon.destroySphereShape(mSphereShape);
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape);
mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape);
delete mConcaveMeshVertexArray;
delete mPolygonVertexArray;
mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh);
}
/// Run the tests
void run() {
testBox();
testSphere();
testCapsule();
testConvexMesh();
testCompound();
testConcaveMesh();
testHeightField();
}
/// Test the Collider::raycast(), CollisionBody::raycast() and
/// PhysicsWorld::raycast() methods.
void testBox() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 10);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -20);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
mCallback.shapeToTest = mBoxCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mBoxBody);
rp3d_test(mCallback.raycastInfo.collider == mBoxCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mBoxBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mBoxBody);
rp3d_test(raycastInfo2.collider == mBoxCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo3;
rp3d_test(mBoxCollider->raycast(ray, raycastInfo3));
rp3d_test(raycastInfo3.body == mBoxBody);
rp3d_test(raycastInfo3.collider == mBoxCollider);
rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -20, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -20));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(20, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 50, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 20));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-20, 1, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -20, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -20));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(20, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 20, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -5), mLocalShapeToWorld * Vector3(-1, 2, 20));
// ----- Test raycast miss ----- //
rp3d_test(!mBoxBody->raycast(ray1, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray2, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray3, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray4, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray5, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray6, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray7, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray8, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray9, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mBoxBody->raycast(ray10, raycastInfo3));
rp3d_test(!mBoxCollider->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
// ----- Test raycast hits ----- //
rp3d_test(mBoxBody->raycast(ray11, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mBoxBody->raycast(ray12, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mBoxBody->raycast(ray13, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mBoxBody->raycast(ray14, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mBoxBody->raycast(ray15, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mBoxBody->raycast(ray16, raycastInfo3));
rp3d_test(mBoxCollider->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
/// Test the Collider::raycast(), CollisionBody::raycast() and
/// PhysicsWorld::raycast() methods.
void testSphere() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(-5 , 0, 0);
Vector3 point2 = mLocalShapeToWorld * Vector3(5, 0, 0);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0);
mCallback.shapeToTest = mSphereCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mSphereBody);
rp3d_test(mCallback.raycastInfo.collider == mSphereCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mSphereBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mSphereBody);
rp3d_test(raycastInfo2.collider == mSphereCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, 0.2, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo3;
rp3d_test(mSphereCollider->raycast(ray, raycastInfo3));
rp3d_test(raycastInfo3.body == mSphereBody);
rp3d_test(raycastInfo3.collider == mSphereCollider);
rp3d_test(approxEqual(raycastInfo3.hitFraction, 0.2, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(4, 6, 7));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 2), mLocalShapeToWorld * Vector3(-4, 0, 7));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(4, 6, 7));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -4), mLocalShapeToWorld * Vector3(0, 30, -4));
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalShapeToWorld * Vector3(-30, 1, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-5, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -11), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
rp3d_test(!mSphereBody->raycast(ray1, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray2, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray3, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray4, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray5, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray6, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray7, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray8, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray9, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mSphereBody->raycast(ray10, raycastInfo3));
rp3d_test(!mSphereCollider->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
// ----- Test raycast hits ----- //
rp3d_test(mSphereBody->raycast(ray11, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mSphereBody->raycast(ray12, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mSphereBody->raycast(ray13, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mSphereBody->raycast(ray14, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mSphereBody->raycast(ray15, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mSphereBody->raycast(ray16, raycastInfo3));
rp3d_test(mSphereCollider->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
/// Test the Collider::raycast(), CollisionBody::raycast() and
/// PhysicsWorld::raycast() methods.
