2612 lines
107 KiB
C++
2612 lines
107 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.ephysics.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_RAYCAST_H
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#define TEST_RAYCAST_H
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// Libraries
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#include <test/Test.hpp>
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#include <ephysics/engine/CollisionWorld.hpp>
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#include <ephysics/body/CollisionBody.hpp>
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#include <ephysics/collision/shapes/BoxShape.hpp>
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#include <ephysics/collision/shapes/SphereShape.hpp>
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#include <ephysics/collision/shapes/CapsuleShape.hpp>
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#include <ephysics/collision/shapes/ConeShape.hpp>
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#include <ephysics/collision/shapes/ConvexMeshShape.hpp>
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#include <ephysics/collision/shapes/CylinderShape.hpp>
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#include <ephysics/collision/shapes/TriangleShape.hpp>
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#include <ephysics/collision/shapes/ConcaveMeshShape.hpp>
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#include <ephysics/collision/shapes/HeightFieldShape.hpp>
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/// Reactphysics3D namespace
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namespace ephysics {
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// Enumeration for categories
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enum Category {
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CATEGORY1 = 0x0001,
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CATEGORY2 = 0x0002
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};
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/// Class WorldRaycastCallback
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class WorldRaycastCallback : public RaycastCallback {
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public:
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RaycastInfo raycastInfo;
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ProxyShape* shapeToTest;
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bool isHit;
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WorldRaycastCallback() {
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isHit = false;
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shapeToTest = NULL;
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}
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virtual float notifyRaycastHit(const RaycastInfo& info) {
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if (shapeToTest->getBody()->getID() == info.body->getID()) {
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raycastInfo.body = info.body;
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raycastInfo.hitFraction = info.hitFraction;
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raycastInfo.proxyShape = info.proxyShape;
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raycastInfo.worldNormal = info.worldNormal;
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raycastInfo.worldPoint = info.worldPoint;
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isHit = true;
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}
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// Return a fraction of 1.0 because we need to gather all hits
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return 1.0f;
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}
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void reset() {
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raycastInfo.body = NULL;
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raycastInfo.hitFraction = 0.0f;
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raycastInfo.proxyShape = NULL;
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raycastInfo.worldNormal.setZero();
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raycastInfo.worldPoint.setZero();
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isHit = false;
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}
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};
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// Class TestPointInside
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/**
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* Unit test for the CollisionBody::testPointInside() method.
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*/
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class TestRaycast : public Test {
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private :
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// ---------- Atributes ---------- //
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// Raycast callback class
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WorldRaycastCallback mCallback;
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// Epsilon
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float epsilon;
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// Physics world
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CollisionWorld* m_world;
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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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CollisionBody* mTriangleBody;
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CollisionBody* mConcaveMeshBody;
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CollisionBody* mHeightFieldBody;
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// etk::Transform3D
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etk::Transform3D m_bodyTransform;
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etk::Transform3D m_shapeTransform;
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etk::Transform3D mLocalShapeToWorld;
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etk::Transform3D mLocalShape2ToWorld;
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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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ConeShape* mConeShape;
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ConvexMeshShape* mConvexMeshShape;
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ConvexMeshShape* mConvexMeshShapeEdgesInfo;
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CylinderShape* mCylinderShape;
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TriangleShape* mTriangleShape;
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ConcaveShape* m_concaveMeshShape;
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HeightFieldShape* mHeightFieldShape;
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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* mConeProxyShape;
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ProxyShape* mConvexMeshProxyShape;
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ProxyShape* mConvexMeshProxyShapeEdgesInfo;
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ProxyShape* mCylinderProxyShape;
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ProxyShape* mCompoundSphereProxyShape;
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ProxyShape* mCompoundCylinderProxyShape;
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ProxyShape* mTriangleProxyShape;
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ProxyShape* mConcaveMeshProxyShape;
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ProxyShape* mHeightFieldProxyShape;
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// Triangle meshes
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TriangleMesh mConcaveTriangleMesh;
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etk::Vector<vec3> mConcaveMeshVertices;
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etk::Vector<uint32_t> mConcaveMeshIndices;
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TriangleVertexArray* mConcaveMeshVertexArray;
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float m_heightFieldData[100];
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestRaycast(const etk::String& name) : Test(name) {
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epsilon = float(0.0001);
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// Create the world
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m_world = new CollisionWorld();
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// Body transform
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vec3 position(-3, 2, 7);
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etk::Quaternion orientation(PI / 5, PI / 6, PI / 7);
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m_bodyetk::Transform3D = Transform(position, orientation);
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// Create the bodies
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mBoxBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mSphereBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mCapsuleBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mConeBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mConvexMeshBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mConvexMeshBodyEdgesInfo = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mCylinderBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mCompoundBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mTriangleBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mConcaveMeshBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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mHeightFieldBody = m_world->createCollisionBody(m_bodyetk::Transform3D);
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// Collision shape transform
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vec3 shapePosition(1, -4, -3);
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etk::Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
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m_shapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
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mLocalShapeToWorld = m_bodyetk::Transform3D * m_shapeTransform;
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// Create collision shapes
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mBoxShape = new BoxShape(vec3(2, 3, 4), 0);
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mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, m_shapeTransform);
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mSphereShape = new SphereShape(3);
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mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, m_shapeTransform);
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const vec3 triangleVertex1(100, 100, 0);
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const vec3 triangleVertex2(105, 100, 0);
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const vec3 triangleVertex3(100, 103, 0);
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mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3);
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mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, m_shapeTransform);
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mCapsuleShape = new CapsuleShape(2, 5);
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mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, m_shapeTransform);
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mConeShape = new ConeShape(2, 6, 0);
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mConeProxyShape = mConeBody->addCollisionShape(mConeShape, m_shapeTransform);
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// Box of dimension (2, 3, 4)
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mConvexMeshShape = new ConvexMeshShape(0.0);
