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ephysics/test/testPointInside.cpp

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/** @file
* @author Edouard DUPIN
* @copyright 2017, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
#include <etest/etest.hpp>
#include <ephysics/ephysics.hpp>
#include <ephysics/collision/shapes/BoxShape.hpp>
#include <ephysics/collision/shapes/SphereShape.hpp>
#include <ephysics/collision/shapes/CapsuleShape.hpp>
#include <ephysics/collision/shapes/ConeShape.hpp>
#include <ephysics/collision/shapes/ConvexMeshShape.hpp>
#include <ephysics/collision/shapes/CylinderShape.hpp>
class TestPointInside {
public:
// Physics world
ephysics::CollisionWorld* m_world;
// Bodies
ephysics::CollisionBody* m_boxBody;
ephysics::CollisionBody* m_sphereBody;
ephysics::CollisionBody* m_capsuleBody;
ephysics::CollisionBody* m_coneBody;
ephysics::CollisionBody* m_convexMeshBody;
ephysics::CollisionBody* m_convexMeshBodyEdgesInfo;
ephysics::CollisionBody* m_cylinderBody;
ephysics::CollisionBody* m_compoundBody;
// Collision shapes
ephysics::BoxShape* m_boxShape;
ephysics::SphereShape* m_sphereShape;
ephysics::CapsuleShape* m_capsuleShape;
ephysics::ConeShape* m_coneShape;
ephysics::ConvexMeshShape* m_convexMeshShape;
ephysics::ConvexMeshShape* m_convexMeshShapeBodyEdgesInfo;
ephysics::CylinderShape* m_cylinderShape;
// etk::Transform3D
etk::Transform3D m_bodyTransform;
etk::Transform3D m_shapeTransform;
etk::Transform3D m_localShapeToWorld;
etk::Transform3D m_localShape2ToWorld;
// Proxy Shapes
ephysics::ProxyShape* m_boxProxyShape;
ephysics::ProxyShape* m_sphereProxyShape;
ephysics::ProxyShape* m_capsuleProxyShape;
ephysics::ProxyShape* m_coneProxyShape;
ephysics::ProxyShape* m_convexMeshProxyShape;
ephysics::ProxyShape* m_convexMeshProxyShapeEdgesInfo;
ephysics::ProxyShape* m_cylinderProxyShape;
public :
TestPointInside() {
// Create the world
m_world = ETK_NEW(ephysics::CollisionWorld);
// Body transform
vec3 position(-3, 2, 7);
etk::Quaternion orientation(M_PI / 5, M_PI / 6, M_PI / 7, 1);
m_bodyTransform = etk::Transform3D(position, orientation);
// Create the bodies
m_boxBody = m_world->createCollisionBody(m_bodyTransform);
m_sphereBody = m_world->createCollisionBody(m_bodyTransform);
m_capsuleBody = m_world->createCollisionBody(m_bodyTransform);
m_coneBody = m_world->createCollisionBody(m_bodyTransform);
m_convexMeshBody = m_world->createCollisionBody(m_bodyTransform);
m_convexMeshBodyEdgesInfo = m_world->createCollisionBody(m_bodyTransform);
m_cylinderBody = m_world->createCollisionBody(m_bodyTransform);
m_compoundBody = m_world->createCollisionBody(m_bodyTransform);
// Collision shape transform
vec3 shapePosition(1, -4, -3);
etk::Quaternion shapeOrientation(3 * M_PI / 6 , -M_PI / 8, M_PI / 3, 1);
m_shapeTransform = etk::Transform3D(shapePosition, shapeOrientation);
// Compute the the transform from a local shape point to world-space
m_localShapeToWorld = m_bodyTransform * m_shapeTransform;
// Create collision shapes
m_boxShape = ETK_NEW(ephysics::BoxShape, vec3(2, 3, 4), 0);
m_boxProxyShape = m_boxBody->addCollisionShape(m_boxShape, m_shapeTransform);
m_sphereShape = ETK_NEW(ephysics::SphereShape, 3);
m_sphereProxyShape = m_sphereBody->addCollisionShape(m_sphereShape, m_shapeTransform);
m_capsuleShape = ETK_NEW(ephysics::CapsuleShape, 2, 10);
m_capsuleProxyShape = m_capsuleBody->addCollisionShape(m_capsuleShape, m_shapeTransform);
m_coneShape = ETK_NEW(ephysics::ConeShape, 2, 6, 0);
m_coneProxyShape = m_coneBody->addCollisionShape(m_coneShape, m_shapeTransform);
m_convexMeshShape = ETK_NEW(ephysics::ConvexMeshShape, 0.0f); // Box of dimension (2, 3, 4)
m_convexMeshShape->addVertex(vec3(-2, -3, -4));
m_convexMeshShape->addVertex(vec3(2, -3, -4));
m_convexMeshShape->addVertex(vec3(2, -3, 4));
m_convexMeshShape->addVertex(vec3(-2, -3, 4));
m_convexMeshShape->addVertex(vec3(-2, 3, -4));
m_convexMeshShape->addVertex(vec3(2, 3, -4));
m_convexMeshShape->addVertex(vec3(2, 3, 4));
m_convexMeshShape->addVertex(vec3(-2, 3, 4));
m_convexMeshProxyShape = m_convexMeshBody->addCollisionShape(m_convexMeshShape, m_shapeTransform);
m_convexMeshShapeBodyEdgesInfo = ETK_NEW(ephysics::ConvexMeshShape, 0.0f);
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, -3, -4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(2, -3, -4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(2, -3, 4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, -3, 4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, 3, -4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(2, 3, -4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(2, 3, 4));
m_convexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, 3, 4));
m_convexMeshShapeBodyEdgesInfo->addEdge(0, 1);
m_convexMeshShapeBodyEdgesInfo->addEdge(1, 2);
m_convexMeshShapeBodyEdgesInfo->addEdge(2, 3);
m_convexMeshShapeBodyEdgesInfo->addEdge(0, 3);
m_convexMeshShapeBodyEdgesInfo->addEdge(4, 5);
m_convexMeshShapeBodyEdgesInfo->addEdge(5, 6);
m_convexMeshShapeBodyEdgesInfo->addEdge(6, 7);
m_convexMeshShapeBodyEdgesInfo->addEdge(4, 7);
m_convexMeshShapeBodyEdgesInfo->addEdge(0, 4);
m_convexMeshShapeBodyEdgesInfo->addEdge(1, 5);
m_convexMeshShapeBodyEdgesInfo->addEdge(2, 6);
m_convexMeshShapeBodyEdgesInfo->addEdge(3, 7);
m_convexMeshShapeBodyEdgesInfo->setIsEdgesInformationUsed(true);
m_convexMeshProxyShapeEdgesInfo = m_convexMeshBodyEdgesInfo->addCollisionShape(m_convexMeshShapeBodyEdgesInfo, m_shapeTransform);
m_cylinderShape = ETK_NEW(ephysics::CylinderShape, 3, 8, 0);
m_cylinderProxyShape = m_cylinderBody->addCollisionShape(m_cylinderShape, m_shapeTransform);
// Compound shape is a cylinder and a sphere
vec3 positionShape2(vec3(4, 2, -3));
etk::Quaternion orientationShape2(-3 *M_PI / 8, 1.5 * M_PI/ 3, M_PI / 13, 1.0f);
etk::Transform3D shapeTransform2(positionShape2, orientationShape2);
m_localShape2ToWorld = m_bodyTransform * shapeTransform2;
m_compoundBody->addCollisionShape(m_cylinderShape, m_shapeTransform);
m_compoundBody->addCollisionShape(m_sphereShape, shapeTransform2);
}
/// Destructor
~TestPointInside() {
ETK_DELETE(ephysics::BoxShape, m_boxShape);
ETK_DELETE(ephysics::SphereShape, m_sphereShape);
ETK_DELETE(ephysics::CapsuleShape, m_capsuleShape);
ETK_DELETE(ephysics::ConeShape, m_coneShape);
ETK_DELETE(ephysics::ConvexMeshShape, m_convexMeshShape);
