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reactphysics3d/test/tests/collision/TestPointInside.h

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/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef TEST_POINT_INSIDE_H
#define TEST_POINT_INSIDE_H
// Libraries
#include "Test.h"
#include "collision/shapes/BoxShape.h"
#include "collision/shapes/SphereShape.h"
#include "collision/shapes/CapsuleShape.h"
#include "collision/shapes/ConeShape.h"
#include "collision/shapes/ConvexMeshShape.h"
#include "collision/shapes/CylinderShape.h"
/// Reactphysics3D namespace
namespace reactphysics3d {
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestPointInside : public Test {
private :
// ---------- Atributes ---------- //
// Physics world
CollisionWorld* mWorld;
// Bodies
CollisionBody* mBoxBody;
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConeBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mConvexMeshBodyEdgesInfo;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
// Transform
Transform mBodyTransform;
Transform mShapeTransform;
Transform mLocalShapeToWorld;
Transform mLocalShape2ToWorld;
// Collision Shapes
ProxyShape* mBoxShape;
ProxyShape* mSphereShape;
ProxyShape* mCapsuleShape;
ProxyShape* mConeShape;
ProxyShape* mConvexMeshShape;
ProxyShape* mConvexMeshShapeEdgesInfo;
ProxyShape* mCylinderShape;
public :
// ---------- Methods ---------- //
/// Constructor
TestPointInside() {
// Create the world
mWorld = new CollisionWorld();
// Body transform
Vector3 position(-3, 2, 7);
Quaternion orientation(PI / 5, PI / 6, PI / 7);
mBodyTransform = Transform(position, orientation);
// Create the bodies
mBoxBody = mWorld->createCollisionBody(mBodyTransform);
mSphereBody = mWorld->createCollisionBody(mBodyTransform);
mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
mConeBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
// Collision shape transform
Vector3 shapePosition(1, -4, -3);
Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
mShapeTransform = Transform(shapePosition, shapeOrientation);
// Compute the the transform from a local shape point to world-space
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
// Create collision shapes
BoxShape boxShape(Vector3(2, 3, 4), 0);
mBoxShape = mBoxBody->addCollisionShape(boxShape, mShapeTransform);
SphereShape sphereShape(3);
mSphereShape = mSphereBody->addCollisionShape(sphereShape, mShapeTransform);
CapsuleShape capsuleShape(2, 10);
mCapsuleShape = mCapsuleBody->addCollisionShape(capsuleShape, mShapeTransform);
ConeShape coneShape(2, 6, 0);
mConeShape = mConeBody->addCollisionShape(coneShape, mShapeTransform);
ConvexMeshShape convexMeshShape(0); // Box of dimension (2, 3, 4)
convexMeshShape.addVertex(Vector3(-2, -3, 4));
convexMeshShape.addVertex(Vector3(2, -3, 4));
convexMeshShape.addVertex(Vector3(-2, -3, 4));
convexMeshShape.addVertex(Vector3(2, -3, -4));
convexMeshShape.addVertex(Vector3(-2, 3, 4));
convexMeshShape.addVertex(Vector3(2, 3, 4));
convexMeshShape.addVertex(Vector3(-2, 3, -4));
convexMeshShape.addVertex(Vector3(2, 3, -4));
mConvexMeshShape = mConvexMeshBody->addCollisionShape(convexMeshShape, mShapeTransform);
ConvexMeshShape convexMeshShapeEdgesInfo(0);
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, -4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, 4));
convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, -4));
convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, -4));
convexMeshShapeEdgesInfo.addEdge(0, 1);
convexMeshShapeEdgesInfo.addEdge(1, 3);
convexMeshShapeEdgesInfo.addEdge(2, 3);
convexMeshShapeEdgesInfo.addEdge(0, 2);
convexMeshShapeEdgesInfo.addEdge(4, 5);
convexMeshShapeEdgesInfo.addEdge(5, 7);
convexMeshShapeEdgesInfo.addEdge(6, 7);
convexMeshShapeEdgesInfo.addEdge(4, 6);
convexMeshShapeEdgesInfo.addEdge(0, 4);
convexMeshShapeEdgesInfo.addEdge(1, 5);
convexMeshShapeEdgesInfo.addEdge(2, 6);
convexMeshShapeEdgesInfo.addEdge(3, 7);
convexMeshShapeEdgesInfo.setIsEdgesInformationUsed(true);
mConvexMeshShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
convexMeshShapeEdgesInfo);
CylinderShape cylinderShape(3, 8, 0);
mCylinderShape = mCylinderBody->addCollisionShape(cylinderShape, mShapeTransform);
// Compound shape is a cylinder and a sphere
Vector3 positionShape2(Vector3(4, 2, -3));
Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
Transform shapeTransform2(positionShape2, orientationShape2);
mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
mCompoundBody->addCollisionShape(cylinderShape, mShapeTransform);
mCompoundBody->addCollisionShape(sphereShape, shapeTransform2);
}
/// Run the tests
void run() {
testBox();
testSphere();
testCapsule();
testCone();
testConvexMesh();
testCylinder();
testCompound();
}
/// Test the ProxyBoxShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testBox() {
// Tests with CollisionBody
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with ProxyBoxShape
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
}
/// Test the ProxySphereShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testSphere() {
// Tests with CollisionBody
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
// Tests with ProxySphereShape
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
}
/// Test the ProxyCapsuleShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCapsule() {
// Tests with CollisionBody
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
// Tests with ProxyCapsuleShape
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
}
/// Test the ProxyConeShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCone() {
// Tests with CollisionBody
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
// Tests with ProxyConeShape
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
}
/// Test the ProxyConvexMeshShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testConvexMesh() {
// ----- Tests without using edges information ----- //
// Tests with CollisionBody
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// ----- Tests using edges information ----- //
// Tests with CollisionBody
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
}
/// Test the ProxyCylinderShape::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCylinder() {
// Tests with CollisionBody
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
test(!!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
// Tests with ProxyCylinderShape
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
test(!!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
}
/// Test the CollisionBody::testPointInside() method
void testCompound() {
// Points on the cylinder
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
// Points on the sphere
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5)));
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5)));
}
};
}
#endif
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