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// Copyright (C) 2026 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
import QtTest
import QtQuick3D
import QtQuick3D.Helpers
import QtQuick3D.Physics
import QtQuick
import QtQuick3D.Physics.TestUtils
Item {
width: 640
height: 480
visible: true
PhysicsWorld {
id: caster
gravity: Qt.vector3d(0, -9.81, 0)
running: true
forceDebugDraw: true
typicalLength: 1
typicalSpeed: 10
minimumTimestep: 15
maximumTimestep: 15
scene: viewport.scene
}
// Helper shapes initialized for query parameters
BoxShape {
id: queryBoxShape
extents: Qt.vector3d(0.5, 0.5, 0.5)
position: Qt.vector3d(0, 5, 0)
}
SphereShape {
id: querySphereShape
diameter: 1.0
position: Qt.vector3d(0, 5, 0)
}
BoxShape {
id: queryOverlapBoxShape
extents: Qt.vector3d(1, 1, 1)
position: Qt.vector3d(0, -0.5, 0)
}
SphereShape {
id: queryOverlapSphereShape
diameter: 20.0
position: Qt.vector3d(0, -0.5, 0)
}
CapsuleShape {
id: queryCapsuleShape
diameter: 1.0
height: 1.0
position: Qt.vector3d(0, 5, 0)
}
ConvexMeshShape {
id: queryConvexShape
geometry: CuboidGeometry {}
position: Qt.vector3d(0, 5, 0)
scale: Qt.vector3d(0.01, 0.01, 0.01)
}
// Not valid as query geometry: PhysX only accepts sphere, capsule, box and convex mesh
PlaneShape {
id: queryPlaneShape
position: Qt.vector3d(0, 5, 0)
}
TriangleMeshShape {
id: queryTriangleMeshShape
geometry: CuboidGeometry {}
position: Qt.vector3d(0, 5, 0)
scale: Qt.vector3d(0.01, 0.01, 0.01)
}
// --- Test Flags ---
property bool testRaycastHit: false
property bool testRaycastMiss: false
property bool singleRaycastHit: false
property bool singleRaycastHitDetails: false
property bool singleRaycastMiss: false
property bool singleRaycastStaticOnly: false
property bool singleRaycastDynamicOnly: false
property bool multiRaycastHit: false
property bool testSweepBoxHit: false
property bool testSweepSphereHit: false
property bool testSweepMiss: false
property bool singleSweepBoxHit: false
property bool singleSweepSphereHit: false
property bool multiSweepBoxHit: false
property bool multiSweepSphereHit: false
property bool testOverlapBoxHit: false
property bool testOverlapSphereHit: false
property bool testOverlapMiss: false
property bool multiOverlapBoxHit: false
property bool multiOverlapSphereHit: false
property bool testInvalidInputs: false
// --- Query shape type coverage ---
property bool sweepCapsuleQueryShape: false
property bool sweepConvexQueryShape: false
property bool overlapCapsuleQueryShape: false
property bool overlapConvexQueryShape: false
property bool unsupportedQueryShapesRejected: false
// --- Target type coverage ---
property bool raycastHitsTriangleMesh: false
property bool raycastHitsCharacterController: false
// --- Destroyed-object safety ---
property bool queryAfterDestroyIsSafe: false
property var spawnedBodyRef: null
property int spawnedBodyDestroyed: 0
// --- New Flags for MTD and Trigger Exclusion ---
property bool testSweepMTD: false
property bool testTriggerExclusion: false
// --- Shape Validation Flags ---
property bool singleRaycastShapeCheck: false
property bool multiRaycastShapesCheck: false
property bool singleSweepBoxShapeCheck: false
property bool singleSweepSphereShapeCheck: false
property bool multiSweepBoxShapesCheck: false
property bool multiOverlapBoxShapesCheck: false
View3D {
id: viewport
anchors.fill: parent
environment: SceneEnvironment {
clearColor: "#151a3f"
backgroundMode: SceneEnvironment.Color
}
Node {
id: scene
PerspectiveCamera {
id: camera1
position: Qt.vector3d(0, 5, 10)
eulerRotation: Qt.vector3d(-20, 0, 0)
clipFar: 50
clipNear: 0.01
}
DirectionalLight {
eulerRotation.x: -45
eulerRotation.y: 45
}
Node {
id: fallingBoxNode
StaticRigidBody {
id: staticFloor
position: Qt.vector3d(0, -1, 0)
collisionShapes: BoxShape {
id: floorShape
extents: Qt.vector3d(20, 1, 20)
}
}
DynamicRigidBody {
id: dynamicBox
position: Qt.vector3d(0, 0, 0)
collisionShapes: BoxShape {
id: dynamicBoxShape
extents: Qt.vector3d(1, 1, 1)
}
}
// Trigger body placed directly in the ray/sweep path (Y = 2.5)
TriggerBody {
id: triggerZone