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mConvexMeshShape->addVertex(vec3(-2, -3, -4));
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mConvexMeshShape->addVertex(vec3(2, -3, -4));
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mConvexMeshShape->addVertex(vec3(2, -3, 4));
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mConvexMeshShape->addVertex(vec3(-2, -3, 4));
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mConvexMeshShape->addVertex(vec3(-2, 3, -4));
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mConvexMeshShape->addVertex(vec3(2, 3, -4));
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mConvexMeshShape->addVertex(vec3(2, 3, 4));
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mConvexMeshShape->addVertex(vec3(-2, 3, 4));
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, m_shapeTransform);
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mConvexMeshShapeEdgesInfo = new ConvexMeshShape(0.0);
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mConvexMeshShapeEdgesInfo->addVertex(vec3(-2, -3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(2, -3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(2, -3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(-2, -3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(-2, 3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(2, 3, -4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(2, 3, 4));
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mConvexMeshShapeEdgesInfo->addVertex(vec3(-2, 3, 4));
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mConvexMeshShapeEdgesInfo->addEdge(0, 1);
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mConvexMeshShapeEdgesInfo->addEdge(1, 2);
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mConvexMeshShapeEdgesInfo->addEdge(2, 3);
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mConvexMeshShapeEdgesInfo->addEdge(0, 3);
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mConvexMeshShapeEdgesInfo->addEdge(4, 5);
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mConvexMeshShapeEdgesInfo->addEdge(5, 6);
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mConvexMeshShapeEdgesInfo->addEdge(6, 7);
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mConvexMeshShapeEdgesInfo->addEdge(4, 7);
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mConvexMeshShapeEdgesInfo->addEdge(0, 4);
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mConvexMeshShapeEdgesInfo->addEdge(1, 5);
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mConvexMeshShapeEdgesInfo->addEdge(2, 6);
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mConvexMeshShapeEdgesInfo->addEdge(3, 7);
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mConvexMeshShapeEdgesInfo->setIsEdgesInformationUsed(true);
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mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
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mConvexMeshShapeEdgesInfo,
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m_shapeTransform);
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mCylinderShape = new CylinderShape(2, 5, 0);
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mCylinderProxyShape = mCylinderBody->addCollisionShape(mCylinderShape, m_shapeTransform);
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// Compound shape is a cylinder and a sphere
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vec3 positionShape2(vec3(4, 2, -3));
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etk::Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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etk::Transform3D shapeTransform2(positionShape2, orientationShape2);
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mLocalShape2ToWorld = m_bodyetk::Transform3D * shapeTransform2;
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mCompoundCylinderProxyShape = mCompoundBody->addCollisionShape(mCylinderShape, m_shapeTransform);
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mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
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// Concave Mesh shape
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mConcaveMeshVertices.pushBack(vec3(-2, -3, -4));
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mConcaveMeshVertices.pushBack(vec3(2, -3, -4));
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mConcaveMeshVertices.pushBack(vec3(2, -3, 4));
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mConcaveMeshVertices.pushBack(vec3(-2, -3, 4));
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mConcaveMeshVertices.pushBack(vec3(-2, 3, -4));
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mConcaveMeshVertices.pushBack(vec3(2, 3, -4));
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mConcaveMeshVertices.pushBack(vec3(2, 3, 4));
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mConcaveMeshVertices.pushBack(vec3(-2, 3, 4));
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mConcaveMeshIndices.pushBack(0); mConcaveMeshIndices.pushBack(1); mConcaveMeshIndices.push_back(2);
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mConcaveMeshIndices.pushBack(0); mConcaveMeshIndices.pushBack(2); mConcaveMeshIndices.push_back(3);
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mConcaveMeshIndices.pushBack(1); mConcaveMeshIndices.pushBack(5); mConcaveMeshIndices.push_back(2);
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mConcaveMeshIndices.pushBack(2); mConcaveMeshIndices.pushBack(5); mConcaveMeshIndices.push_back(6);
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mConcaveMeshIndices.pushBack(2); mConcaveMeshIndices.pushBack(7); mConcaveMeshIndices.push_back(3);
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mConcaveMeshIndices.pushBack(2); mConcaveMeshIndices.pushBack(6); mConcaveMeshIndices.push_back(7);
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mConcaveMeshIndices.pushBack(0); mConcaveMeshIndices.pushBack(3); mConcaveMeshIndices.push_back(4);
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mConcaveMeshIndices.pushBack(3); mConcaveMeshIndices.pushBack(7); mConcaveMeshIndices.push_back(4);
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mConcaveMeshIndices.pushBack(0); mConcaveMeshIndices.pushBack(4); mConcaveMeshIndices.push_back(1);
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mConcaveMeshIndices.pushBack(1); mConcaveMeshIndices.pushBack(4); mConcaveMeshIndices.push_back(5);
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mConcaveMeshIndices.pushBack(5); mConcaveMeshIndices.pushBack(7); mConcaveMeshIndices.push_back(6);
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mConcaveMeshIndices.pushBack(4); mConcaveMeshIndices.pushBack(7); mConcaveMeshIndices.push_back(5);
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TriangleVertexArray::VertexDataType vertexType = sizeof(float) == 4 ? TriangleVertexArray::VERTEX_FLOAT_TYPE :
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TriangleVertexArray::VERTEX_DOUBLE_TYPE;
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mConcaveMeshVertexArray =
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new TriangleVertexArray(8, &(mConcaveMeshVertices[0]), sizeof(vec3),
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12, &(mConcaveMeshIndices[0]), sizeof(uint32_t),
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vertexType,
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TriangleVertexArray::INDEX_INTEGER_TYPE);
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// Add the triangle vertex array of the subpart to the triangle mesh
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mConcaveTriangleMesh.addSubpart(mConcaveMeshVertexArray);
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m_concaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh);
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mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(m_concaveMeshShape, m_shapeTransform);
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// Heightfield shape (plane height field at height=4)
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for (int32_t i=0; i<100; i++) m_heightFieldData[i] = 4;
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mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, m_heightFieldData, HeightFieldShape::HEIGHT_FLOAT_TYPE);
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mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, m_shapeTransform);
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// Assign proxy shapes to the different categories
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mBoxProxyShape->setCollisionCategoryBits(CATEGORY1);
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mSphereProxyShape->setCollisionCategoryBits(CATEGORY1);
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mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1);
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mConeProxyShape->setCollisionCategoryBits(CATEGORY2);
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mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
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mConvexMeshProxyShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2);
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mCylinderProxyShape->setCollisionCategoryBits(CATEGORY2);
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mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
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mCompoundCylinderProxyShape->setCollisionCategoryBits(CATEGORY2);
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mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
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mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
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mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2);
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}
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/// Destructor
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~TestRaycast() {
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delete mBoxShape;
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delete mSphereShape;
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delete mCapsuleShape;
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delete mConeShape;
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delete mConvexMeshShape;
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delete mConvexMeshShapeEdgesInfo;
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delete mCylinderShape;
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delete mTriangleShape;
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delete m_concaveMeshShape;
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delete mHeightFieldShape;
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delete mConcaveMeshVertexArray;
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}
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/// Run the tests
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void run() {
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testBox();
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testSphere();
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testCapsule();
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testCone();
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testConvexMesh();
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testCylinder();
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testCompound();
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testTriangle();
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testConcaveMesh();
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testHeightField();
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}
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/// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and
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/// CollisionWorld::raycast() methods.
