1299 lines
67 KiB
C++
1299 lines
67 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_RAYCAST_H
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#define TEST_RAYCAST_H
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// Libraries
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#include "Test.h"
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#include "engine/CollisionWorld.h"
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#include "body/CollisionBody.h"
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#include "collision/shapes/BoxShape.h"
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#include "collision/shapes/SphereShape.h"
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/shapes/ConeShape.h"
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#include "collision/shapes/ConvexMeshShape.h"
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#include "collision/shapes/CylinderShape.h"
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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// Class TestPointInside
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/**
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* Unit test for the CollisionBody::testPointInside() method.
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*/
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class TestRaycast : public Test {
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private :
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// ---------- Atributes ---------- //
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// Epsilon
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decimal epsilon;
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// Physics world
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CollisionWorld* mWorld;
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// Bodies
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CollisionBody* mBoxBody;
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CollisionBody* mSphereBody;
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CollisionBody* mCapsuleBody;
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CollisionBody* mConeBody;
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CollisionBody* mConvexMeshBody;
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CollisionBody* mConvexMeshBodyEdgesInfo;
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CollisionBody* mCylinderBody;
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CollisionBody* mCompoundBody;
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// Transform
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Transform mBodyTransform;
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Transform mShapeTransform;
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Transform mLocalShapeToWorld;
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Transform mLocalShape2ToWorld;
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// Collision Shapes
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ProxyShape* mBoxShape;
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ProxyShape* mSphereShape;
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ProxyShape* mCapsuleShape;
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ProxyShape* mConeShape;
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ProxyShape* mConvexMeshShape;
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ProxyShape* mConvexMeshShapeEdgesInfo;
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ProxyShape* mCylinderShape;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestRaycast(const std::string& name) : Test(name) {
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epsilon = 0.0001;
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// Create the world
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mWorld = new CollisionWorld();
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// Body transform
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Vector3 position(-3, 2, 7);
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Quaternion orientation(PI / 5, PI / 6, PI / 7);
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mBodyTransform = Transform(position, orientation);
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// Create the bodies
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mBoxBody = mWorld->createCollisionBody(mBodyTransform);
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mSphereBody = mWorld->createCollisionBody(mBodyTransform);
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mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
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mConeBody = mWorld->createCollisionBody(mBodyTransform);
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mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
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mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
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mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
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mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
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// Collision shape transform
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Vector3 shapePosition(1, -4, -3);
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Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
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mShapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
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mLocalShapeToWorld = mBodyTransform * mShapeTransform;
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// Create collision shapes
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BoxShape boxShape(Vector3(2, 3, 4), 0);
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mBoxShape = mBoxBody->addCollisionShape(boxShape, mShapeTransform);
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SphereShape sphereShape(3);
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mSphereShape = mSphereBody->addCollisionShape(sphereShape, mShapeTransform);
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CapsuleShape capsuleShape(2, 5);
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mCapsuleShape = mCapsuleBody->addCollisionShape(capsuleShape, mShapeTransform);
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ConeShape coneShape(2, 6, 0);
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mConeShape = mConeBody->addCollisionShape(coneShape, mShapeTransform);
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ConvexMeshShape convexMeshShape(0); // Box of dimension (2, 3, 4)
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convexMeshShape.addVertex(Vector3(-2, -3, -4));
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convexMeshShape.addVertex(Vector3(2, -3, -4));
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convexMeshShape.addVertex(Vector3(2, -3, 4));
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convexMeshShape.addVertex(Vector3(-2, -3, 4));
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convexMeshShape.addVertex(Vector3(-2, 3, -4));
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convexMeshShape.addVertex(Vector3(2, 3, -4));
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convexMeshShape.addVertex(Vector3(2, 3, 4));
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convexMeshShape.addVertex(Vector3(-2, 3, 4));
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mConvexMeshShape = mConvexMeshBody->addCollisionShape(convexMeshShape, mShapeTransform);
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ConvexMeshShape convexMeshShapeEdgesInfo(0);
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convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, -4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, -4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, 4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, -4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, -4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, 4));
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convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, 4));
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convexMeshShapeEdgesInfo.addEdge(0, 1);
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convexMeshShapeEdgesInfo.addEdge(1, 2);
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convexMeshShapeEdgesInfo.addEdge(2, 3);
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convexMeshShapeEdgesInfo.addEdge(0, 3);
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convexMeshShapeEdgesInfo.addEdge(4, 5);
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convexMeshShapeEdgesInfo.addEdge(5, 6);
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convexMeshShapeEdgesInfo.addEdge(6, 7);
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convexMeshShapeEdgesInfo.addEdge(4, 7);
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convexMeshShapeEdgesInfo.addEdge(0, 4);
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convexMeshShapeEdgesInfo.addEdge(1, 5);
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convexMeshShapeEdgesInfo.addEdge(2, 6);
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convexMeshShapeEdgesInfo.addEdge(3, 7);
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convexMeshShapeEdgesInfo.setIsEdgesInformationUsed(true);
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mConvexMeshShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
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convexMeshShapeEdgesInfo,
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mShapeTransform);
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CylinderShape cylinderShape(2, 5, 0);
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mCylinderShape = mCylinderBody->addCollisionShape(cylinderShape, mShapeTransform);
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// Compound shape is a cylinder and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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Transform shapeTransform2(positionShape2, orientationShape2);
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mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
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mCompoundBody->addCollisionShape(cylinderShape, mShapeTransform);
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mCompoundBody->addCollisionShape(sphereShape, shapeTransform2);
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}
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/// Run the tests
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void run() {
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testBox();
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testSphere();
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testCapsule();
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testCone();
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testConvexMesh();
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testCylinder();
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testCompound();
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}
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/// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and
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/// CollisionWorld::raycast() methods.