void testCapsule() {
// ----- Test feedback data ----- //
Vector3 point1A = mLocalShapeToWorld * Vector3(4 , 1, 0);
Vector3 point1B = mLocalShapeToWorld * Vector3(-6, 1, 0);
Ray ray(point1A, point1B);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);
Vector3 point2A = mLocalShapeToWorld * Vector3(0 , 6.5, 0);
Vector3 point2B = mLocalShapeToWorld * Vector3(0, -3.5, 0);
Ray rayTop(point2A, point2B);
Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(4.5), 0);
Vector3 point3A = mLocalShapeToWorld * Vector3(0 , -6.5, 0);
Vector3 point3B = mLocalShapeToWorld * Vector3(0, 3.5, 0);
Ray rayBottom(point3A, point3B);
Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-4.5), 0);
mCallback.shapeToTest = mCapsuleCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mCapsuleBody);
rp3d_test(mCallback.raycastInfo.collider == mCapsuleCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mCapsuleBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mCapsuleBody);
rp3d_test(raycastInfo2.collider == mCapsuleCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo3;
rp3d_test(mCapsuleCollider->raycast(ray, raycastInfo3));
rp3d_test(raycastInfo3.body == mCapsuleBody);
rp3d_test(raycastInfo3.collider == mCapsuleCollider);
rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
RaycastInfo raycastInfo4;
rp3d_test(mCapsuleCollider->raycast(rayTop, raycastInfo4));
rp3d_test(raycastInfo4.body == mCapsuleBody);
rp3d_test(raycastInfo4.collider == mCapsuleCollider);
rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPointTop.x, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPointTop.y, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPointTop.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo5;
rp3d_test(mCapsuleCollider->raycast(rayBottom, raycastInfo5));
rp3d_test(raycastInfo5.body == mCapsuleBody);
rp3d_test(raycastInfo5.collider == mCapsuleCollider);
rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPointBottom.x, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPointBottom.y, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.z, hitPointBottom.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(9, 17, 14));
Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalShapeToWorld * Vector3(-3, 3, 6));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(14, 16, 17));
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalShapeToWorld * Vector3(1, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalShapeToWorld * Vector3(4, 7, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalShapeToWorld * Vector3(1, -9, 3));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalShapeToWorld * Vector3(-3, 9, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalShapeToWorld * Vector3(0, -4, -4));
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalShapeToWorld * Vector3(-4, 0, 2));
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1, 1.5));
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.7), mLocalShapeToWorld * Vector3(30, 2, -1.7));
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
rp3d_test(!mCapsuleBody->raycast(ray1, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray2, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray3, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray4, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray5, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray6, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray7, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray7, raycastInfo3));
mWorld->raycast(ray7, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray8, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray9, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mCapsuleBody->raycast(ray10, raycastInfo3));
rp3d_test(!mCapsuleCollider->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
// ----- Test raycast hits ----- //
rp3d_test(mCapsuleBody->raycast(ray11, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCapsuleBody->raycast(ray12, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCapsuleBody->raycast(ray13, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCapsuleBody->raycast(ray14, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCapsuleBody->raycast(ray15, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCapsuleBody->raycast(ray16, raycastInfo3));
rp3d_test(mCapsuleCollider->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
/// Test the Collider::raycast(), CollisionBody::raycast() and
/// PhysicsWorld::raycast() methods.
void testConvexMesh() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
mCallback.shapeToTest = mConvexMeshCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mConvexMeshBody);
rp3d_test(mCallback.raycastInfo.collider == mConvexMeshCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mConvexMeshBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mConvexMeshBody);
rp3d_test(raycastInfo2.collider == mConvexMeshCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo4;
rp3d_test(mConvexMeshCollider->raycast(ray, raycastInfo4));
rp3d_test(raycastInfo4.body == mConvexMeshBody);
rp3d_test(raycastInfo4.collider == mConvexMeshCollider);
rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
RaycastInfo raycastInfo3;
rp3d_test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
rp3d_test(!mConvexMeshCollider->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
// ----- Test raycast hits ----- //
rp3d_test(mConvexMeshBody->raycast(ray11, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConvexMeshBody->raycast(ray12, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConvexMeshBody->raycast(ray13, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConvexMeshBody->raycast(ray14, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConvexMeshBody->raycast(ray15, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConvexMeshBody->raycast(ray16, raycastInfo3));
rp3d_test(mConvexMeshCollider->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
/// Test the CollisionBody::raycast() and
/// PhysicsWorld::raycast() methods.