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void testBox() {
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// ----- Test feedback data ----- //
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vec3 point1 = mLocalShapeToWorld * vec3(1 , 2, 10);
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vec3 point2 = mLocalShapeToWorld * vec3(1, 2, -20);
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Ray ray(point1, point2);
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vec3 hitPoint = mLocalShapeToWorld * vec3(1, 2, 4);
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mCallback.shapeToTest = mBoxProxyShape;
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// CollisionWorld::raycast()
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mCallback.reset();
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m_world->raycast(ray, &mCallback);
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test(mCallback.isHit);
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test(mCallback.raycastInfo.body == mBoxBody);
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test(mCallback.raycastInfo.proxyShape == mBoxProxyShape);
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test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
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test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
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// Correct category filter mask
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mCallback.reset();
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m_world->raycast(ray, &mCallback, CATEGORY1);
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test(mCallback.isHit);
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// Wrong category filter mask
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mCallback.reset();
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m_world->raycast(ray, &mCallback, CATEGORY2);
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test(!mCallback.isHit);
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// CollisionBody::raycast()
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RaycastInfo raycastInfo2;
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test(mBoxBody->raycast(ray, raycastInfo2));
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test(raycastInfo2.body == mBoxBody);
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test(raycastInfo2.proxyShape == mBoxProxyShape);
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test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
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test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
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test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
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// ProxyCollisionShape::raycast()
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RaycastInfo raycastInfo3;
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test(mBoxProxyShape->raycast(ray, raycastInfo3));
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test(raycastInfo3.body == mBoxBody);
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test(raycastInfo3.proxyShape == mBoxProxyShape);
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test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
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test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
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test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
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Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
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Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(17, 29, 28));
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Ray ray3(mLocalShapeToWorld * vec3(1, 2, 3), mLocalShapeToWorld * vec3(-11, 2, 24));
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Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(22, 28, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(3, 1, -5), mLocalShapeToWorld * vec3(-30, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 4, 1), mLocalShapeToWorld * vec3(4, -20, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -4, 5), mLocalShapeToWorld * vec3(1, -4, -20));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 4, 0), mLocalShapeToWorld * vec3(20, 4, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -4, -7), mLocalShapeToWorld * vec3(0, 50, -7));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-3, 0, -6), mLocalShapeToWorld * vec3(-3, 0, 20));
|
|
Ray ray11(mLocalShapeToWorld * vec3(3, 1, 2), mLocalShapeToWorld * vec3(-20, 1, 2));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 4, -1), mLocalShapeToWorld * vec3(1, -20, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 5), mLocalShapeToWorld * vec3(-1, 2, -20));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -2), mLocalShapeToWorld * vec3(20, 2, -2));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -4, 1), mLocalShapeToWorld * vec3(0, 20, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -5), mLocalShapeToWorld * vec3(-1, 2, 20));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mBoxBody->raycast(ray1, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray2, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray3, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray4, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray5, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray6, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray7, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray8, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray9, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mBoxBody->raycast(ray10, raycastInfo3));
|
|
test(!mBoxProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mBoxBody->raycast(ray11, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mBoxBody->raycast(ray12, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mBoxBody->raycast(ray13, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mBoxBody->raycast(ray14, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mBoxBody->raycast(ray15, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mBoxBody->raycast(ray16, raycastInfo3));
|
|
test(mBoxProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testSphere() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1 = mLocalShapeToWorld * vec3(-5 , 0, 0);
|
|
vec3 point2 = mLocalShapeToWorld * vec3(5, 0, 0);
|
|
Ray ray(point1, point2);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(-3, 0, 0);
|
|
|
|
mCallback.shapeToTest = mSphereProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mSphereBody);
|
|
test(mCallback.raycastInfo.proxyShape == mSphereProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mSphereBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mSphereBody);
|
|
test(raycastInfo2.proxyShape == mSphereProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, 0.2, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mSphereProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mSphereBody);
|
|
test(raycastInfo3.proxyShape == mSphereProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, 0.2, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(4, 6, 7));
|
|
Ray ray3(mLocalShapeToWorld * vec3(1, 2, 2), mLocalShapeToWorld * vec3(-4, 0, 7));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(4, 6, 7));
|
|
Ray ray5(mLocalShapeToWorld * vec3(4, 1, -5), mLocalShapeToWorld * vec3(-30, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 4, 1), mLocalShapeToWorld * vec3(4, -30, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -4, 5), mLocalShapeToWorld * vec3(1, -4, -30));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 4, 0), mLocalShapeToWorld * vec3(30, 4, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -4, -4), mLocalShapeToWorld * vec3(0, 30, -4));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-4, 0, -6), mLocalShapeToWorld * vec3(-4, 0, 30));
|
|
