505 lines
34 KiB
C++
505 lines
34 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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_POINT_INSIDE_H
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#define TEST_POINT_INSIDE_H
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// Libraries
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#include "Test.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/ConvexMeshShape.h"
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#include "engine/CollisionWorld.h"
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#include "collision/PolygonVertexArray.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 TestPointInside : public Test {
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private :
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// ---------- Atributes ---------- //
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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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Vector3 mConvexMeshCubeVertices[8];
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int mConvexMeshCubeIndices[24];
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PolygonVertexArray* mConvexMeshPolygonVertexArray;
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PolyhedronMesh* mConvexMeshPolyhedronMesh;
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PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces;
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// Collision shapes
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BoxShape* mBoxShape;
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SphereShape* mSphereShape;
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CapsuleShape* mCapsuleShape;
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ConvexMeshShape* mConvexMeshShape;
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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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// Proxy Shapes
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ProxyShape* mBoxProxyShape;
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ProxyShape* mSphereProxyShape;
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ProxyShape* mCapsuleProxyShape;
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ProxyShape* mConvexMeshProxyShape;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestPointInside(const std::string& name) : Test(name) {
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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 = Quaternion::fromEulerAngles(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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mConvexMeshBody = 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 = Quaternion::fromEulerAngles(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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mBoxShape = new BoxShape(Vector3(2, 3, 4));
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mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
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mSphereShape = new SphereShape(3);
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mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform);
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mCapsuleShape = new CapsuleShape(3, 10);
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mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4);
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mConvexMeshCubeVertices[1] = Vector3(2, -3, 4);
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mConvexMeshCubeVertices[2] = Vector3(2, -3, -4);
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mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4);
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mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4);
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mConvexMeshCubeVertices[5] = Vector3(2, 3, 4);
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mConvexMeshCubeVertices[6] = Vector3(2, 3, -4);
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mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4);
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mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1;
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mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7;
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mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4;
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mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5;
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mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6;
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mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3;
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mConvexMeshPolygonFaces = new PolygonVertexArray::PolygonFace[6];
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PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces;
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for (int f = 0; f < 6; f++) {
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face->indexBase = f * 4;
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face->nbVertices = 4;
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face++;
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}
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mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3),
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&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
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PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
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PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
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mConvexMeshPolyhedronMesh = new PolyhedronMesh(mConvexMeshPolygonVertexArray);
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mConvexMeshShape = new ConvexMeshShape(mConvexMeshPolyhedronMesh);
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Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity());
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
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// Compound shape is a capsule and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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Quaternion orientationShape2 = Quaternion::fromEulerAngles(-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(mCapsuleShape, mShapeTransform);
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mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
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}
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/// Destructor
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virtual ~TestPointInside() {
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delete mWorld;
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delete mBoxShape;
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delete mSphereShape;
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delete mCapsuleShape;
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delete mConvexMeshShape;
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delete[] mConvexMeshPolygonFaces;
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delete mConvexMeshPolygonVertexArray;
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delete mConvexMeshPolyhedronMesh;
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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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testConvexMesh();
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testCompound();
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}
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/// Test the ProxyBoxShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testBox() {
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// Tests with CollisionBody
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
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// Tests with ProxyBoxShape
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
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}
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/// Test the ProxySphereShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testSphere() {
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// Tests with CollisionBody
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
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// Tests with ProxySphereShape
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
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}
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/// Test the ProxyCapsuleShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testCapsule() {
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// Tests with CollisionBody
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
|
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
|
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test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
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|
|
|
// Tests with ProxyCapsuleShape
|
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test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5)));
|
|
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7)));
|
|
}
|
|
|
|
/// Test the ProxyConvexMeshShape::testPointInside() and
|
|
/// CollisionBody::testPointInside() methods
|
|
void testConvexMesh() {
|
|
|
|
// 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(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
|
|
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
|
|
}
|
|
|
|
/// Test the CollisionBody::testPointInside() method
|
|
void testCompound() {
|
|
|
|
// Points on the capsule
|
|
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
|