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void testBox() {
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// ----- Test feedback data ----- //
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Vector3 origin = mLocalShapeToWorld * Vector3(1 , 2, 10);
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const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
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Vector3 direction = mLocalToWorldMatrix * Vector3(0, 0, -5);
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Ray ray(origin, direction);
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Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
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// CollisionWorld::raycast()
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RaycastInfo raycastInfo;
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test(mWorld->raycast(ray, raycastInfo));
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test(raycastInfo.body == mBoxBody);
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test(raycastInfo.proxyShape == mBoxShape);
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test(approxEqual(raycastInfo.distance, 6, epsilon));
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test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon));
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// CollisionBody::raycast()
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RaycastInfo raycastInfo2;
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test(mBoxBody->raycast(ray, raycastInfo2));
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test(raycastInfo2.body == mBoxBody);
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test(raycastInfo2.proxyShape == mBoxShape);
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test(approxEqual(raycastInfo2.distance, 6, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo3;
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test(mBoxShape->raycast(ray, raycastInfo3));
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test(raycastInfo3.body == mBoxBody);
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test(raycastInfo3.proxyShape == mBoxShape);
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test(approxEqual(raycastInfo3.distance, 6, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
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Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
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Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
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Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalToWorldMatrix * Vector3(-4, 0, 7));
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Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
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Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
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Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
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Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
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Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
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Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalToWorldMatrix * Vector3(0, 5, 0));
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Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
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Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
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Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
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Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8));
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Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
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Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
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Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
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// ----- Test raycast miss ----- //
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test(!mBoxBody->raycast(ray1, raycastInfo3));
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test(!mBoxShape->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3, 1));
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test(!mWorld->raycast(ray1, raycastInfo3, 100));
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test(!mWorld->raycast(ray1));
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test(!mBoxBody->raycast(ray2, raycastInfo3));
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test(!mBoxShape->raycast(ray2, raycastInfo3));
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test(!mWorld->raycast(ray2, raycastInfo3));
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test(!mWorld->raycast(ray2));
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test(!mBoxBody->raycast(ray3, raycastInfo3));
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test(!mBoxShape->raycast(ray3, raycastInfo3));
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test(!mWorld->raycast(ray3, raycastInfo3));
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test(!mWorld->raycast(ray3));
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test(!mBoxBody->raycast(ray4, raycastInfo3));
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test(!mBoxShape->raycast(ray4, raycastInfo3));
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test(!mWorld->raycast(ray4, raycastInfo3));
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test(!mWorld->raycast(ray4));
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test(!mBoxBody->raycast(ray5, raycastInfo3));
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test(!mBoxShape->raycast(ray5, raycastInfo3));
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test(!mWorld->raycast(ray5, raycastInfo3));