Ray ray11(mLocalShapeToWorld * vec3(4, 1, 2), mLocalShapeToWorld * vec3(-30, 1, 2));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 4, -1), mLocalShapeToWorld * vec3(1, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 5), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-5, 2, -2), mLocalShapeToWorld * vec3(30, 2, -2));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -4, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -11), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mSphereBody->raycast(ray1, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray2, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray3, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray4, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray5, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray6, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray7, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray8, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray9, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mSphereBody->raycast(ray10, raycastInfo3));
|
|
test(!mSphereProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mSphereBody->raycast(ray11, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mSphereBody->raycast(ray12, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mSphereBody->raycast(ray13, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
|
|
test(mSphereBody->raycast(ray14, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mSphereBody->raycast(ray15, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mSphereBody->raycast(ray16, raycastInfo3));
|
|
test(mSphereProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCapsule() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1A = mLocalShapeToWorld * vec3(4 , 1, 0);
|
|
vec3 point1B = mLocalShapeToWorld * vec3(-6, 1, 0);
|
|
Ray ray(point1A, point1B);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(2, 1, 0);
|
|
|
|
vec3 point2A = mLocalShapeToWorld * vec3(0 , 6.5, 0);
|
|
vec3 point2B = mLocalShapeToWorld * vec3(0, -3.5, 0);
|
|
Ray rayTop(point2A, point2B);
|
|
vec3 hitPointTop = mLocalShapeToWorld * vec3(0, float(4.5), 0);
|
|
|
|
vec3 point3A = mLocalShapeToWorld * vec3(0 , -6.5, 0);
|
|
vec3 point3B = mLocalShapeToWorld * vec3(0, 3.5, 0);
|
|
Ray rayBottom(point3A, point3B);
|
|
vec3 hitPointBottom = mLocalShapeToWorld * vec3(0, float(-4.5), 0);
|
|
|
|
mCallback.shapeToTest = mCapsuleProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mCapsuleBody);
|
|
test(mCallback.raycastInfo.proxyShape == mCapsuleProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mCapsuleBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mCapsuleBody);
|
|
test(raycastInfo2.proxyShape == mCapsuleProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mCapsuleProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mCapsuleBody);
|
|
test(raycastInfo3.proxyShape == mCapsuleProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
RaycastInfo raycastInfo4;
|
|
test(mCapsuleProxyShape->raycast(rayTop, raycastInfo4));
|
|
test(raycastInfo4.body == mCapsuleBody);
|
|
test(raycastInfo4.proxyShape == mCapsuleProxyShape);
|
|
test(approxEqual(raycastInfo4.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.x(), hitPointTop.x, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.y(), hitPointTop.y, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.z(), hitPointTop.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mCapsuleProxyShape->raycast(rayBottom, raycastInfo5));
|
|
test(raycastInfo5.body == mCapsuleBody);
|
|
test(raycastInfo5.proxyShape == mCapsuleProxyShape);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPointBottom.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPointBottom.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPointBottom.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(9, 17, 14));
|
|
Ray ray3(mLocalShapeToWorld * vec3(1, 3, -1), mLocalShapeToWorld * vec3(-3, 3, 6));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(14, 16, 17));
|
|
Ray ray5(mLocalShapeToWorld * vec3(4, 1, -5), mLocalShapeToWorld * vec3(1, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 9, 1), mLocalShapeToWorld * vec3(4, 7, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -9, 5), mLocalShapeToWorld * vec3(1, -9, 3));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 9, 0), mLocalShapeToWorld * vec3(-3, 9, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -9, -4), mLocalShapeToWorld * vec3(0, -4, -4));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-4, 0, -6), mLocalShapeToWorld * vec3(-4, 0, 2));
|
|
Ray ray11(mLocalShapeToWorld * vec3(4, 1, 1.5), mLocalShapeToWorld * vec3(-30, 1, 1.5));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 9, -1), mLocalShapeToWorld * vec3(1, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 3), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -1.7), mLocalShapeToWorld * vec3(30, 2, -1.7));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -9, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -7), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mCapsuleBody->raycast(ray1, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray2, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray3, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray4, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray5, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray6, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray7, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray7, raycastInfo3));
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray8, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray9, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCapsuleBody->raycast(ray10, raycastInfo3));
|
|
test(!mCapsuleProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mCapsuleBody->raycast(ray11, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCapsuleBody->raycast(ray12, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCapsuleBody->raycast(ray13, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCapsuleBody->raycast(ray14, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCapsuleBody->raycast(ray15, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCapsuleBody->raycast(ray16, raycastInfo3));
|
|
test(mCapsuleProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testTriangle() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1 = mLocalShapeToWorld * vec3(101, 101, 400);
|
|
vec3 point2 = mLocalShapeToWorld * vec3(101, 101, -200);
|
|
Ray ray(point1, point2);
|
|
Ray rayBackward(point2, point1);
|
|
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(101, 101, 0);
|
|
vec3 hitNormal = mLocalShapeToWorld.getOrientation() * vec3(0, 0, 1);
|
|
hitNormal.normalize();
|
|
mCallback.shapeToTest = mTriangleProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
mTriangleShape->setRaycastTestType(FRONT);
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mTriangleBody);
|
|
test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.x(), hitNormal.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.y(), hitNormal.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.z(), hitNormal.z, epsilon));
|
|
|
|
mCallback.reset();
|
|
mTriangleShape->setRaycastTestType(BACK);
|
|
m_world->raycast(rayBackward, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mTriangleBody);
|
|
test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.x(), -hitNormal.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.y(), -hitNormal.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.z(), -hitNormal.z, epsilon));
|
|
|
|
mCallback.reset();
|
|
mTriangleShape->setRaycastTestType(FRONT_AND_BACK);
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mTriangleBody);
|
|
test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.x(), hitNormal.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.y(), hitNormal.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.z(), hitNormal.z, epsilon));
|
|
|
|
mCallback.reset();
|
|
mTriangleShape->setRaycastTestType(FRONT_AND_BACK);
|
|
m_world->raycast(rayBackward, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mTriangleBody);
|
|
test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.x(), -hitNormal.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.y(), -hitNormal.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldNormal.z(), -hitNormal.z, epsilon));
|
|
|
|
mTriangleShape->setRaycastTestType(FRONT);
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mTriangleBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mTriangleBody);
|
|
test(raycastInfo2.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, 0.6666, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mTriangleProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mTriangleBody);
|
|