position: Qt.vector3d(0, 2.5, 0)
collisionShapes: BoxShape {
id: triggerShape
extents: Qt.vector3d(2, 2, 2)
}
}
// Triangle mesh target, off to the side at X = 8
StaticRigidBody {
id: meshBody
position: Qt.vector3d(8, 0, 0)
collisionShapes: TriangleMeshShape {
id: meshBodyShape
source: "#Cube"
scale: Qt.vector3d(0.02, 0.02, 0.02)
}
}
// Character controller target, off to the side at X = -8
CharacterController {
id: characterTarget
position: Qt.vector3d(-8, 0, 0)
gravity: Qt.vector3d(0, 0, 0)
collisionShapes: CapsuleShape {
id: characterTargetShape
diameter: 1.0
height: 1.0
}
}
}
}
}
// Helper for floating-point comparisons
function fuzzyCompareVec3(v1, v2, eps = 0.001) {
return Math.abs(v1.x - v2.x) < eps &&
Math.abs(v1.y - v2.y) < eps &&
Math.abs(v1.z - v2.z) < eps;
}
Timer {
interval: 1000
running: true
repeat: false
onTriggered: {
// --- 1. Invalid Input Validation Tests ---
const zeroDir = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, 0, 0), 10, true, true
);
const negDist = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), -5, true, true
);
const nanDist = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), NaN, true, true
);
const bothFalse = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, false, false
);
const nullSweep = caster.singleSweepQuery(null, Qt.vector3d(0, -1, 0), 10, true, true);
testInvalidInputs = (zeroDir.body === null) &&
(negDist.body === null) &&
(nanDist.body === null) &&
(bothFalse.body === null) &&
(nullSweep.body === null);
// --- 2. Raycast Tests ---
testRaycastHit = caster.testRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 100, true, true
);
testRaycastMiss = !caster.testRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, 1, 0), 10, true, true
);
const rayHitS = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 100, true, true
);
const rayHitD = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 100, false, true
);
singleRaycastHit = (rayHitD.body === dynamicBox && rayHitS.body === dynamicBox);
singleRaycastShapeCheck = (rayHitS.shape === dynamicBoxShape) &&
(rayHitD.shape === dynamicBoxShape);
if (rayHitS.body === dynamicBox) {
const expectedPos = Qt.vector3d(0, 0.5, 0);
const expectedNormal = Qt.vector3d(0, 1, 0);
const expectedDist = 4.5;
singleRaycastHitDetails = fuzzyCompareVec3(rayHitS.position, expectedPos) &&
fuzzyCompareVec3(rayHitS.normal, expectedNormal) &&
Math.abs(rayHitS.distance - expectedDist) < 0.001 &&
rayHitS.shape === dynamicBoxShape;
}
const rayMiss = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, 1, 0), 10, true, true
);
singleRaycastMiss = (rayMiss.body === null);
const rayStatic = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, true, false
);
singleRaycastStaticOnly = (rayStatic.body === staticFloor &&
rayStatic.shape === floorShape);
const rayDynamic = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, false, true
);
singleRaycastDynamicOnly = (rayDynamic.body === dynamicBox &&
rayDynamic.shape === dynamicBoxShape);
const multiRayHits = caster.multiRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, true, true
);
multiRaycastHit = (multiRayHits.length >= 2 &&
multiRayHits.some(h => h.body === dynamicBox) &&
multiRayHits.some(h => h.body === staticFloor));
const dynRayHit = multiRayHits.find(h => h.body === dynamicBox);
const statRayHit = multiRayHits.find(h => h.body === staticFloor);
multiRaycastShapesCheck = (dynRayHit && dynRayHit.shape === dynamicBoxShape) &&
(statRayHit && statRayHit.shape === floorShape);
// --- 3. Sweep Tests ---
queryBoxShape.position = Qt.vector3d(0, 5, 0);
querySphereShape.position = Qt.vector3d(0, 5, 0);
testSweepBoxHit = caster.testSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, true, true
);
testSweepSphereHit = caster.testSweepQuery(
querySphereShape, Qt.vector3d(0, -1, 0), 10, true, true
);
testSweepMiss = !caster.testSweepQuery(
queryBoxShape, Qt.vector3d(0, 1, 0), 10, true, true
);
const sweepBoxS = caster.singleSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, true, true
);