void testCompound() {
// ----- Test feedback data ----- //
// Raycast hit against the sphere shape
Ray ray1(mLocalShape2ToWorld * Vector3(4, 1, 2), mLocalShape2ToWorld * Vector3(-30, 1, 2));
Ray ray2(mLocalShape2ToWorld * Vector3(1, 4, -1), mLocalShape2ToWorld * Vector3(1, -30, -1));
Ray ray3(mLocalShape2ToWorld * Vector3(-1, 2, 5), mLocalShape2ToWorld * Vector3(-1, 2, -30));
Ray ray4(mLocalShape2ToWorld * Vector3(-5, 2, -2), mLocalShape2ToWorld * Vector3(30, 2, -2));
Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalShape2ToWorld * Vector3(0, 30, 1));
Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalShape2ToWorld * Vector3(-1, 2, 30));
mCallback.shapeToTest = mCompoundSphereCollider;
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray1, &mCallback, CATEGORY2);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray1, &mCallback, CATEGORY1);
rp3d_test(!mCallback.isHit);
RaycastInfo raycastInfo;
rp3d_test(mCompoundBody->raycast(ray1, raycastInfo));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray2, raycastInfo));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray2.point1, ray2.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray3, raycastInfo));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray3.point1, ray3.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray4, raycastInfo));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray5, raycastInfo));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray6, raycastInfo));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
// Raycast hit agains the capsule shape
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalShapeToWorld * Vector3(-30, 1.5, 2));
Ray ray12(mLocalShapeToWorld * Vector3(1.5, 9, -1), mLocalShapeToWorld * Vector3(1.5, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -1.5), mLocalShapeToWorld * Vector3(30, 1, -1.5));
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
mCallback.shapeToTest = mCompoundCapsuleCollider;
rp3d_test(mCompoundBody->raycast(ray11, raycastInfo));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray12, raycastInfo));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray13, raycastInfo));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray14, raycastInfo));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray15, raycastInfo));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCompoundBody->raycast(ray16, raycastInfo));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
void testConcaveMesh() {
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
Ray ray(point1, point2);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
mCallback.shapeToTest = mConcaveMeshCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mConcaveMeshBody);
rp3d_test(mCallback.raycastInfo.collider == mConcaveMeshCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mConcaveMeshBody);
rp3d_test(raycastInfo2.collider == mConcaveMeshCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo3;
rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo3));
rp3d_test(raycastInfo3.body == mConcaveMeshBody);
rp3d_test(raycastInfo3.collider == mConcaveMeshCollider);
rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo4;
rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo4));
rp3d_test(raycastInfo4.body == mConcaveMeshBody);
rp3d_test(raycastInfo4.collider == mConcaveMeshCollider);
rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo5;
rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo5));
rp3d_test(raycastInfo5.body == mConcaveMeshBody);
rp3d_test(raycastInfo5.collider == mConcaveMeshCollider);
rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalShapeToWorld * Vector3(22, 28, 31));
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalShapeToWorld * Vector3(-30, 1, -5));
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalShapeToWorld * Vector3(4, -30, 1));
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalShapeToWorld * Vector3(1, -4, -30));
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalShapeToWorld * Vector3(30, 4, 0));
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalShapeToWorld * Vector3(0, 30, -7));
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalShapeToWorld * Vector3(-3, 0, 30));
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalShapeToWorld * Vector3(-30, 0, -6));
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalShapeToWorld * Vector3(1, -30, -1));
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalShapeToWorld * Vector3(-1, 2, -30));
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalShapeToWorld * Vector3(30, 2, -2));
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalShapeToWorld * Vector3(0, 30, 1));
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
rp3d_test(!mConcaveMeshBody->raycast(ray1, raycastInfo3));
//rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray2, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray3, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray4, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray5, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray6, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray7, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray8, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray9, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mConcaveMeshBody->raycast(ray10, raycastInfo3));
rp3d_test(!mConcaveMeshCollider->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
// ----- Test raycast hits ----- //