test(raycastInfo3.proxyShape == mTriangleProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, 0.6666, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(-10, 10, 4), mLocalShapeToWorld * vec3(15, 6, -4));
|
|
Ray ray2(mLocalShapeToWorld * vec3(102, 107, 5), mLocalShapeToWorld * vec3(102, 107, -5));
|
|
Ray ray3(mLocalShapeToWorld * vec3(106, 102, 6), mLocalShapeToWorld * vec3(106, 102, -8));
|
|
|
|
Ray ray4(mLocalShapeToWorld * vec3(100.2, 101, 5), mLocalShapeToWorld * vec3(100.2, 101, -5));
|
|
Ray ray5(mLocalShapeToWorld * vec3(100.5, 101.5, 4), mLocalShapeToWorld * vec3(100.5, 101.5, -54));
|
|
Ray ray6(mLocalShapeToWorld * vec3(102, 101, 1), mLocalShapeToWorld * vec3(102, 102, -1));
|
|
|
|
Ray ray4Back(mLocalShapeToWorld * vec3(100.2, 101, -5), mLocalShapeToWorld * vec3(100.2, 101, 5));
|
|
Ray ray5Back(mLocalShapeToWorld * vec3(100.5, 101.5, -54), mLocalShapeToWorld * vec3(100.5, 101.5, 4));
|
|
Ray ray6Back(mLocalShapeToWorld * vec3(102, 102, -1), mLocalShapeToWorld * vec3(102, 101, 1));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mTriangleBody->raycast(ray1, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray2, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray3, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// Test backward ray against front triangles (not hit should occur)
|
|
mTriangleShape->setRaycastTestType(FRONT);
|
|
|
|
test(!mTriangleBody->raycast(ray4Back, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4Back, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray5Back, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5Back, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray6Back, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6Back, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// Test front ray against back triangles (not hit should occur)
|
|
mTriangleShape->setRaycastTestType(BACK);
|
|
|
|
test(!mTriangleBody->raycast(ray4, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray5, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mTriangleBody->raycast(ray6, raycastInfo3));
|
|
test(!mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
|
|
// Test front ray against front triangles
|
|
mTriangleShape->setRaycastTestType(FRONT);
|
|
|
|
test(mTriangleBody->raycast(ray4, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray4.point1, ray4.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray5, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray5.point1, ray5.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray6, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray6.point1, ray6.point2, float(0.8)), &mCallback);
|
|
|
|
// Test back ray against back triangles
|
|
mTriangleShape->setRaycastTestType(BACK);
|
|
|
|
test(mTriangleBody->raycast(ray4Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4Back, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray4Back.point1, ray4Back.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray5Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5Back, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray5Back.point1, ray5Back.point2, 1.0f), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray6Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6Back, &mCallback);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray6Back.point1, ray6Back.point2, float(0.8)), &mCallback);
|
|
|
|
// Test front ray against front-back triangles
|
|
mTriangleShape->setRaycastTestType(FRONT_AND_BACK);
|
|
|
|
test(mTriangleBody->raycast(ray4, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray4.point1, ray4.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray5, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray5.point1, ray5.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray6, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray6.point1, ray6.point2, float(0.8)), &mCallback);
|
|
|
|
// Test back ray against front-back triangles
|
|
mTriangleShape->setRaycastTestType(FRONT_AND_BACK);
|
|
|
|
test(mTriangleBody->raycast(ray4Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4Back, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray4Back.point1, ray4Back.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray5Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5Back, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray5Back.point1, ray5Back.point2, 1.0f), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mTriangleBody->raycast(ray6Back, raycastInfo3));
|
|
test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6Back, &mCallback);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray6Back.point1, ray6Back.point2, float(0.8)), &mCallback);
|
|
}
|
|
|
|
/// Test the ProxyConeShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCone() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1A = mLocalShapeToWorld * vec3(0 , 0, 3);
|
|
vec3 point1B = mLocalShapeToWorld * vec3(0, 0, -7);
|
|
Ray ray(point1A, point1B);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(0, 0, 1);
|
|
|
|
vec3 point2A = mLocalShapeToWorld * vec3(1 , -5, 0);
|
|
vec3 point2B = mLocalShapeToWorld * vec3(1, 5, 0);
|
|
Ray rayBottom(point2A, point2B);
|
|
vec3 hitPoint2 = mLocalShapeToWorld * vec3(1, -3, 0);
|
|
|
|
mCallback.shapeToTest = mConeProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mConeBody);
|
|
test(mCallback.raycastInfo.proxyShape == mConeProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mConeBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mConeBody);
|
|
test(raycastInfo2.proxyShape == mConeProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mConeProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mConeBody);
|
|
test(raycastInfo3.proxyShape == mConeProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(rayBottom, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mConeBody);
|
|
test(mCallback.raycastInfo.proxyShape == mConeProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mConeBody->raycast(rayBottom, raycastInfo5));
|
|
test(raycastInfo5.body == mConeBody);
|
|
test(raycastInfo5.proxyShape == mConeProxyShape);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo6;
|
|
test(mConeProxyShape->raycast(rayBottom, raycastInfo6));
|
|
test(raycastInfo6.body == mConeBody);
|
|
test(raycastInfo6.proxyShape == mConeProxyShape);
|
|
test(approxEqual(raycastInfo6.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(17, 29, 28));
|
|
Ray ray3(mLocalShapeToWorld * vec3(-1, -2, 1), mLocalShapeToWorld * vec3(-13, -2, 22));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(22, 28, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(4, 1, -1), mLocalShapeToWorld * vec3(-26, 1, -1));
|
|
Ray ray6(mLocalShapeToWorld * vec3(3, 4, 1), mLocalShapeToWorld * vec3(3, -16, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -4, 3), mLocalShapeToWorld * vec3(1, -4, -17));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 4, 0), mLocalShapeToWorld * vec3(26, 4, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -4, -7), mLocalShapeToWorld * vec3(0, 46, -7));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-3, -2, -6), mLocalShapeToWorld * vec3(-3, -2, 74));
|
|
Ray ray11(mLocalShapeToWorld * vec3(3, -1, 0.5), mLocalShapeToWorld * vec3(-27, -1, 0.5));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 4, -1), mLocalShapeToWorld * vec3(1, -26, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, -2, 3), mLocalShapeToWorld * vec3(-1, -2, -27));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-2, 0, 0.8), mLocalShapeToWorld * vec3(30, 0, 0.8));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -4, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-0.9, 0, -4), mLocalShapeToWorld * vec3(-0.9, 0, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mConeBody->raycast(ray1, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray2, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray3, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray4, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray5, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray6, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray7, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray8, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray9, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConeBody->raycast(ray10, raycastInfo3));
|
|
