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reactphysics3d/test/tests/collision/TestPointInside.h
Daniel Chappuis b0fde22678 Rename ProxyShape to Collider
2020-01-20 21:22:46 +01:00

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/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2016 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef TEST_POINT_INSIDE_H
#define TEST_POINT_INSIDE_H
// Libraries
#include "Test.h"
#include "collision/shapes/BoxShape.h"
#include "collision/shapes/SphereShape.h"
#include "collision/shapes/CapsuleShape.h"
#include "collision/shapes/ConvexMeshShape.h"
#include "engine/CollisionWorld.h"
#include "engine/PhysicsCommon.h"
#include "collision/PolygonVertexArray.h"
/// Reactphysics3D namespace
namespace reactphysics3d {
// Class TestPointInside
/**
* Unit test for the CollisionBody::testPointInside() method.
*/
class TestPointInside : public Test {
private :
// ---------- Atributes ---------- //
// Physics common
PhysicsCommon mPhysicsCommon;
// Physics world
CollisionWorld* mWorld;
// Bodies
CollisionBody* mBoxBody;
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConeBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mConvexMeshBodyEdgesInfo;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
Vector3 mConvexMeshCubeVertices[8];
int mConvexMeshCubeIndices[24];
PolygonVertexArray* mConvexMeshPolygonVertexArray;
PolyhedronMesh* mConvexMeshPolyhedronMesh;
PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces;
// Collision shapes
BoxShape* mBoxShape;
SphereShape* mSphereShape;
CapsuleShape* mCapsuleShape;
ConvexMeshShape* mConvexMeshShape;
// Transform
Transform mBodyTransform;
Transform mShapeTransform;
Transform mLocalShapeToWorld;
Transform mLocalShape2ToWorld;
// Colliders
Collider* mBoxCollider;
Collider* mSphereCollider;
Collider* mCapsuleCollider;
Collider* mConvexMeshCollider;
public :
// ---------- Methods ---------- //
/// Constructor
TestPointInside(const std::string& name) : Test(name) {
// Create the world
mWorld = mPhysicsCommon.createCollisionWorld();
// Body transform
Vector3 position(-3, 2, 7);
Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7);
mBodyTransform = Transform(position, orientation);
// Create the bodies
mBoxBody = mWorld->createCollisionBody(mBodyTransform);
mSphereBody = mWorld->createCollisionBody(mBodyTransform);
mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
mConeBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
// Collision shape transform
Vector3 shapePosition(1, -4, -3);
Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3);
mShapeTransform = Transform(shapePosition, shapeOrientation);
// Compute the the transform from a local shape point to world-space
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
// Create collision shapes
mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4));
mBoxCollider = mBoxBody->addCollider(mBoxShape, mShapeTransform);
mSphereShape = mPhysicsCommon.createSphereShape(3);
mSphereCollider = mSphereBody->addCollider(mSphereShape, mShapeTransform);
mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10);
mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform);
mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4);
mConvexMeshCubeVertices[1] = Vector3(2, -3, 4);
mConvexMeshCubeVertices[2] = Vector3(2, -3, -4);
mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4);
mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4);
mConvexMeshCubeVertices[5] = Vector3(2, 3, 4);
mConvexMeshCubeVertices[6] = Vector3(2, 3, -4);
mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4);
mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4;
mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5;
mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6;
mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3;
mConvexMeshPolygonFaces = new PolygonVertexArray::PolygonFace[6];
PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces;
for (int f = 0; f < 6; f++) {
face->indexBase = f * 4;
face->nbVertices = 4;
face++;
}
mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3),
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
mConvexMeshPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMeshPolygonVertexArray);
mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mConvexMeshPolyhedronMesh);
Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity());
mConvexMeshCollider = mConvexMeshBody->addCollider(mConvexMeshShape, mShapeTransform);
// Compound shape is a capsule and a sphere
Vector3 positionShape2(Vector3(4, 2, -3));
Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI / 8, 1.5 * PI/ 3, PI / 13);
Transform shapeTransform2(positionShape2, orientationShape2);
mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
mCompoundBody->addCollider(mCapsuleShape, mShapeTransform);
mCompoundBody->addCollider(mSphereShape, shapeTransform2);
}
/// Destructor
virtual ~TestPointInside() {
mPhysicsCommon.destroyBoxShape(mBoxShape);
mPhysicsCommon.destroySphereShape(mSphereShape);
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
mPhysicsCommon.destroyCollisionWorld(mWorld);
mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh);
delete[] mConvexMeshPolygonFaces;
delete mConvexMeshPolygonVertexArray;
}
/// Run the tests
void run() {
testBox();
testSphere();
testCapsule();
testConvexMesh();
testCompound();
}
/// Test the testPointInside() and
/// CollisionBody::testPointInside() methods
void testBox() {
// Tests with CollisionBody
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with Collider
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
}
/// Test the Collider::testPointInside() and
/// CollisionBody::testPointInside() methods
void testSphere() {
// Tests with CollisionBody
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
// Tests with Collider
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
}
/// Test the Collider::testPointInside() and
/// CollisionBody::testPointInside() methods
void testCapsule() {
// Tests with CollisionBody
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
rp3d_test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
// Tests with Collider
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
}
/// Test the Collider::testPointInside() and
/// CollisionBody::testPointInside() methods
void testConvexMesh() {
// Tests with CollisionBody
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
// Tests with Collider
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
}
/// Test the CollisionBody::testPointInside() method
void testCompound() {
// Points on the capsule
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
rp3d_test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
// Points on the sphere
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5)));
rp3d_test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5)));
}
};
}
#endif
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