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test(!mWorld->raycast(ray5));
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test(!mBoxBody->raycast(ray6, raycastInfo3));
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test(!mBoxShape->raycast(ray6, raycastInfo3));
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test(!mWorld->raycast(ray6, raycastInfo3));
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test(!mWorld->raycast(ray6));
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test(!mBoxBody->raycast(ray7, raycastInfo3));
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test(!mBoxShape->raycast(ray7, raycastInfo3));
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test(!mWorld->raycast(ray7, raycastInfo3));
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test(!mWorld->raycast(ray7));
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test(!mBoxBody->raycast(ray8, raycastInfo3));
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test(!mBoxShape->raycast(ray8, raycastInfo3));
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test(!mWorld->raycast(ray8, raycastInfo3));
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test(!mWorld->raycast(ray8));
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test(!mBoxBody->raycast(ray9, raycastInfo3));
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test(!mBoxShape->raycast(ray9, raycastInfo3));
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test(!mWorld->raycast(ray9, raycastInfo3));
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test(!mWorld->raycast(ray9));
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test(!mBoxBody->raycast(ray10, raycastInfo3));
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test(!mBoxShape->raycast(ray10, raycastInfo3));
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test(!mWorld->raycast(ray10, raycastInfo3));
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test(!mWorld->raycast(ray10));
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test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
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test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
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test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
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test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
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test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
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test(!mWorld->raycast(ray16, raycastInfo3, 2));
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// ----- Test raycast hits ----- //
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test(mBoxBody->raycast(ray11, raycastInfo3));
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test(mBoxShape->raycast(ray11, raycastInfo3));
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test(mWorld->raycast(ray11, raycastInfo3));
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test(mWorld->raycast(ray11, raycastInfo3, 2));
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test(mWorld->raycast(ray11));
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test(mBoxBody->raycast(ray12, raycastInfo3));
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test(mBoxShape->raycast(ray12, raycastInfo3));
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test(mWorld->raycast(ray12, raycastInfo3));
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test(mWorld->raycast(ray12, raycastInfo3, 2));
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test(mWorld->raycast(ray12));
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test(mBoxBody->raycast(ray13, raycastInfo3));
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test(mBoxShape->raycast(ray13, raycastInfo3));
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test(mWorld->raycast(ray13, raycastInfo3));
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test(mWorld->raycast(ray13, raycastInfo3, 2));
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test(mWorld->raycast(ray13));
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test(mBoxBody->raycast(ray14, raycastInfo3));
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test(mBoxShape->raycast(ray14, raycastInfo3));
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test(mWorld->raycast(ray14, raycastInfo3));
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test(mWorld->raycast(ray14, raycastInfo3, 2));
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test(mWorld->raycast(ray14));
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test(mBoxBody->raycast(ray15, raycastInfo3));
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test(mBoxShape->raycast(ray15, raycastInfo3));
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test(mWorld->raycast(ray15, raycastInfo3));
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test(mWorld->raycast(ray15, raycastInfo3, 2));
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test(mWorld->raycast(ray15));
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test(mBoxBody->raycast(ray16, raycastInfo3));
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test(mBoxShape->raycast(ray16, raycastInfo3));
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test(mWorld->raycast(ray16, raycastInfo3));
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test(mWorld->raycast(ray16, raycastInfo3, 4));
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test(mWorld->raycast(ray16));
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}
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/// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
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/// CollisionWorld::raycast() methods.
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void testSphere() {
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// ----- Test feedback data ----- //
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Vector3 origin = mLocalShapeToWorld * Vector3(-8 , 0, 0);
