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+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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+// SPDX-FileCopyrightText: 2025 Jorrit Rouwe
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+// SPDX-License-Identifier: MIT
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+
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+#pragma once
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+
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+// Jolt includes
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+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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+#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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+#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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+#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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+#include <Jolt/Physics/Character/CharacterVirtual.h>
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+#include <Jolt/Physics/Body/BodyCreationSettings.h>
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+
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+// Local includes
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+#include "PerformanceTestScene.h"
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+#include "Layers.h"
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+
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+// A scene that drops a number of virtual characters on a scene and simulates them
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+class CharacterVirtualScene : public PerformanceTestScene, public CharacterContactListener
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+{
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+public:
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+ virtual const char * GetName() const override
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+ {
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+ return "CharacterVirtual";
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+ }
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+
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+ virtual bool Load(const String &inAssetPath) override
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+ {
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+ const int n = 100;
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+ const float cell_size = 0.5f;
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+ const float max_height = 2.0f;
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+ float center = n * cell_size / 2;
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+
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+ // Create vertices
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+ const int num_vertices = (n + 1) * (n + 1);
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+ VertexList vertices;
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+ vertices.resize(num_vertices);
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+ for (int x = 0; x <= n; ++x)
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+ for (int z = 0; z <= n; ++z)
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+ {
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+ float height = Sin(float(x) * 20.0f / n) * Cos(float(z) * 20.0f / n);
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+ vertices[z * (n + 1) + x] = Float3(cell_size * x, max_height * height, cell_size * z);
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+ }
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+
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+ // Create regular grid of triangles
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+ const int num_triangles = n * n * 2;
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+ IndexedTriangleList indices;
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+ indices.resize(num_triangles);
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+ IndexedTriangle *next = indices.data();
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+ for (int x = 0; x < n; ++x)
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+ for (int z = 0; z < n; ++z)
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+ {
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+ int start = (n + 1) * z + x;
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+
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+ next->mIdx[0] = start;
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+ next->mIdx[1] = start + n + 1;
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+ next->mIdx[2] = start + 1;
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+ next++;
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+
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+ next->mIdx[0] = start + 1;
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+ next->mIdx[1] = start + n + 1;
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+ next->mIdx[2] = start + n + 2;
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+ next++;
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+ }
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+
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+ // Create mesh
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+ BodyCreationSettings mesh(new MeshShapeSettings(vertices, indices), RVec3(Real(-center), 0, Real(-center)), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
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+ mWorld.push_back(mesh);
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+
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+ // Create pyramid stairs
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+ for (int i = 0; i < 10; ++i)
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+ {
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+ float width = 4.0f - 0.4f * i;
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+ BodyCreationSettings step(new BoxShape(Vec3(width, 0.5f * cStairsStepHeight, width)), RVec3(-4.0_r, -1.0_r + Real(i * cStairsStepHeight), 0), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
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+ mWorld.push_back(step);
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+ }
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+
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+ // Create wall consisting of vertical pillars
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+ Ref<Shape> wall = new BoxShape(Vec3(0.1f, 2.5f, 0.1f), 0.0f);
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+ for (int z = 0; z < 10; ++z)
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+ {
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+ BodyCreationSettings bcs(wall, RVec3(2.0_r, 1.0_r, 2.0_r + 0.2_r * z), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
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+ mWorld.push_back(bcs);
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+ }
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+
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+ // Create some dynamic boxes
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+ Ref<Shape> box = new BoxShape(Vec3::sReplicate(0.25f));
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+ for (int x = 0; x < 10; ++x)
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+ for (int z = 0; z < 10; ++z)
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+ {