ETK_DELETE(ephysics::ConvexMeshShape, m_convexMeshShapeBodyEdgesInfo);
ETK_DELETE(ephysics::CylinderShape, m_cylinderShape);
ETK_DELETE(ephysics::CollisionWorld, m_world);
}
};
TEST(TestPointInside, box) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_boxBody->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
// Tests with ProxyBoxShape
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_boxProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
}
TEST(TestPointInside, sphere) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -1.5)));
EXPECT_EQ(true, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 1.5)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.1)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.1)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2, -2, -2)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2, 2, -1.5)));
EXPECT_EQ(false, tmp.m_sphereBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -2, 2.5)));
// Tests with ProxySphereShape
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -1.5)));
EXPECT_EQ(true, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 1.5)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.1)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.1)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2, -2, -2)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2, 2, -1.5)));
EXPECT_EQ(false, tmp.m_sphereProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -2, 2.5)));
}
TEST(TestPointInside, capsule) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -6.9, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 6.9, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 5, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 5, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, -5, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, -5, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -4, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, 0.4)));
EXPECT_EQ(true, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.3, 1, 1.5)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -7.1, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 7.1, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 5, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 5, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, 5, 1.6)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, 5, -1.7)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, -5, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -5, 0)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -5, 1.6)));
EXPECT_EQ(false, tmp.m_capsuleBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -5, -1.7)));
// Tests with ProxyCapsuleShape
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -6.9, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 6.9, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 5, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 5, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, -1.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -5, 0)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, -5, 0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, -5, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -4, -0.9)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, 0.4)));
EXPECT_EQ(true, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.3, 1, 1.5)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -7.1, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 7.1, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 5, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 5, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 5, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, 5, 1.6)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, 5, -1.7)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, 2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -5, -2.1)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, -5, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -5, 0)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -5, 1.6)));
EXPECT_EQ(false, tmp.m_capsuleProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -5, -1.7)));
}
TEST(TestPointInside, Cone) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-0.9, 0, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0.9)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -0.9)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.6, 0, -0.7)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.6, 0, 0.7)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-0.6, 0, -0.7)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-0.6, 0, 0.7)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.96, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.96, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 1.96)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, -1.96)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.3, -2.9, -1.4)));
EXPECT_EQ(true, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.3, -2.9, 1.4)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.1, 0, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.1, 0, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 1.1)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -1.1)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.8, 0, -0.8)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0.8, 0, 0.8)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-0.8, 0, -0.8)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-0.8, 0, 0.8)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.97, -2.9, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.97, -2.9, 0)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 1.97)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, -1.97)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -2.9, -1.5)));
EXPECT_EQ(false, tmp.m_coneBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.5, -2.9, 1.5)));
// Tests with ProxyConeShape