const sweepBoxD = caster.singleSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, false, true
);
singleSweepBoxHit = (sweepBoxD.body === dynamicBox && sweepBoxS.body === dynamicBox);
singleSweepBoxShapeCheck = (sweepBoxS.shape === dynamicBoxShape) &&
(sweepBoxD.shape === dynamicBoxShape);
const sweepSphereS = caster.singleSweepQuery(
querySphereShape, Qt.vector3d(0, -1, 0), 10, true, true
);
const sweepSphereD = caster.singleSweepQuery(
querySphereShape, Qt.vector3d(0, -1, 0), 10, false, true
);
singleSweepSphereHit = (sweepSphereD.body === dynamicBox &&
sweepSphereS.body === dynamicBox);
singleSweepSphereShapeCheck = (sweepSphereS.shape === dynamicBoxShape) &&
(sweepSphereD.shape === dynamicBoxShape);
const multiSweepBox = caster.multiSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, true, true
);
multiSweepBoxHit = (multiSweepBox.length >= 2 &&
multiSweepBox.some(h => h.body === dynamicBox) &&
multiSweepBox.some(h => h.body === staticFloor));
const dynSweepHit = multiSweepBox.find(h => h.body === dynamicBox);
const statSweepHit = multiSweepBox.find(h => h.body === staticFloor);
multiSweepBoxShapesCheck = (dynSweepHit && dynSweepHit.shape === dynamicBoxShape) &&
(statSweepHit && statSweepHit.shape === floorShape);
const multiSweepSphere = caster.multiSweepQuery(
querySphereShape, Qt.vector3d(0, -1, 0), 10, true, true
);
multiSweepSphereHit = (multiSweepSphere.length >= 2 &&
multiSweepSphere.some(h => h.body === dynamicBox) &&
multiSweepSphere.some(h => h.body === staticFloor));
// --- 4. Overlap Tests ---
queryOverlapBoxShape.position = Qt.vector3d(0, -0.5, 0);
queryOverlapSphereShape.position = Qt.vector3d(0, -0.5, 0);
testOverlapBoxHit = caster.testOverlapQuery(queryOverlapBoxShape, true, true);
testOverlapSphereHit = caster.testOverlapQuery(queryOverlapSphereShape, true, true);
queryOverlapBoxShape.position = Qt.vector3d(0, 50, 0);
testOverlapMiss = !caster.testOverlapQuery(queryOverlapBoxShape, true, true);
queryOverlapBoxShape.position = Qt.vector3d(0, -0.5, 0);
const multiOverlapBox = caster.multiOverlapQuery(queryOverlapBoxShape, true, true);
multiOverlapBoxHit = (multiOverlapBox.length >= 2 &&
multiOverlapBox.some(h => h.body === dynamicBox) &&
multiOverlapBox.some(h => h.body === staticFloor));
const dynOverlapHit = multiOverlapBox.find(h => h.body === dynamicBox);
const statOverlapHit = multiOverlapBox.find(h => h.body === staticFloor);
multiOverlapBoxShapesCheck = (dynOverlapHit && dynOverlapHit.shape === dynamicBoxShape) &&
(statOverlapHit && statOverlapHit.shape === floorShape);
const multiOverlapSphere = caster.multiOverlapQuery(
queryOverlapSphereShape, true, true
);
multiOverlapSphereHit = (multiOverlapSphere.length >= 2 &&
multiOverlapSphere.some(h => h.body === dynamicBox) &&
multiOverlapSphere.some(h => h.body === staticFloor));
// --- 5. MTD Sweep Test (Initial Overlap) ---
queryBoxShape.position = Qt.vector3d(0, 0, 0); // Position inside dynamicBox
const mtdHit = caster.singleSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, true, true
);
testSweepMTD = (mtdHit.body === dynamicBox) && (mtdHit.distance < 0);
queryBoxShape.position = Qt.vector3d(0, 5, 0); // Restore position
// --- 6. Trigger Exclusion Test ---
const triggerRayHit = caster.singleRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, true, true
);
const triggerMultiRay = caster.multiRaycastQuery(
Qt.vector3d(0, 5, 0), Qt.vector3d(0, -1, 0), 10, true, true
);
queryBoxShape.position = Qt.vector3d(0, 5, 0);
const triggerSweepHit = caster.singleSweepQuery(
queryBoxShape, Qt.vector3d(0, -1, 0), 10, true, true
);
queryOverlapBoxShape.position = Qt.vector3d(0, 2.5, 0);
const triggerOverlap = caster.multiOverlapQuery(queryOverlapBoxShape, true, true);
queryOverlapBoxShape.position = Qt.vector3d(0, -0.5, 0);
testTriggerExclusion = (triggerRayHit.body !== triggerZone) &&
!triggerMultiRay.some(h => h.body === triggerZone) &&
(triggerSweepHit.body !== triggerZone) &&
!triggerOverlap.some(h => h.body === triggerZone);
// --- 7. Query shape type coverage ---
// PhysX accepts sphere, capsule, box and convex mesh as query geometry.
