766 lines
48 KiB
C++
766 lines
48 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_POINT_INSIDE_H
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#define TEST_POINT_INSIDE_H
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// Libraries
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#include <test/Test.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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/// Reactphysics3D namespace
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namespace ephysics {
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// Class TestPointInside
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/**
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* Unit test for the CollisionBody::testPointInside() method.
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*/
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class TestPointInside : public Test {
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private :
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// ---------- Atributes ---------- //
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// Physics world
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CollisionWorld* 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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// 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* mConvexMeshShapeBodyEdgesInfo;
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CylinderShape* mCylinderShape;
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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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// 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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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestPointInside(const std::string& name) : Test(name) {
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// Create the world
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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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// 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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mCapsuleShape = new CapsuleShape(2, 10);
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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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mConvexMeshShape = new ConvexMeshShape(0.0); // Box of dimension (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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mConvexMeshShape->addVertex(vec3(-2, 3, 4));
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mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, m_shapeTransform);
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mConvexMeshShapeBodyEdgesInfo = new ConvexMeshShape(0.0);
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, -3, -4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(2, -3, -4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(2, -3, 4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, -3, 4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, 3, -4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(2, 3, -4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(2, 3, 4));
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mConvexMeshShapeBodyEdgesInfo->addVertex(vec3(-2, 3, 4));
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mConvexMeshShapeBodyEdgesInfo->addEdge(0, 1);
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mConvexMeshShapeBodyEdgesInfo->addEdge(1, 2);
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mConvexMeshShapeBodyEdgesInfo->addEdge(2, 3);
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mConvexMeshShapeBodyEdgesInfo->addEdge(0, 3);
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mConvexMeshShapeBodyEdgesInfo->addEdge(4, 5);
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mConvexMeshShapeBodyEdgesInfo->addEdge(5, 6);
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mConvexMeshShapeBodyEdgesInfo->addEdge(6, 7);
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mConvexMeshShapeBodyEdgesInfo->addEdge(4, 7);
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mConvexMeshShapeBodyEdgesInfo->addEdge(0, 4);
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mConvexMeshShapeBodyEdgesInfo->addEdge(1, 5);
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mConvexMeshShapeBodyEdgesInfo->addEdge(2, 6);
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mConvexMeshShapeBodyEdgesInfo->addEdge(3, 7);
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mConvexMeshShapeBodyEdgesInfo->setIsEdgesInformationUsed(true);
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mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
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mConvexMeshShapeBodyEdgesInfo,
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m_shapeTransform);
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mCylinderShape = new CylinderShape(3, 8, 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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mCompoundBody->addCollisionShape(mCylinderShape, m_shapeTransform);
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mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2);
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}
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/// Destructor
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~TestPointInside() {
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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 mConvexMeshShapeBodyEdgesInfo;
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delete mCylinderShape;
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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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}
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/// Test the ProxyBoxShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testBox() {
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// Tests with CollisionBody
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
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test(mBoxBody->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
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test(!mBoxBody->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
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// Tests with ProxyBoxShape
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
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test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
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test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
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}
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/// Test the ProxySphereShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testSphere() {
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// Tests with CollisionBody
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(2.9, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, 0, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -1.5)));
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test(mSphereBody->testPointInside(mLocalShapeToWorld * vec3(1, -2, 1.5)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(3.1, 0, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-3.1, 0, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.1)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.1)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-2, -2, -2)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(-2, 2, -1.5)));
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test(!mSphereBody->testPointInside(mLocalShapeToWorld * vec3(1.5, -2, 2.5)));
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// Tests with ProxySphereShape
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.9, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.9, 0, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -1.5)));
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test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(1, -2, 1.5)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(3.1, 0, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-3.1, 0, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.1)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.1)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2, -2, -2)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2, 2, -1.5)));
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test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, -2, 2.5)));
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}