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const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
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Vector3 direction = mLocalToWorldMatrix * Vector3(5, 0, 0);
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Ray ray(origin, direction);
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Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0);
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// CollisionWorld::raycast()
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RaycastInfo raycastInfo;
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test(mWorld->raycast(ray, raycastInfo));
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test(raycastInfo.body == mSphereBody);
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test(raycastInfo.proxyShape == mSphereShape);
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test(approxEqual(raycastInfo.distance, 5, epsilon));
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test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon));
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// CollisionBody::raycast()
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RaycastInfo raycastInfo2;
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test(mSphereBody->raycast(ray, raycastInfo2));
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test(raycastInfo2.body == mSphereBody);
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test(raycastInfo2.proxyShape == mSphereShape);
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test(approxEqual(raycastInfo2.distance, 5, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo3;
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test(mSphereShape->raycast(ray, raycastInfo3));
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test(raycastInfo3.body == mSphereBody);
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test(raycastInfo3.proxyShape == mSphereShape);
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test(approxEqual(raycastInfo3.distance, 5, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
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Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
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Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
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Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 2), mLocalToWorldMatrix * Vector3(-4, 0, 7));
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Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
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Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
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Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
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Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
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Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
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Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -4), mLocalToWorldMatrix * Vector3(0, 5, 0));
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Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray14(mLocalShapeToWorld * Vector3(-5, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -11), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mSphereBody->raycast(ray1, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
|
test(!mWorld->raycast(ray1));
|
|
|
|
test(!mSphereBody->raycast(ray2, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2));
|
|
|
|
test(!mSphereBody->raycast(ray3, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3));
|
|
|
|
test(!mSphereBody->raycast(ray4, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4));
|
|
|
|
test(!mSphereBody->raycast(ray5, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5));
|
|
|
|
test(!mSphereBody->raycast(ray6, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6));
|
|
|
|
test(!mSphereBody->raycast(ray7, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7));
|
|
|
|
test(!mSphereBody->raycast(ray8, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8));
|
|
|
|
test(!mSphereBody->raycast(ray9, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9));
|
|
|
|
test(!mSphereBody->raycast(ray10, raycastInfo3));
|
|
test(!mSphereShape->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10));
|
|
|
|
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray16, raycastInfo3, 2));
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mSphereBody->raycast(ray11, raycastInfo3));
|
|
test(mSphereShape->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mSphereBody->raycast(ray12, raycastInfo3));
|
|
test(mSphereShape->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mSphereBody->raycast(ray13, raycastInfo3));
|
|
test(mSphereShape->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mSphereBody->raycast(ray14, raycastInfo3));
|
|
test(mSphereShape->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mSphereBody->raycast(ray15, raycastInfo3));
|
|
test(mSphereShape->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mSphereBody->raycast(ray16, raycastInfo3));
|
|
test(mSphereShape->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
|
|
/// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCapsule() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
Vector3 origin = mLocalShapeToWorld * Vector3(0 , 10, 0);
|
|
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
|
|
Vector3 direction = mLocalToWorldMatrix * Vector3(0, -3, 0);
|
|
Ray ray(origin, direction);
|
|
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 7, 0);
|
|
|
|
// CollisionWorld::raycast()
|
|
RaycastInfo raycastInfo;
|
|
test(mWorld->raycast(ray, raycastInfo));
|
|
test(raycastInfo.body == mCapsuleBody);
|
|
test(raycastInfo.proxyShape == mCapsuleShape);
|
|
test(approxEqual(raycastInfo.distance, 6));
|
|