test(!mConeProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mConeBody->raycast(ray11, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConeBody->raycast(ray12, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConeBody->raycast(ray13, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConeBody->raycast(ray14, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConeBody->raycast(ray15, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConeBody->raycast(ray16, raycastInfo3));
|
|
test(mConeProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testConvexMesh() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1 = mLocalShapeToWorld * vec3(1 , 2, 6);
|
|
vec3 point2 = mLocalShapeToWorld * vec3(1, 2, -4);
|
|
Ray ray(point1, point2);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(1, 2, 4);
|
|
|
|
mCallback.shapeToTest = mConvexMeshProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mConvexMeshBody);
|
|
test(mCallback.raycastInfo.proxyShape == mConvexMeshProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mConvexMeshBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mConvexMeshBody);
|
|
test(raycastInfo2.proxyShape == mConvexMeshProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mConvexMeshBodyEdgesInfo);
|
|
test(raycastInfo3.proxyShape == mConvexMeshProxyShapeEdgesInfo);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo4;
|
|
test(mConvexMeshProxyShape->raycast(ray, raycastInfo4));
|
|
test(raycastInfo4.body == mConvexMeshBody);
|
|
test(raycastInfo4.proxyShape == mConvexMeshProxyShape);
|
|
test(approxEqual(raycastInfo4.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray, raycastInfo5));
|
|
test(raycastInfo5.body == mConvexMeshBodyEdgesInfo);
|
|
test(raycastInfo5.proxyShape == mConvexMeshProxyShapeEdgesInfo);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(17, 29, 28));
|
|
Ray ray3(mLocalShapeToWorld * vec3(1, 2, 3), mLocalShapeToWorld * vec3(-11, 2, 24));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(22, 28, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(3, 1, -5), mLocalShapeToWorld * vec3(-30, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 4, 1), mLocalShapeToWorld * vec3(4, -30, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -4, 5), mLocalShapeToWorld * vec3(1, -4, -30));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 4, 0), mLocalShapeToWorld * vec3(30, 4, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -4, -7), mLocalShapeToWorld * vec3(0, 30, -7));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-3, 0, -6), mLocalShapeToWorld * vec3(-3, 0, 30));
|
|
Ray ray11(mLocalShapeToWorld * vec3(3, 1, 2), mLocalShapeToWorld * vec3(-30, 0, -6));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 4, -1), mLocalShapeToWorld * vec3(1, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 5), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -2), mLocalShapeToWorld * vec3(30, 2, -2));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -4, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -7), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mConvexMeshBody->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray11, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConvexMeshBody->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray12, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConvexMeshBody->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray13, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConvexMeshBody->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray14, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConvexMeshBody->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray15, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConvexMeshBody->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshProxyShape->raycast(ray16, raycastInfo3));
|
|
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the ProxyCylinderShape::raycast(), CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCylinder() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1A = mLocalShapeToWorld * vec3(4 , 1, 0);
|
|
vec3 point1B = mLocalShapeToWorld * vec3(-6, 1, 0);
|
|
Ray ray(point1A, point1B);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(2, 1, 0);
|
|
|
|
vec3 point2A = mLocalShapeToWorld * vec3(0 , 4.5, 0);
|
|
vec3 point2B = mLocalShapeToWorld * vec3(0, -5.5, 0);
|
|
Ray rayTop(point2A, point2B);
|
|
vec3 hitPointTop = mLocalShapeToWorld * vec3(0, float(2.5), 0);
|
|
|
|
vec3 point3A = mLocalShapeToWorld * vec3(0 , -4.5, 0);
|
|
vec3 point3B = mLocalShapeToWorld * vec3(0, 5.5, 0);
|
|
Ray rayBottom(point3A, point3B);
|
|
vec3 hitPointBottom = mLocalShapeToWorld * vec3(0, float(-2.5), 0);
|
|
|
|
mCallback.shapeToTest = mCylinderProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mCylinderBody);
|
|
test(mCallback.raycastInfo.proxyShape == mCylinderProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mCylinderBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mCylinderBody);
|
|
test(raycastInfo2.proxyShape == mCylinderProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mCylinderProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mCylinderBody);
|
|
test(raycastInfo3.proxyShape == mCylinderProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mCylinderProxyShape->raycast(rayTop, raycastInfo5));
|
|
test(raycastInfo5.body == mCylinderBody);
|
|
test(raycastInfo5.proxyShape == mCylinderProxyShape);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPointTop.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPointTop.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPointTop.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo6;
|
|
test(mCylinderProxyShape->raycast(rayBottom, raycastInfo6));
|
|
test(raycastInfo6.body == mCylinderBody);
|
|
test(raycastInfo6.proxyShape == mCylinderProxyShape);
|
|
test(approxEqual(raycastInfo6.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.x(), hitPointBottom.x, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.y(), hitPointBottom.y, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.z(), hitPointBottom.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(17, 20, 28));
|
|
Ray ray3(mLocalShapeToWorld * vec3(1, 3, -1), mLocalShapeToWorld * vec3(-11,3, 20));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(22, 28, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(4, 1, -5), mLocalShapeToWorld * vec3(-30, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 9, 1), mLocalShapeToWorld * vec3(4, -30, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -9, 5), mLocalShapeToWorld * vec3(1, -9, -30));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 9, 0), mLocalShapeToWorld * vec3(30, 9, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -9, -4), mLocalShapeToWorld * vec3(0, 30, -4));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-4, 0, -6), mLocalShapeToWorld * vec3(-4, 0, 30));
|
|
Ray ray11(mLocalShapeToWorld * vec3(4, 1, 1.5), mLocalShapeToWorld * vec3(-30, 1, 1.5));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 9, -1), mLocalShapeToWorld * vec3(1, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 3), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -1.7), mLocalShapeToWorld * vec3(30, 2, -1.7));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -9, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -7), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mCylinderBody->raycast(ray1, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray2, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray3, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray4, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray5, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray6, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray7, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray8, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray9, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mCylinderBody->raycast(ray10, raycastInfo3));
|
|
test(!mCylinderProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mCylinderBody->raycast(ray11, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCylinderBody->raycast(ray12, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCylinderBody->raycast(ray13, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCylinderBody->raycast(ray14, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCylinderBody->raycast(ray15, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCylinderBody->raycast(ray16, raycastInfo3));
|
|
test(mCylinderProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
/// Test the CollisionBody::raycast() and
|
|
/// CollisionWorld::raycast() methods.