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+ BodyCreationSettings bcs(box, RVec3(4.0_r * x - 20.0_r, 5.0_r, 4.0_r * z - 20.0_r), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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+ bcs.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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+ bcs.mMassPropertiesOverride.mMass = 1.0f;
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+ mWorld.push_back(bcs);
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+ }
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+
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+ return true;
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+ }
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+
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+ virtual void StartTest(PhysicsSystem &inPhysicsSystem, EMotionQuality inMotionQuality) override
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+ {
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+ // Construct bodies
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+ BodyInterface &bi = inPhysicsSystem.GetBodyInterface();
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+ for (BodyCreationSettings &bcs : mWorld)
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+ if (bcs.mMotionType == EMotionType::Dynamic)
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+ {
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+ bcs.mMotionQuality = inMotionQuality;
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+ bi.CreateAndAddBody(bcs, EActivation::Activate);
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+ }
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+ else
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+ bi.CreateAndAddBody(bcs, EActivation::DontActivate);
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+
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+ // Construct characters
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+ CharacterID::sSetNextCharacterID();
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+ RefConst<Shape> standing_shape = RotatedTranslatedShapeSettings(Vec3(0, 0.5f * cCharacterHeightStanding + cCharacterRadiusStanding, 0), Quat::sIdentity(), new CapsuleShape(0.5f * cCharacterHeightStanding, cCharacterRadiusStanding)).Create().Get();
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+ RefConst<Shape> inner_standing_shape = RotatedTranslatedShapeSettings(Vec3(0, 0.5f * cCharacterHeightStanding + cCharacterRadiusStanding, 0), Quat::sIdentity(), new CapsuleShape(0.5f * cInnerShapeFraction * cCharacterHeightStanding, cInnerShapeFraction * cCharacterRadiusStanding)).Create().Get();
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+ for (int y = 0; y < cNumCharactersY; ++y)
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+ for (int x = 0; x < cNumCharactersX; ++x)
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+ {
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+ Ref<CharacterVirtualSettings> settings = new CharacterVirtualSettings();
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+ settings->mShape = standing_shape;
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+ settings->mSupportingVolume = Plane(Vec3::sAxisY(), -cCharacterRadiusStanding); // Accept contacts that touch the lower sphere of the capsule
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+ settings->mInnerBodyShape = inner_standing_shape;
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+ settings->mInnerBodyLayer = Layers::MOVING;
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+ Ref<CharacterVirtual> character = new CharacterVirtual(settings, RVec3(4.0_r * x - 20.0_r, 2.0_r, 4.0_r * y - 20.0_r), Quat::sIdentity(), 0, &inPhysicsSystem);
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+ character->SetCharacterVsCharacterCollision(&mCharacterVsCharacterCollision);
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+ character->SetListener(this);
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+ mCharacters.push_back(character);
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+ mCharacterVsCharacterCollision.Add(character);
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+ }
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+
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+ // Start at time 0
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+ mTime = 0.0f;
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+ mHash = HashBytes(nullptr, 0);
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+ }
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+
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+ virtual void UpdateTest(PhysicsSystem &inPhysicsSystem, TempAllocator &ioTempAllocator, float inDeltaTime) override
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+ {
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+ // Change direction every 2 seconds
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+ mTime += inDeltaTime;
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+ uint64 count = uint64(mTime / 2.0f) * cNumCharactersX * cNumCharactersY;
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+
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+ for (CharacterVirtual *ch : mCharacters)
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+ {
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+ // Calculate new vertical velocity
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+ Vec3 new_velocity;
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+ if (ch->GetGroundState() == CharacterVirtual::EGroundState::OnGround // If on ground
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+ && ch->GetLinearVelocity().GetY() < 0.1f) // And not moving away from ground
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+ new_velocity = Vec3::sZero();
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+ else
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+ new_velocity = ch->GetLinearVelocity() * Vec3(0, 1, 0);
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+ new_velocity += inPhysicsSystem.GetGravity() * inDeltaTime;
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+
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+ // Deterministic random input
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+ uint64 hash = Hash<uint64> {} (count);
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+ int x = int(hash % 10);
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+ int y = int((hash / 10) % 10);
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+ int speed = int((hash / 100) % 10);
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+
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+ // Determine target position
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+ RVec3 target = RVec3(4.0_r * x - 20.0_r, 5.0_r, 4.0_r * y - 20.0_r);
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+
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+ // Determine new character velocity
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+ Vec3 direction = Vec3(target - ch->GetPosition()).NormalizedOr(Vec3::sZero());
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+ direction.SetY(0);
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+ new_velocity += (5.0f + 0.5f * speed) * direction;
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+ ch->SetLinearVelocity(new_velocity);
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+
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+ // Update the character position
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+ CharacterVirtual::ExtendedUpdateSettings update_settings;
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+ ch->ExtendedUpdate(inDeltaTime,