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mCapsuleBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mCapsuleBody);
|
|
test(raycastInfo2.proxyShape == mCapsuleShape);
|
|
test(approxEqual(raycastInfo2.distance, 6));
|
|
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mCapsuleShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mCapsuleBody);
|
|
test(raycastInfo3.proxyShape == mCapsuleShape);
|
|
test(approxEqual(raycastInfo3.distance, 6));
|
|
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z));
|
|
|
|
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalToWorldMatrix * Vector3(-4, 0, 7));
|
|
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
|
|
Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
|
|
Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
|
|
Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
|
|
Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalToWorldMatrix * Vector3(0, 5, 0));
|
|
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mCapsuleBody->raycast(ray1, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
|
test(!mWorld->raycast(ray1));
|
|
|
|
test(!mCapsuleBody->raycast(ray2, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2));
|
|
|
|
test(!mCapsuleBody->raycast(ray3, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3));
|
|
|
|
test(!mCapsuleBody->raycast(ray4, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4));
|
|
|
|
test(!mCapsuleBody->raycast(ray5, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5));
|
|
|
|
test(!mCapsuleBody->raycast(ray6, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6));
|
|
|
|
test(!mCapsuleBody->raycast(ray7, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7));
|
|
|
|
test(!mCapsuleBody->raycast(ray8, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8));
|
|
|
|
test(!mCapsuleBody->raycast(ray9, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9));
|
|
|
|
test(!mCapsuleBody->raycast(ray10, raycastInfo3));
|
|
test(!mCapsuleShape->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10));
|
|
|
|
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray16, raycastInfo3, 2));
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mCapsuleBody->raycast(ray11, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mCapsuleBody->raycast(ray12, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mCapsuleBody->raycast(ray13, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mCapsuleBody->raycast(ray14, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mCapsuleBody->raycast(ray15, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mCapsuleBody->raycast(ray16, raycastInfo3));
|
|
test(mCapsuleShape->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
|
|
/// Test the ProxyConeShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCone() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
Vector3 origin = mLocalShapeToWorld * Vector3(0 , 0, 3);
|
|
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
|
|
Vector3 direction = mLocalToWorldMatrix * Vector3(0, 0, -8);
|
|
Ray ray(origin, direction);
|
|
Vector3 hitPoint = mLocalShapeToWorld * Vector3(0, 0, 1);
|
|
|
|
// CollisionWorld::raycast()
|
|
RaycastInfo raycastInfo;
|
|
test(mWorld->raycast(ray, raycastInfo));
|
|
test(raycastInfo.body == mConeBody);
|
|
test(raycastInfo.proxyShape == mConeShape);
|
|
test(approxEqual(raycastInfo.distance, 6));
|
|
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mConeBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mConeBody);
|
|
test(raycastInfo2.proxyShape == mConeShape);
|
|
test(approxEqual(raycastInfo2.distance, 6));
|
|
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mConeShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mConeBody);
|
|
test(raycastInfo3.proxyShape == mConeShape);
|
|
test(approxEqual(raycastInfo3.distance, 6));
|
|
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x));
|
|
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y));
|
|
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z));
|
|
|
|
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray3(mLocalShapeToWorld * Vector3(-1, -2, 1), mLocalToWorldMatrix * Vector3(-4, 0, 7));
|
|
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -1), mLocalToWorldMatrix * Vector3(-3, 0, 0));
|
|
Ray ray6(mLocalShapeToWorld * Vector3(3, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
|
|
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 3), mLocalToWorldMatrix * Vector3(0, 0, -2));
|
|
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
|
|
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalToWorldMatrix * Vector3(0, 5, 0));
|
|
Ray ray10(mLocalShapeToWorld * Vector3(-3, -2, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
Ray ray11(mLocalShapeToWorld * Vector3(3, -1, 0.5), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray13(mLocalShapeToWorld * Vector3(-1, -2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray14(mLocalShapeToWorld * Vector3(-2, 0, 0.8), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray16(mLocalShapeToWorld * Vector3(-0.9, 0, -4), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mConeBody->raycast(ray1, raycastInfo3));
|
|
test(!mConeShape->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
|
test(!mWorld->raycast(ray1));
|
|
|
|
test(!mConeBody->raycast(ray2, raycastInfo3));
|
|
test(!mConeShape->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2));
|
|
|
|
test(!mConeBody->raycast(ray3, raycastInfo3));
|
|
test(!mConeShape->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3));
|
|
|
|
test(!mConeBody->raycast(ray4, raycastInfo3));
|
|
test(!mConeShape->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4));
|
|
|
|
test(!mConeBody->raycast(ray5, raycastInfo3));
|
|
test(!mConeShape->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5));
|
|
|
|
test(!mConeBody->raycast(ray6, raycastInfo3));
|
|
test(!mConeShape->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6));
|
|
|
|
test(!mConeBody->raycast(ray7, raycastInfo3));
|
|
test(!mConeShape->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7));
|
|
|
|
test(!mConeBody->raycast(ray8, raycastInfo3));