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/// Test the ProxyCapsuleShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
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void testCapsule() {
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// Tests with CollisionBody
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -6.9, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 6.9, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 5, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 5, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, 5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, 5, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, 5, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -5, 1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -5, -1.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.9, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, -5, 0)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, -5, 0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0.9, -5, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, -4, -0.9)));
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test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-1, 2, 0.4)));
|
|
test(mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.3, 1, 1.5)));
|
|
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -7.1, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 7.1, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 5, 2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, 5, -2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, 5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.5, 5, 1.6)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.5, 5, -1.7)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -5, 2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(0, -5, -2.1)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(2.1, -5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, -5, 0)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.5, -5, 1.6)));
|
|
test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * vec3(1.5, -5, -1.7)));
|
|
|
|
// Tests with ProxyCapsuleShape
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -6.9, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 6.9, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 5, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 5, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, 5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, 5, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, 5, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -5, 1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -5, -1.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, -5, 0)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, -5, 0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, -5, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, -4, -0.9)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 2, 0.4)));
|
|
test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.3, 1, 1.5)));
|
|
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -7.1, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 7.1, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 5, 2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 5, -2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, 5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, 5, 1.6)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, 5, -1.7)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -5, 2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -5, -2.1)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, -5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, -5, 0)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, -5, 1.6)));
|
|
test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, -5, -1.7)));
|
|
}
|
|
|
|
/// Test the ProxyConeShape::testPointInside() and
|
|
/// CollisionBody::testPointInside() methods
|
|
void testCone() {
|
|
|
|
// Tests with CollisionBody
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(-0.9, 0, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0.9)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -0.9)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0.6, 0, -0.7)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0.6, 0, 0.7)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(-0.6, 0, -0.7)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(-0.6, 0, 0.7)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(1.96, -2.9, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(-1.96, -2.9, 0)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 1.96)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, -1.96)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(1.3, -2.9, -1.4)));
|
|
test(mConeBody->testPointInside(mLocalShapeToWorld * vec3(-1.3, -2.9, 1.4)));
|
|
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(1.1, 0, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(-1.1, 0, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 1.1)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -1.1)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0.8, 0, -0.8)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0.8, 0, 0.8)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(-0.8, 0, -0.8)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(-0.8, 0, 0.8)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(1.97, -2.9, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(-1.97, -2.9, 0)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 1.97)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, -1.97)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(1.5, -2.9, -1.5)));
|
|
test(!mConeBody->testPointInside(mLocalShapeToWorld * vec3(-1.5, -2.9, 1.5)));
|
|
|
|
// Tests with ProxyConeShape
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.9, 0, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-0.9, 0, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0.9)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -0.9)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.6, 0, -0.7)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.6, 0, 0.7)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-0.6, 0, -0.7)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-0.6, 0, 0.7)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.96, -2.9, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.96, -2.9, 0)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 1.96)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, -1.96)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.3, -2.9, -1.4)));
|
|
test(mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.3, -2.9, 1.4)));
|
|
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.1, 0, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.1, 0, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 1.1)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -1.1)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.8, 0, -0.8)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0.8, 0, 0.8)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-0.8, 0, -0.8)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-0.8, 0, 0.8)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.97, -2.9, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.97, -2.9, 0)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 1.97)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, -1.97)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.5, -2.9, -1.5)));
|
|
test(!mConeProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.5, -2.9, 1.5)));
|
|
}
|
|
|
|
/// Test the ProxyConvexMeshShape::testPointInside() and
|
|
/// CollisionBody::testPointInside() methods
|
|
void testConvexMesh() {
|
|
|
|
// ----- Tests without using edges information ----- //
|
|
|
|
// Tests with CollisionBody
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
|
|
test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
|
|
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
|
|
test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
|
|
|
|
// Tests with ProxyConvexMeshShape
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
|
|
test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
|
|
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
|
|
test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
|
|
|
|
// ----- Tests using edges information ----- //
|
|
|
|
// Tests with CollisionBody
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
|
|
test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
|
|
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
|
|
test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
|
|
|
|
// Tests with ProxyConvexMeshShape