// Box and sphere are covered above; cover the other two here.
queryCapsuleShape.position = Qt.vector3d(0, 5, 0);
sweepCapsuleQueryShape = caster.testSweepQuery(
queryCapsuleShape, Qt.vector3d(0, -1, 0), 10, true, true
);
queryConvexShape.position = Qt.vector3d(0, 5, 0);
sweepConvexQueryShape = caster.testSweepQuery(
queryConvexShape, Qt.vector3d(0, -1, 0), 10, true, true
);
queryCapsuleShape.position = Qt.vector3d(0, -0.5, 0);
overlapCapsuleQueryShape = caster.testOverlapQuery(queryCapsuleShape, true, true);
queryCapsuleShape.position = Qt.vector3d(0, 5, 0);
queryConvexShape.position = Qt.vector3d(0, -0.5, 0);
overlapConvexQueryShape = caster.testOverlapQuery(queryConvexShape, true, true);
queryConvexShape.position = Qt.vector3d(0, 5, 0);
// Everything else must be rejected rather than silently producing garbage.
const planeSweep = caster.testSweepQuery(
queryPlaneShape, Qt.vector3d(0, -1, 0), 10, true, true
);
const planeOverlap = caster.multiOverlapQuery(queryPlaneShape, true, true);
const meshSweep = caster.testSweepQuery(
queryTriangleMeshShape, Qt.vector3d(0, -1, 0), 10, true, true
);
const meshOverlap = caster.multiOverlapQuery(queryTriangleMeshShape, true, true);
unsupportedQueryShapesRejected = !planeSweep && planeOverlap.length === 0 &&
!meshSweep && meshOverlap.length === 0;
// --- 8. Target type coverage ---
// Triangle mesh bodies are valid query *targets* even though they are not
// valid query *shapes*.
const meshHit = caster.singleRaycastQuery(
Qt.vector3d(8, 5, 0), Qt.vector3d(0, -1, 0), 100, true, true
);
raycastHitsTriangleMesh = (meshHit.body === meshBody) &&
(meshHit.shape === meshBodyShape);
// A CharacterController reports a body but no shape, as documented.
const charHit = caster.singleRaycastQuery(
Qt.vector3d(-8, 5, 0), Qt.vector3d(0, -1, 0), 100, true, true
);
raycastHitsCharacterController = (charHit.body === characterTarget) &&
(charHit.shape === null);
// --- 9. Destroyed-object safety (must run last: it pauses the world) ---
spawnedBodyRef = spawnedBodyComponent.createObject(scene);
destroySpawnedBody.start();
}
}
// A body whose PhysX actor outlives its QML object: the actor is only released on
// the next physics frame, and while the world is paused that frame never comes.