|
|
test(!mConeShape->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8));
|
|
|
|
test(!mConeBody->raycast(ray9, raycastInfo3));
|
|
test(!mConeShape->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9));
|
|
|
|
test(!mConeBody->raycast(ray10, raycastInfo3));
|
|
test(!mConeShape->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10));
|
|
|
|
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray16, raycastInfo3, 2));
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mConeBody->raycast(ray11, raycastInfo3));
|
|
test(mConeShape->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mConeBody->raycast(ray12, raycastInfo3));
|
|
test(mConeShape->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mConeBody->raycast(ray13, raycastInfo3));
|
|
test(mConeShape->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mConeBody->raycast(ray14, raycastInfo3));
|
|
test(mConeShape->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mConeBody->raycast(ray15, raycastInfo3));
|
|
test(mConeShape->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mConeBody->raycast(ray16, raycastInfo3));
|
|
test(mConeShape->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
|
|
/// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testConvexMesh() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
Vector3 origin = mLocalShapeToWorld * Vector3(1 , 2, 10);
|
|
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
|
|
Vector3 direction = mLocalToWorldMatrix * Vector3(0, 0, -5);
|
|
Ray ray(origin, direction);
|
|
Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
|
|
|
|
// CollisionWorld::raycast()
|
|
RaycastInfo raycastInfo;
|
|
test(mWorld->raycast(ray, raycastInfo));
|
|
test(raycastInfo.body == mConvexMeshBody);
|
|
test(raycastInfo.proxyShape == mConvexMeshShape);
|
|
test(approxEqual(raycastInfo.distance, 6, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mConvexMeshBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mConvexMeshBody);
|
|
test(raycastInfo2.proxyShape == mConvexMeshShape);
|
|
test(approxEqual(raycastInfo2.distance, 6, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mConvexMeshBodyEdgesInfo);
|
|
test(raycastInfo3.proxyShape == mConvexMeshShapeEdgesInfo);
|
|
test(approxEqual(raycastInfo3.distance, 6, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo4;
|
|
test(mConvexMeshShape->raycast(ray, raycastInfo4));
|
|
test(raycastInfo4.body == mConvexMeshBody);
|
|
test(raycastInfo4.proxyShape == mConvexMeshShape);
|
|
test(approxEqual(raycastInfo4.distance, 6, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray, raycastInfo5));
|
|
test(raycastInfo5.body == mConvexMeshBodyEdgesInfo);
|
|
test(raycastInfo5.proxyShape == mConvexMeshShapeEdgesInfo);
|
|
test(approxEqual(raycastInfo5.distance, 6, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalToWorldMatrix * Vector3(-4, 0, 7));
|
|
Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray5(mLocalShapeToWorld * Vector3(3, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
|
|
Ray ray6(mLocalShapeToWorld * Vector3(4, 4, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
|
|
Ray ray7(mLocalShapeToWorld * Vector3(1, -4, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
|
|
Ray ray8(mLocalShapeToWorld * Vector3(-4, 4, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
|
|
Ray ray9(mLocalShapeToWorld * Vector3(0, -4, -7), mLocalToWorldMatrix * Vector3(0, 5, 0));
|
|
Ray ray10(mLocalShapeToWorld * Vector3(-3, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
Ray ray11(mLocalShapeToWorld * Vector3(3, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray15(mLocalShapeToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 1));
|
|
test(!mWorld->raycast(ray1, raycastInfo3, 100));
|
|
test(!mWorld->raycast(ray1));
|
|
|
|
test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2, raycastInfo3));
|
|
test(!mWorld->raycast(ray2));
|
|
|
|
test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3, raycastInfo3));
|
|
test(!mWorld->raycast(ray3));
|
|
|
|
test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4, raycastInfo3));
|
|
test(!mWorld->raycast(ray4));
|
|
|
|
test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5));
|
|
|
|
test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6));
|
|
|
|
test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7));
|
|
|
|
test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8));
|
|
|
|
test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9));
|
|
|
|
test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshShape->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshShapeEdgesInfo->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10));
|
|
|
|
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray16, raycastInfo3, 2));
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mConvexMeshBody->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mConvexMeshBody->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mConvexMeshBody->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mConvexMeshBody->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mConvexMeshBody->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mConvexMeshBody->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshShape->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshShapeEdgesInfo->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
|
|
/// Test the ProxyCylinderShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCylinder() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
Vector3 origin = mLocalShapeToWorld * Vector3(6 , 1, 0);
|
|
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
|
|
Vector3 direction = mLocalToWorldMatrix * Vector3(-2, 0, 0);
|
|
Ray ray(origin, direction);
|
|
Vector3 hitPoint = mLocalShapeToWorld * Vector3(2, 1, 0);
|
|
|
|
Vector3 origin2 = mLocalShapeToWorld * Vector3(0 , 10, 0);
|
|
Vector3 direction2 = mLocalToWorldMatrix * Vector3(0, -3, 0);
|
|
Ray rayTop(origin2, direction2);
|
|
Vector3 hitPointTop = mLocalShapeToWorld * Vector3(0, decimal(2.5), 0);
|
|
|
|