|
|
void testCompound() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
|
|
// Raycast hit against the sphere shape
|
|
Ray ray1(mLocalShape2ToWorld * vec3(4, 1, 2), mLocalShape2ToWorld * vec3(-30, 1, 2));
|
|
Ray ray2(mLocalShape2ToWorld * vec3(1, 4, -1), mLocalShape2ToWorld * vec3(1, -30, -1));
|
|
Ray ray3(mLocalShape2ToWorld * vec3(-1, 2, 5), mLocalShape2ToWorld * vec3(-1, 2, -30));
|
|
Ray ray4(mLocalShape2ToWorld * vec3(-5, 2, -2), mLocalShape2ToWorld * vec3(30, 2, -2));
|
|
Ray ray5(mLocalShape2ToWorld * vec3(0, -4, 1), mLocalShape2ToWorld * vec3(0, 30, 1));
|
|
Ray ray6(mLocalShape2ToWorld * vec3(-1, 2, -11), mLocalShape2ToWorld * vec3(-1, 2, 30));
|
|
|
|
mCallback.shapeToTest = mCompoundSphereProxyShape;
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
RaycastInfo raycastInfo;
|
|
test(mCompoundBody->raycast(ray1, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray2, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray2.point1, ray2.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray3, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray3.point1, ray3.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray4, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray4.point1, ray4.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray5, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray5.point1, ray5.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray6, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray6.point1, ray6.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
// Raycast hit agains the cylinder shape
|
|
Ray ray11(mLocalShapeToWorld * vec3(4, 1, 1.5), mLocalShapeToWorld * vec3(-30, 1.5, 2));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1.5, 9, -1), mLocalShapeToWorld * vec3(1.5, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 3), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -1.5), mLocalShapeToWorld * vec3(30, 1, -1.5));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -9, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -7), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
mCallback.shapeToTest = mCompoundCylinderProxyShape;
|
|
|
|
test(mCompoundBody->raycast(ray11, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray12, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray13, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray14, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray15, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mCompoundBody->raycast(ray16, raycastInfo));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
|
|
void testConcaveMesh() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1 = mLocalShapeToWorld * vec3(1 , 2, 6);
|
|
vec3 point2 = mLocalShapeToWorld * vec3(1, 2, -4);
|
|
Ray ray(point1, point2);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(1, 2, 4);
|
|
|
|
mCallback.shapeToTest = mConcaveMeshProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mConcaveMeshBody);
|
|
test(mCallback.raycastInfo.proxyShape == mConcaveMeshProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mConcaveMeshBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mConcaveMeshBody);
|
|
test(raycastInfo2.proxyShape == mConcaveMeshProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mConcaveMeshBody->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mConcaveMeshBody);
|
|
test(raycastInfo3.proxyShape == mConcaveMeshProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo4;
|
|
test(mConcaveMeshBody->raycast(ray, raycastInfo4));
|
|
test(raycastInfo4.body == mConcaveMeshBody);
|
|
test(raycastInfo4.proxyShape == mConcaveMeshProxyShape);
|
|
test(approxEqual(raycastInfo4.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo4.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mConcaveMeshBody->raycast(ray, raycastInfo5));
|
|
test(raycastInfo5.body == mConcaveMeshBody);
|
|
test(raycastInfo5.proxyShape == mConcaveMeshProxyShape);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.2), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 0, 0), mLocalShapeToWorld * vec3(5, 7, -1));
|
|
Ray ray2(mLocalShapeToWorld * vec3(5, 11, 7), mLocalShapeToWorld * vec3(17, 29, 28));
|
|
Ray ray3(mLocalShapeToWorld * vec3(1, 2, 3), mLocalShapeToWorld * vec3(-11, 2, 24));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 10, 10), mLocalShapeToWorld * vec3(22, 28, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(3, 1, -5), mLocalShapeToWorld * vec3(-30, 1, -5));
|
|
Ray ray6(mLocalShapeToWorld * vec3(4, 4, 1), mLocalShapeToWorld * vec3(4, -30, 1));
|
|
Ray ray7(mLocalShapeToWorld * vec3(1, -4, 5), mLocalShapeToWorld * vec3(1, -4, -30));
|
|
Ray ray8(mLocalShapeToWorld * vec3(-4, 4, 0), mLocalShapeToWorld * vec3(30, 4, 0));
|
|
Ray ray9(mLocalShapeToWorld * vec3(0, -4, -7), mLocalShapeToWorld * vec3(0, 30, -7));
|
|
Ray ray10(mLocalShapeToWorld * vec3(-3, 0, -6), mLocalShapeToWorld * vec3(-3, 0, 30));
|
|
Ray ray11(mLocalShapeToWorld * vec3(3, 1, 2), mLocalShapeToWorld * vec3(-30, 0, -6));
|
|
Ray ray12(mLocalShapeToWorld * vec3(1, 4, -1), mLocalShapeToWorld * vec3(1, -30, -1));
|
|
Ray ray13(mLocalShapeToWorld * vec3(-1, 2, 5), mLocalShapeToWorld * vec3(-1, 2, -30));
|
|
Ray ray14(mLocalShapeToWorld * vec3(-3, 2, -2), mLocalShapeToWorld * vec3(30, 2, -2));
|
|
Ray ray15(mLocalShapeToWorld * vec3(0, -4, 1), mLocalShapeToWorld * vec3(0, 30, 1));
|
|
Ray ray16(mLocalShapeToWorld * vec3(-1, 2, -7), mLocalShapeToWorld * vec3(-1, 2, 30));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mConcaveMeshBody->raycast(ray1, raycastInfo3));
|
|
test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray2, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray3, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray4, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray5, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray6, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray6, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray6, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray7, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray7, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray7, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray8, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray8, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray8, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray9, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray9, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray9, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mConcaveMeshBody->raycast(ray10, raycastInfo3));
|
|
test(!mConcaveMeshProxyShape->raycast(ray10, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray10, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mConcaveMeshBody->raycast(ray11, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConcaveMeshBody->raycast(ray12, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConcaveMeshBody->raycast(ray13, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConcaveMeshBody->raycast(ray14, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConcaveMeshBody->raycast(ray15, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray15, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray15, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray15.point1, ray15.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mConcaveMeshBody->raycast(ray16, raycastInfo3));