rp3d_test(mConcaveMeshBody->raycast(ray11, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConcaveMeshBody->raycast(ray12, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConcaveMeshBody->raycast(ray13, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConcaveMeshBody->raycast(ray14, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConcaveMeshBody->raycast(ray15, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray15.point1, ray15.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mConcaveMeshBody->raycast(ray16, raycastInfo3));
rp3d_test(mConcaveMeshCollider->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
void testHeightField() {
// ----- Test feedback data ----- //
Vector3 point1A = mLocalShapeToWorld * Vector3(0 , 10, 2);
Vector3 point1B = mLocalShapeToWorld * Vector3(0, -10, 2);
Ray ray(point1A, point1B);
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 2, 2);
Vector3 point2A = mLocalShapeToWorld * Vector3(1 , 8, -4);
Vector3 point2B = mLocalShapeToWorld * Vector3(1, -8, -4);
Ray rayBottom(point2A, point2B);
Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, 2, -4);
mCallback.shapeToTest = mHeightFieldCollider;
// PhysicsWorld::raycast()
mCallback.reset();
mWorld->raycast(ray, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody);
rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
// Correct category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY2);
rp3d_test(mCallback.isHit);
// Wrong category filter mask
mCallback.reset();
mWorld->raycast(ray, &mCallback, CATEGORY1);
rp3d_test(!mCallback.isHit);
// CollisionBody::raycast()
RaycastInfo raycastInfo2;
rp3d_test(mHeightFieldBody->raycast(ray, raycastInfo2));
rp3d_test(raycastInfo2.body == mHeightFieldBody);
rp3d_test(raycastInfo2.collider == mHeightFieldCollider);
rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo3;
rp3d_test(mHeightFieldCollider->raycast(ray, raycastInfo3));
rp3d_test(raycastInfo3.body == mHeightFieldBody);
rp3d_test(raycastInfo3.collider == mHeightFieldCollider);
rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
mCallback.reset();
mWorld->raycast(rayBottom, &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody);
rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider);
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon));
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint2.z, epsilon));
// CollisionBody::raycast()
RaycastInfo raycastInfo5;
rp3d_test(mHeightFieldBody->raycast(rayBottom, raycastInfo5));
rp3d_test(raycastInfo5.body == mHeightFieldBody);
rp3d_test(raycastInfo5.collider == mHeightFieldCollider);
rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon));
rp3d_test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon));
// Collider::raycast()
RaycastInfo raycastInfo6;
rp3d_test(mHeightFieldCollider->raycast(rayBottom, raycastInfo6));
rp3d_test(raycastInfo6.body == mHeightFieldBody);
rp3d_test(raycastInfo6.collider == mHeightFieldCollider);
rp3d_test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), epsilon));
rp3d_test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon));
rp3d_test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon));
rp3d_test(approxEqual(raycastInfo6.worldPoint.z, hitPoint2.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 5, 0), mLocalShapeToWorld * Vector3(5, 7, 5));
Ray ray2(mLocalShapeToWorld * Vector3(-4, -4, 7), mLocalShapeToWorld * Vector3(-4, 15, 7));
Ray ray3(mLocalShapeToWorld * Vector3(23, 7, 2), mLocalShapeToWorld * Vector3(23, 1, 2));
Ray ray4(mLocalShapeToWorld * Vector3(10, 3, 10), mLocalShapeToWorld * Vector3(22, 3, 31));
Ray ray5(mLocalShapeToWorld * Vector3(4, 10, -1), mLocalShapeToWorld * Vector3(4, 3, -1));
Ray ray11(mLocalShapeToWorld * Vector3(3, 15, 0.5), mLocalShapeToWorld * Vector3(3, 1, 0.5));
Ray ray12(mLocalShapeToWorld * Vector3(0, 45, 0), mLocalShapeToWorld * Vector3(0, -5, 0));
Ray ray13(mLocalShapeToWorld * Vector3(1, 23, 2), mLocalShapeToWorld * Vector3(1, -23, 2));
Ray ray14(mLocalShapeToWorld * Vector3(3, 8, 3), mLocalShapeToWorld * Vector3(3, 0, 3));
// ----- Test raycast miss ----- //
rp3d_test(!mHeightFieldBody->raycast(ray1, raycastInfo3));
rp3d_test(!mHeightFieldCollider->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mHeightFieldBody->raycast(ray2, raycastInfo3));
rp3d_test(!mHeightFieldCollider->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mHeightFieldBody->raycast(ray3, raycastInfo3));
rp3d_test(!mHeightFieldCollider->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mHeightFieldBody->raycast(ray4, raycastInfo3));
rp3d_test(!mHeightFieldCollider->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
rp3d_test(!mCallback.isHit);
rp3d_test(!mHeightFieldBody->raycast(ray5, raycastInfo3));
rp3d_test(!mHeightFieldCollider->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
rp3d_test(!mCallback.isHit);
mCallback.reset();
// ----- Test raycast hits ----- //
rp3d_test(mHeightFieldBody->raycast(ray11, raycastInfo3));
rp3d_test(mHeightFieldCollider->raycast(ray11, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray11.point1, ray11.point2, decimal(0.95)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mHeightFieldBody->raycast(ray12, raycastInfo3));
rp3d_test(mHeightFieldCollider->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray12.point1, ray12.point2, decimal(0.87)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mHeightFieldBody->raycast(ray13, raycastInfo3));
rp3d_test(mHeightFieldCollider->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
rp3d_test(mHeightFieldBody->raycast(ray14, raycastInfo3));
rp3d_test(mHeightFieldCollider->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
rp3d_test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray14.point1, ray14.point2, decimal(0.8)), &mCallback);
rp3d_test(mCallback.isHit);
}
};
}
#endif