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1.9, 0, 0)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1.9, 0, 0)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, -2.9, 0)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 2.9, 0)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.9)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.9)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1.9, -2.9, -3.9)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1.9, 2.9, 3.9)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, -2, -1.5)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, 2, -2.5)));
|
|
test(mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1, -2, 3.5)));
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|
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-2.1, 0, 0)));
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test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(2.1, 0, 0)));
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|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, -3.1, 0)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 3.1, 0)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, -4.1)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(0, 0, 4.1)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-2.1, -3.1, -4.1)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(2.1, 3.1, 4.1)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-10, -2, -1.5)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(-1, 4, -2.5)));
|
|
test(!mConvexMeshProxyShapeEdgesInfo->testPointInside(mLocalShapeToWorld * vec3(1, -2, 4.5)));
|
|
}
|
|
|
|
/// Test the ProxyCylinderShape::testPointInside() and
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/// CollisionBody::testPointInside() methods
|
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void testCylinder() {
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// Tests with CollisionBody
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test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.9, 0, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, 0, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, 1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, 1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.9, 3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, 3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, -2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, 1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, 1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.9, -3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, -3.9, 0)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, -2.9)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, 1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, -1.7)));
|
|
test(mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, 1.7)));
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|
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 4.1, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -4.1, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(3.1, 0, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-3.1, 0, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, 0, 2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, 0, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.2, 0, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-1.3, 0, 2.8)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(3.1, 3.9, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-3.1, 3.9, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, -3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, 3.9, 2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, 3.9, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.2, 3.9, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.2, 3.9, 2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(3.1, -3.9, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-3.1, -3.9, 0)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, -3.1)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, -3.9, 2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(2.2, -3.9, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.2, -3.9, -2.2)));
|
|
test(!mCylinderBody->testPointInside(mLocalShapeToWorld * vec3(-2.2, -3.9, 2.2)));
|
|
|
|
// Tests with ProxyCylinderShape
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.9, 0, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.9, 0, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, 1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, 1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.9, 3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.9, 3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, -2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, 1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, 1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.9, -3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.9, -3.9, 0)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, -2.9)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, 1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, -1.7)));
|
|
test(mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, 1.7)));
|
|
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 4.1, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -4.1, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(3.1, 0, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-3.1, 0, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, 3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 0, -3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, 0, 2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, 0, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.2, 0, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-1.3, 0, 2.8)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(3.1, 3.9, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-3.1, 3.9, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, -3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, 3.9, 2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, 3.9, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.2, 3.9, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.2, 3.9, 2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(3.1, -3.9, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-3.1, -3.9, 0)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, -3.1)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, -3.9, 2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(2.2, -3.9, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.2, -3.9, -2.2)));
|
|
test(!mCylinderProxyShape->testPointInside(mLocalShapeToWorld * vec3(-2.2, -3.9, 2.2)));
|
|
}
|
|
|
|
/// Test the CollisionBody::testPointInside() method
|
|
void testCompound() {
|
|
|
|
// Points on the cylinder
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(2.9, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, 2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 0, -2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, 1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 0, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 0, 1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(2.9, 3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, 3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, 2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, 3.9, -2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, 1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, 3.9, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, 3.9, 1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(2.9, -3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-2.9, -3.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, 2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(0, -3.9, -2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, 1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(1.7, -3.9, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, -1.7)));
|
|
test(mCompoundBody->testPointInside(mLocalShapeToWorld * vec3(-1.7, -3.9, 1.7)));
|
|
|
|
// Points on the sphere
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(0, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(2.9, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(-2.9, 0, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(0, 2.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(0, -2.9, 0)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(0, 0, 2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(0, 0, 2.9)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(-1, -2, -1.5)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(-1, 2, -1.5)));
|
|
test(mCompoundBody->testPointInside(mLocalShape2ToWorld * vec3(1, -2, 1.5)));
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|