|
|
test(mConcaveMeshProxyShape->raycast(ray16, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray16, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray16.point1, ray16.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
|
|
void testHeightField() {
|
|
|
|
// ----- Test feedback data ----- //
|
|
vec3 point1A = mLocalShapeToWorld * vec3(0 , 10, 2);
|
|
vec3 point1B = mLocalShapeToWorld * vec3(0, -10, 2);
|
|
Ray ray(point1A, point1B);
|
|
vec3 hitPoint = mLocalShapeToWorld * vec3(0, 2, 2);
|
|
|
|
vec3 point2A = mLocalShapeToWorld * vec3(1 , 8, -4);
|
|
vec3 point2B = mLocalShapeToWorld * vec3(1, -8, -4);
|
|
Ray rayBottom(point2A, point2B);
|
|
vec3 hitPoint2 = mLocalShapeToWorld * vec3(1, 2, -4);
|
|
|
|
mCallback.shapeToTest = mHeightFieldProxyShape;
|
|
|
|
// CollisionWorld::raycast()
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mHeightFieldBody);
|
|
test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.4), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// Correct category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY2);
|
|
test(mCallback.isHit);
|
|
|
|
// Wrong category filter mask
|
|
mCallback.reset();
|
|
m_world->raycast(ray, &mCallback, CATEGORY1);
|
|
test(!mCallback.isHit);
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo2;
|
|
test(mHeightFieldBody->raycast(ray, raycastInfo2));
|
|
test(raycastInfo2.body == mHeightFieldBody);
|
|
test(raycastInfo2.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(raycastInfo2.hitFraction, float(0.4), epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo2.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo3;
|
|
test(mHeightFieldProxyShape->raycast(ray, raycastInfo3));
|
|
test(raycastInfo3.body == mHeightFieldBody);
|
|
test(raycastInfo3.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(raycastInfo3.hitFraction, float(0.4), epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.x(), hitPoint.x, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.y(), hitPoint.y, epsilon));
|
|
test(approxEqual(raycastInfo3.worldPoint.z(), hitPoint.z, epsilon));
|
|
|
|
mCallback.reset();
|
|
m_world->raycast(rayBottom, &mCallback);
|
|
test(mCallback.isHit);
|
|
test(mCallback.raycastInfo.body == mHeightFieldBody);
|
|
test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(mCallback.raycastInfo.hitFraction, float(0.375), epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(mCallback.raycastInfo.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
// CollisionBody::raycast()
|
|
RaycastInfo raycastInfo5;
|
|
test(mHeightFieldBody->raycast(rayBottom, raycastInfo5));
|
|
test(raycastInfo5.body == mHeightFieldBody);
|
|
test(raycastInfo5.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(raycastInfo5.hitFraction, float(0.375), epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(raycastInfo5.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
// ProxyCollisionShape::raycast()
|
|
RaycastInfo raycastInfo6;
|
|
test(mHeightFieldProxyShape->raycast(rayBottom, raycastInfo6));
|
|
test(raycastInfo6.body == mHeightFieldBody);
|
|
test(raycastInfo6.proxyShape == mHeightFieldProxyShape);
|
|
test(approxEqual(raycastInfo6.hitFraction, float(0.375), epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.x(), hitPoint2.x, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.y(), hitPoint2.y, epsilon));
|
|
test(approxEqual(raycastInfo6.worldPoint.z(), hitPoint2.z, epsilon));
|
|
|
|
Ray ray1(mLocalShapeToWorld * vec3(0, 5, 0), mLocalShapeToWorld * vec3(5, 7, 5));
|
|
Ray ray2(mLocalShapeToWorld * vec3(-4, -4, 7), mLocalShapeToWorld * vec3(-4, 15, 7));
|
|
Ray ray3(mLocalShapeToWorld * vec3(23, 7, 2), mLocalShapeToWorld * vec3(23, 1, 2));
|
|
Ray ray4(mLocalShapeToWorld * vec3(10, 3, 10), mLocalShapeToWorld * vec3(22, 3, 31));
|
|
Ray ray5(mLocalShapeToWorld * vec3(4, 10, -1), mLocalShapeToWorld * vec3(4, 3, -1));
|
|
|
|
Ray ray11(mLocalShapeToWorld * vec3(3, 15, 0.5), mLocalShapeToWorld * vec3(3, 1, 0.5));
|
|
Ray ray12(mLocalShapeToWorld * vec3(0, 45, 0), mLocalShapeToWorld * vec3(0, -5, 0));
|
|
Ray ray13(mLocalShapeToWorld * vec3(1, 23, 2), mLocalShapeToWorld * vec3(1, -23, 2));
|
|
Ray ray14(mLocalShapeToWorld * vec3(3, 8, 3), mLocalShapeToWorld * vec3(3, 0, 3));
|
|
|
|
// ----- Test raycast miss ----- //
|
|
test(!mHeightFieldBody->raycast(ray1, raycastInfo3));
|
|
test(!mHeightFieldProxyShape->raycast(ray1, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray1, &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(0.01)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray1.point1, ray1.point2, float(100.0)), &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mHeightFieldBody->raycast(ray2, raycastInfo3));
|
|
test(!mHeightFieldProxyShape->raycast(ray2, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray2, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mHeightFieldBody->raycast(ray3, raycastInfo3));
|
|
test(!mHeightFieldProxyShape->raycast(ray3, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray3, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mHeightFieldBody->raycast(ray4, raycastInfo3));
|
|
test(!mHeightFieldProxyShape->raycast(ray4, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray4, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
test(!mHeightFieldBody->raycast(ray5, raycastInfo3));
|
|
test(!mHeightFieldProxyShape->raycast(ray5, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray5, &mCallback);
|
|
test(!mCallback.isHit);
|
|
|
|
mCallback.reset();
|
|
|
|
// ----- Test raycast hits ----- //
|
|
test(mHeightFieldBody->raycast(ray11, raycastInfo3));
|
|
test(mHeightFieldProxyShape->raycast(ray11, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray11, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray11.point1, ray11.point2, float(0.95)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mHeightFieldBody->raycast(ray12, raycastInfo3));
|
|
test(mHeightFieldProxyShape->raycast(ray12, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray12, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray12.point1, ray12.point2, float(0.87)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mHeightFieldBody->raycast(ray13, raycastInfo3));
|
|
test(mHeightFieldProxyShape->raycast(ray13, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray13, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray13.point1, ray13.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
|
|
test(mHeightFieldBody->raycast(ray14, raycastInfo3));
|
|
test(mHeightFieldProxyShape->raycast(ray14, raycastInfo3));
|
|
mCallback.reset();
|
|
m_world->raycast(ray14, &mCallback);
|
|
test(mCallback.isHit);
|
|
mCallback.reset();
|
|
m_world->raycast(Ray(ray14.point1, ray14.point2, float(0.8)), &mCallback);
|
|
test(mCallback.isHit);
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|