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+ inPhysicsSystem.GetGravity(),
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+ update_settings,
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+ inPhysicsSystem.GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
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+ inPhysicsSystem.GetDefaultLayerFilter(Layers::MOVING),
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+ { },
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+ { },
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+ ioTempAllocator);
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+
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+ ++count;
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+ }
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+ }
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+
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+ virtual void UpdateHash(uint64 &ioHash) const override
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+ {
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+ // Hash the contact callback hash
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+ HashCombine(ioHash, mHash);
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+
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+ // Hash the state of all characters
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+ for (const CharacterVirtual *ch : mCharacters)
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+ HashCombine(ioHash, ch->GetPosition());
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+ }
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+
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+ virtual void StopTest(PhysicsSystem &inPhysicsSystem) override
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+ {
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+ for (const CharacterVirtual *ch : mCharacters)
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+ mCharacterVsCharacterCollision.Remove(ch);
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+ mCharacters.clear();
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+ }
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+
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+ // See: CharacterContactListener
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+ virtual void OnContactAdded(const CharacterVirtual *inCharacter, const BodyID &inBodyID2, const SubShapeID &inSubShapeID2, RVec3Arg inContactPosition, Vec3Arg inContactNormal, CharacterContactSettings &ioSettings) override
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+ {
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+ HashCombine(mHash, 1);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inBodyID2);
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ HashCombine(mHash, inContactPosition);
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+ HashCombine(mHash, inContactNormal);
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+ }
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+ virtual void OnContactPersisted(const CharacterVirtual *inCharacter, const BodyID &inBodyID2, const SubShapeID &inSubShapeID2, RVec3Arg inContactPosition, Vec3Arg inContactNormal, CharacterContactSettings &ioSettings) override
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+ {
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+ HashCombine(mHash, 2);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inBodyID2);
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ HashCombine(mHash, inContactPosition);
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+ HashCombine(mHash, inContactNormal);
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+ }
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+ virtual void OnContactRemoved(const CharacterVirtual *inCharacter, const BodyID &inBodyID2, const SubShapeID &inSubShapeID2) override
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+ {
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+ HashCombine(mHash, 3);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inBodyID2);
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ }
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+ virtual void OnCharacterContactAdded(const CharacterVirtual *inCharacter, const CharacterVirtual *inOtherCharacter, const SubShapeID &inSubShapeID2, RVec3Arg inContactPosition, Vec3Arg inContactNormal, CharacterContactSettings &ioSettings) override
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+ {
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+ HashCombine(mHash, 4);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inOtherCharacter->GetID());
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ HashCombine(mHash, inContactPosition);
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+ HashCombine(mHash, inContactNormal);
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+ }
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+ virtual void OnCharacterContactPersisted(const CharacterVirtual *inCharacter, const CharacterVirtual *inOtherCharacter, const SubShapeID &inSubShapeID2, RVec3Arg inContactPosition, Vec3Arg inContactNormal, CharacterContactSettings &ioSettings) override
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+ {
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+ HashCombine(mHash, 5);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inOtherCharacter->GetID());
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ HashCombine(mHash, inContactPosition);
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+ HashCombine(mHash, inContactNormal);
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+ }
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+ virtual void OnCharacterContactRemoved(const CharacterVirtual *inCharacter, const CharacterID &inOtherCharacterID, const SubShapeID &inSubShapeID2) override
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+ {
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+ HashCombine(mHash, 6);
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+ HashCombine(mHash, inCharacter->GetID());
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+ HashCombine(mHash, inOtherCharacterID);
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+ HashCombine(mHash, inSubShapeID2.GetValue());
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+ }
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+
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+private:
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+ static constexpr int cNumCharactersX = 10;
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+ static constexpr int cNumCharactersY = 10;
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+ static constexpr float cCharacterHeightStanding = 1.35f;
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+ static constexpr float cCharacterRadiusStanding = 0.3f;
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+ static constexpr float cInnerShapeFraction = 0.9f;
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+ static constexpr float cStairsStepHeight = 0.3f;
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+
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+ float mTime = 0.0f;
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+ uint64 mHash = 0;
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+ Array<BodyCreationSettings> mWorld;
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+ Array<Ref<CharacterVirtual>> mCharacters;
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+ CharacterVsCharacterCollisionSimple mCharacterVsCharacterCollision;
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+};
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Jorrit Rouwe