Component {
id: spawnedBodyComponent
StaticRigidBody {
position: Qt.vector3d(0, 30, 0)
collisionShapes: BoxShape { extents: Qt.vector3d(2, 2, 2) }
Component.onDestruction: spawnedBodyDestroyed++
}
}
Timer {
id: destroySpawnedBody
interval: 100
running: false
repeat: false
onTriggered: {
caster.running = false;
spawnedBodyRef.destroy();
queryAfterDestroy.start();
}
}
Timer {
id: queryAfterDestroy
interval: 50
running: false
repeat: true
property int tries: 0
onTriggered: {
gc();
tries++;
if (spawnedBodyDestroyed === 0) {
if (tries > 40)
queryAfterDestroy.stop();
return;
}
queryAfterDestroy.stop();
// Must not crash, and must not report the destroyed body.
const hits = caster.multiRaycastQuery(
Qt.vector3d(0, 40, 0), Qt.vector3d(0, -1, 0), 100, true, true
);
queryAfterDestroyIsSafe = !hits.some(h => h.body !== null && h.body === spawnedBodyRef);
}
}
// --- Physics Test Cases ---
PhysicsTestCase {
name: "TestInvalidInputs"
goalReached: testInvalidInputs
}
PhysicsTestCase {
name: "TestRayCastHit"
goalReached: testRaycastHit
}
PhysicsTestCase {
name: "TestRayCastMiss"
goalReached: testRaycastMiss
}
PhysicsTestCase {
name: "SingleRayCast"
goalReached: singleRaycastHit && singleRaycastShapeCheck
}
PhysicsTestCase {
name: "SingleRayCastHitDetails"
goalReached: singleRaycastHitDetails
}
PhysicsTestCase {
name: "SingleRayCastMiss"
goalReached: singleRaycastMiss
}
PhysicsTestCase {
name: "SingleRayCastStaticOnly"
goalReached: singleRaycastStaticOnly
}
PhysicsTestCase {
name: "SingleRayCastDynamicOnly"
goalReached: singleRaycastDynamicOnly
}
PhysicsTestCase {
name: "MultiRayCast"
goalReached: multiRaycastHit && multiRaycastShapesCheck
}
PhysicsTestCase {
name: "TestSweepBoxHit"
goalReached: testSweepBoxHit
}
PhysicsTestCase {
name: "TestSweepSphereHit"
goalReached: testSweepSphereHit
}
PhysicsTestCase {
name: "TestSweepMiss"
goalReached: testSweepMiss
}
PhysicsTestCase {
name: "SingleSweepBox"
goalReached: singleSweepBoxHit && singleSweepBoxShapeCheck
}
PhysicsTestCase {
name: "SingleSweepSphere"
goalReached: singleSweepSphereHit && singleSweepSphereShapeCheck
}
PhysicsTestCase {
name: "MultiSweepBox"
goalReached: multiSweepBoxHit && multiSweepBoxShapesCheck
}
PhysicsTestCase {
name: "MultiSweepSphere"
goalReached: multiSweepSphereHit
}
PhysicsTestCase {
name: "TestSweepMTD"
goalReached: testSweepMTD
}
PhysicsTestCase {
name: "TestOverlapBoxHit"
goalReached: testOverlapBoxHit
}
PhysicsTestCase {
name: "TestOverlapSphereHit"
goalReached: testOverlapSphereHit
}
PhysicsTestCase {
name: "TestOverlapMiss"
goalReached: testOverlapMiss
}
PhysicsTestCase {
name: "MultiOverlapBox"
goalReached: multiOverlapBoxHit && multiOverlapBoxShapesCheck
}
PhysicsTestCase {
name: "MultiOverlapSphere"
goalReached: multiOverlapSphereHit
}
PhysicsTestCase {
name: "TestTriggerExclusion"
goalReached: testTriggerExclusion
}
PhysicsTestCase {
name: "CapsuleQueryShape"
goalReached: sweepCapsuleQueryShape && overlapCapsuleQueryShape
}
PhysicsTestCase {
name: "ConvexMeshQueryShape"
goalReached: sweepConvexQueryShape && overlapConvexQueryShape
}
PhysicsTestCase {
name: "UnsupportedQueryShapesRejected"
goalReached: unsupportedQueryShapesRejected
}
PhysicsTestCase {
name: "RaycastHitsTriangleMesh"
goalReached: raycastHitsTriangleMesh
}
PhysicsTestCase {
name: "RaycastHitsCharacterController"
goalReached: raycastHitsCharacterController
}
PhysicsTestCase {
name: "QueryAfterDestroyIsSafe"
goalReached: queryAfterDestroyIsSafe
}
}