Vector3 origin3 = mLocalShapeToWorld * Vector3(0 , -10, 0);
|
|
Vector3 direction3 = mLocalToWorldMatrix * Vector3(0, 3, 0);
|
|
Ray rayBottom(origin3, direction3);
|
|
Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-2.5), 0);
|
|
|
|
// CollisionWorld::raycast()
|
|
RaycastInfo raycastInfo;
|
|
test(mWorld->raycast(ray, raycastInfo));
|
|
test(raycastInfo.body == mCylinderBody);
|
|
test(raycastInfo.proxyShape == mCylinderShape);
|
|
test(approxEqual(raycastInfo.distance, 4, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mCylinderBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mCylinderBody);
|
|
test(raycastInfo2.proxyShape == mCylinderShape);
|
|
test(approxEqual(raycastInfo2.distance, 4, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mCylinderShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mCylinderBody);
|
|
test(raycastInfo3.proxyShape == mCylinderShape);
|
|
test(approxEqual(raycastInfo3.distance, 4, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mCylinderShape->raycast(rayTop, raycastInfo5));
|
|
test(raycastInfo5.body == mCylinderBody);
|
|
test(raycastInfo5.proxyShape == mCylinderShape);
|
|
test(approxEqual(raycastInfo5.distance, decimal(7.5), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x, hitPointTop.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y, hitPointTop.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z, hitPointTop.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo6;
|
|
test(mCylinderShape->raycast(rayBottom, raycastInfo6));
|
|
test(raycastInfo6.body == mCylinderBody);
|
|
test(raycastInfo6.proxyShape == mCylinderShape);
|
|
test(approxEqual(raycastInfo6.distance, decimal(7.5), epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.x, hitPointBottom.x, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.y, hitPointBottom.y, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.z, hitPointBottom.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalToWorldMatrix * Vector3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray3(mLocalShapeToWorld * Vector3(1, 3, -1), mLocalToWorldMatrix * Vector3(-4, 0, 7));
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Ray ray4(mLocalShapeToWorld * Vector3(10, 10, 10), mLocalToWorldMatrix * Vector3(4, 6, 7));
|
|
Ray ray5(mLocalShapeToWorld * Vector3(4, 1, -5), mLocalToWorldMatrix * Vector3(-3, 0, 0));
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|
Ray ray6(mLocalShapeToWorld * Vector3(4, 9, 1), mLocalToWorldMatrix * Vector3(0, -2, 0));
|
|
Ray ray7(mLocalShapeToWorld * Vector3(1, -9, 5), mLocalToWorldMatrix * Vector3(0, 0, -2));
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|
Ray ray8(mLocalShapeToWorld * Vector3(-4, 9, 0), mLocalToWorldMatrix * Vector3(1, 0, 0));
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|
Ray ray9(mLocalShapeToWorld * Vector3(0, -9, -4), mLocalToWorldMatrix * Vector3(0, 5, 0));
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|
Ray ray10(mLocalShapeToWorld * Vector3(-4, 0, -6), mLocalToWorldMatrix * Vector3(0, 0, 8));
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|
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 1.5), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
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|
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8));
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|
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
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|
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
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|
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
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|
|
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// ----- Test raycast miss ----- //
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test(!mCylinderBody->raycast(ray1, raycastInfo3));
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test(!mCylinderShape->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3));
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test(!mWorld->raycast(ray1, raycastInfo3, 1));
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test(!mWorld->raycast(ray1, raycastInfo3, 100));
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test(!mWorld->raycast(ray1));
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|
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test(!mCylinderBody->raycast(ray2, raycastInfo3));
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|
test(!mCylinderShape->raycast(ray2, raycastInfo3));
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|
test(!mWorld->raycast(ray2, raycastInfo3));
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test(!mWorld->raycast(ray2));
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|
|
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test(!mCylinderBody->raycast(ray3, raycastInfo3));
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|
test(!mCylinderShape->raycast(ray3, raycastInfo3));
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|
test(!mWorld->raycast(ray3, raycastInfo3));
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|
test(!mWorld->raycast(ray3));
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|
|
|
test(!mCylinderBody->raycast(ray4, raycastInfo3));
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|
test(!mCylinderShape->raycast(ray4, raycastInfo3));
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|
test(!mWorld->raycast(ray4, raycastInfo3));
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|
test(!mWorld->raycast(ray4));
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|
|
|
test(!mCylinderBody->raycast(ray5, raycastInfo3));
|
|
test(!mCylinderShape->raycast(ray5, raycastInfo3));
|
|
test(!mWorld->raycast(ray5, raycastInfo3));
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|
test(!mWorld->raycast(ray5));
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|
|
|
test(!mCylinderBody->raycast(ray6, raycastInfo3));
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|
test(!mCylinderShape->raycast(ray6, raycastInfo3));
