update a test

examples/testbed/tests/character_test.h

@@ -83,7 +83,12 @@ private:
 		{
 			Plane plane = planes[i];
 
-			if (b3Dot(b3Vec3_y, plane.n) > 0.0f)
+			float32 cosine = b3Dot(b3Vec3_y, plane.n);
+			
+			// ~80 degrees
+			const float32 kTol = 0.17f;
+			
+			if (cosine > kTol)
 			{
  				m_isGrounded = true;
 				break;
@@ -107,11 +112,6 @@ private:
 
 			for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
 			{
-				if (s->GetType() == e_meshShape)
-				{
-					continue;
-				}
-
 				shapes.PushBack(s);
 			}
 		}
@@ -128,14 +128,18 @@ private:
 			b3Body* body1 = shape1->GetBody();
 			b3Transform xf1 = body1->GetTransform();
 
-			b3TestSphereOutput output;
+			if (shape1->GetType() == e_meshShape)
-			bool overlap = shape1->TestSphere(&output, sphere2, xf1);
-
-			if (overlap == false)
 			{
-				continue;
+				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
-			}
+				const b3Mesh* mesh1 = meshShape1->m_mesh;
 
+				for (u32 j = 0; j < mesh1->triangleCount; ++j)
+				{
+					b3TestSphereOutput output;
+					bool overlap = meshShape1->TestSphere(&output, sphere2, xf1, j);
+
+					if (overlap)
+					{
 						Plane plane;
 						plane.n = output.normal;
 						plane.p = output.point;
@@ -143,6 +147,23 @@ private:
 						planes.PushBack(plane);
 					}
 				}
+			}
+			else
+			{
+				b3TestSphereOutput output;
+				bool overlap = shape1->TestSphere(&output, sphere2, xf1);
+
+				if (overlap)
+				{
+					Plane plane;
+					plane.n = output.normal;
+					plane.p = output.point;
+
+					planes.PushBack(plane);
+				}
+			}
+		}
+	}
 
 	void CollectSweepPlanes(b3Array<Plane>& planes,
 		const b3Array<b3Shape*>& shapes,
@@ -165,17 +186,39 @@ private:
 
 			b3Transform xf1 = body1->GetTransform();
 
+			if (shape1->GetType() == e_meshShape)
+			{
+				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
+				const b3Mesh* mesh1 = meshShape1->m_mesh;
+
+				for (u32 j = 0; j < mesh1->triangleCount; ++j)
+				{
+					b3ShapeGJKProxy proxy1;
+					proxy1.Set(shape1, j);
+
+					b3GJKShapeCastOutput output;
+					bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
+
+					if (hit)
+					{
+						Plane plane;
+						plane.n = output.normal;
+						plane.p = output.point;
+
+						planes.PushBack(plane);
+					}
+				}
+			}
+			else
+			{
 				b3ShapeGJKProxy proxy1;
 				proxy1.Set(shape1, 0);
 
 				b3GJKShapeCastOutput output;
 				bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
 
-			if (hit == false)
+				if (hit)
 				{
-				continue;
-			}
-
 					Plane plane;
 					plane.n = output.normal;
 					plane.p = output.point;
@@ -183,6 +226,8 @@ private:
 					planes.PushBack(plane);
 				}
 			}
+		}
+	}
 
 	b3Vec3 SolvePositionConstraints(const b3Array<Plane>& planes, const b3Vec3& position) const
 	{