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.9, 0, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-0.9, 0, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0.9)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -0.9)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.6, 0, -0.7)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.6, 0, 0.7)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-0.6, 0, -0.7)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-0.6, 0, 0.7)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.96, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.96, -2.9, 0)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 1.96)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, -1.96)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.3, -2.9, -1.4)));
EXPECT_EQ(true, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.3, -2.9, 1.4)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.1, 0, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.1, 0, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 1.1)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -1.1)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.8, 0, -0.8)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0.8, 0, 0.8)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-0.8, 0, -0.8)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-0.8, 0, 0.8)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.97, -2.9, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.97, -2.9, 0)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 1.97)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, -1.97)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.5, -2.9, -1.5)));
EXPECT_EQ(false, tmp.m_coneProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.5, -2.9, 1.5)));
}
TEST(TestPointInside, convecMesh) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_convexMeshBody->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
// ----- Tests using edges information ----- //
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_convexMeshBodyEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
// Tests with ProxyConvexMeshShape
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 0, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1.9, -2.9, -3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1.9, 2.9, 3.9)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 2, -2.5)));
EXPECT_EQ(true, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 3.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 0, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.1, 0)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-2.1, -3.1, -4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(2.1, 3.1, 4.1)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-10, -2, -1.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(-1, 4, -2.5)));
EXPECT_EQ(false, tmp.m_convexMeshProxyShapeEdgesInfo->testPointInside(tmp.m_localShapeToWorld * vec3(1, -2, 4.5)));
}
TEST(TestPointInside, cylinder) {
TestPointInside tmp;
// Tests with CollisionBody
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, 1.7)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 4.1, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -4.1, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 0, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 0, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 0, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.3, 0, 2.8)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, -3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, -3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, -3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, -3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, -3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, -3.9, 2.2)));
// Tests with ProxyCylinderShape
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, -2.9)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, 1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, 1.7)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 4.1, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -4.1, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 0, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 0, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 0, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 0, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-1.3, 0, 2.8)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, 3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, 3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, 3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, 3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(3.1, -3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-3.1, -3.9, 0)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, -3.1)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, -3.9, 2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(2.2, -3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, -3.9, -2.2)));
EXPECT_EQ(false, tmp.m_cylinderProxyShape->testPointInside(tmp.m_localShapeToWorld * vec3(-2.2, -3.9, 2.2)));
}
TEST(TestPointInside, compound) {
TestPointInside tmp;
// Points on the cylinder
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 0, -2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 0, 1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, 3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, 2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, 3.9, -2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, 3.9, 1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-2.9, -3.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, 2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(0, -3.9, -2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, 1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, -1.7)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShapeToWorld * vec3(-1.7, -3.9, 1.7)));
// Points on the sphere
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(0, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(-2.9, 0, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(0, 2.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(0, -2.9, 0)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(0, 0, 2.9)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(-1, -2, -1.5)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(-1, 2, -1.5)));
EXPECT_EQ(true, tmp.m_compoundBody->testPointInside(tmp.m_localShape2ToWorld * vec3(1, -2, 1.5)));
}
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