|
|
test(!mWorld->raycast(ray6, raycastInfo3));
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|
test(!mWorld->raycast(ray6));
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|
|
|
test(!mCylinderBody->raycast(ray7, raycastInfo3));
|
|
test(!mCylinderShape->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7, raycastInfo3));
|
|
test(!mWorld->raycast(ray7));
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|
|
|
test(!mCylinderBody->raycast(ray8, raycastInfo3));
|
|
test(!mCylinderShape->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8, raycastInfo3));
|
|
test(!mWorld->raycast(ray8));
|
|
|
|
test(!mCylinderBody->raycast(ray9, raycastInfo3));
|
|
test(!mCylinderShape->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9, raycastInfo3));
|
|
test(!mWorld->raycast(ray9));
|
|
|
|
test(!mCylinderBody->raycast(ray10, raycastInfo3));
|
|
test(!mCylinderShape->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10, raycastInfo3));
|
|
test(!mWorld->raycast(ray10));
|
|
|
|
test(!mWorld->raycast(ray11, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray12, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray13, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray14, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray15, raycastInfo3, 0.5));
|
|
test(!mWorld->raycast(ray16, raycastInfo3, 2));
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mCylinderBody->raycast(ray11, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3));
|
|
test(mWorld->raycast(ray11, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mCylinderBody->raycast(ray12, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3));
|
|
test(mWorld->raycast(ray12, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mCylinderBody->raycast(ray13, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3));
|
|
test(mWorld->raycast(ray13, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mCylinderBody->raycast(ray14, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3));
|
|
test(mWorld->raycast(ray14, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mCylinderBody->raycast(ray15, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3));
|
|
test(mWorld->raycast(ray15, raycastInfo3, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mCylinderBody->raycast(ray16, raycastInfo3));
|
|
test(mCylinderShape->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3));
|
|
test(mWorld->raycast(ray16, raycastInfo3, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
|
|
/// Test the CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCompound() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
const Matrix3x3 mLocalToWorldMatrix = mLocalShapeToWorld.getOrientation().getMatrix();
|
|
|
|
// Raycast hit agains the sphere shape
|
|
Ray ray1(mLocalShape2ToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray2(mLocalShape2ToWorld * Vector3(1, 4, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray3(mLocalShape2ToWorld * Vector3(-1, 2, 5), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray4(mLocalShape2ToWorld * Vector3(-5, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
RaycastInfo raycastInfo;
|
|
test(mCompoundBody->raycast(ray1, raycastInfo));
|
|
test(mWorld->raycast(ray1, raycastInfo));
|
|
test(mWorld->raycast(ray1, raycastInfo, 2));
|
|
test(mWorld->raycast(ray1));
|
|
|
|
test(mCompoundBody->raycast(ray2, raycastInfo));
|
|
test(mWorld->raycast(ray2, raycastInfo));
|
|
test(mWorld->raycast(ray2, raycastInfo, 2));
|
|
test(mWorld->raycast(ray2));
|
|
|
|
test(mCompoundBody->raycast(ray3, raycastInfo));
|
|
test(mWorld->raycast(ray3, raycastInfo));
|
|
test(mWorld->raycast(ray3, raycastInfo, 2));
|
|
test(mWorld->raycast(ray3));
|
|
|
|
test(mCompoundBody->raycast(ray4, raycastInfo));
|
|
test(mWorld->raycast(ray4, raycastInfo));
|
|
test(mWorld->raycast(ray4, raycastInfo, 2));
|
|
test(mWorld->raycast(ray4));
|
|
|
|
test(mCompoundBody->raycast(ray5, raycastInfo));
|
|
test(mWorld->raycast(ray5, raycastInfo));
|
|
test(mWorld->raycast(ray5, raycastInfo, 2));
|
|
test(mWorld->raycast(ray5));
|
|
|
|
test(mCompoundBody->raycast(ray6, raycastInfo));
|
|
test(mWorld->raycast(ray6, raycastInfo));
|
|
test(mWorld->raycast(ray6, raycastInfo, 4));
|
|
test(mWorld->raycast(ray6));
|
|
|
|
// Raycast hit agains the cylinder shape
|
|
Ray ray11(mLocalShapeToWorld * Vector3(4, 1, 2), mLocalToWorldMatrix * Vector3(-4, 0, 0));
|
|
Ray ray12(mLocalShapeToWorld * Vector3(1, 9, -1), mLocalToWorldMatrix * Vector3(0, -3, 0));
|
|
Ray ray13(mLocalShapeToWorld * Vector3(-1, 2, 3), mLocalToWorldMatrix * Vector3(0, 0, -8));
|
|
Ray ray14(mLocalShapeToWorld * Vector3(-3, 2, -2), mLocalToWorldMatrix * Vector3(4, 0, 0));
|
|
Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalToWorldMatrix * Vector3(0, 3, 0));
|
|
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalToWorldMatrix * Vector3(0, 0, 8));
|
|
|
|
test(mCompoundBody->raycast(ray11, raycastInfo));
|
|
test(mWorld->raycast(ray11, raycastInfo));
|
|
test(mWorld->raycast(ray11, raycastInfo, 2));
|
|
test(mWorld->raycast(ray11));
|
|
|
|
test(mCompoundBody->raycast(ray12, raycastInfo));
|
|
test(mWorld->raycast(ray12, raycastInfo));
|
|
test(mWorld->raycast(ray12, raycastInfo, 2));
|
|
test(mWorld->raycast(ray12));
|
|
|
|
test(mCompoundBody->raycast(ray13, raycastInfo));
|
|
test(mWorld->raycast(ray13, raycastInfo));
|
|
test(mWorld->raycast(ray13, raycastInfo, 2));
|
|
test(mWorld->raycast(ray13));
|
|
|
|
test(mCompoundBody->raycast(ray14, raycastInfo));
|
|
test(mWorld->raycast(ray14, raycastInfo));
|
|
test(mWorld->raycast(ray14, raycastInfo, 2));
|
|
test(mWorld->raycast(ray14));
|
|
|
|
test(mCompoundBody->raycast(ray15, raycastInfo));
|
|
test(mWorld->raycast(ray15, raycastInfo));
|
|
test(mWorld->raycast(ray15, raycastInfo, 2));
|
|
test(mWorld->raycast(ray15));
|
|
|
|
test(mCompoundBody->raycast(ray16, raycastInfo));
|
|
test(mWorld->raycast(ray16, raycastInfo));
|
|
test(mWorld->raycast(ray16, raycastInfo, 4));
|
|
test(mWorld->raycast(ray16));
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|