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+// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
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+// SPDX-License-Identifier: MIT
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+
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+#include <TestFramework.h>
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+
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+#include <Tests/Character/CharacterSpaceShipTest.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/Collision/Shape/StaticCompoundShape.h>
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+#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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+#include <Jolt/Physics/Body/BodyCreationSettings.h>
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+#include <Layers.h>
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+
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+JPH_IMPLEMENT_RTTI_VIRTUAL(CharacterSpaceShipTest)
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+{
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+ JPH_ADD_BASE_CLASS(CharacterSpaceShipTest, Test)
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+}
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+
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+void CharacterSpaceShipTest::Initialize()
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+{
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+ // Dimensions of our space ship
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+ constexpr float cSpaceShipHeight = 2.0f;
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+ constexpr float cSpaceShipRingHeight = 0.2f;
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+ constexpr float cSpaceShipRadius = 100.0f;
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+ const RVec3 cShipInitialPosition(-25, 15, 0);
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+
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+ // Create floor for reference
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+ CreateFloor();
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+
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+ // Create 'player' character
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+ Ref<CharacterVirtualSettings> settings = new CharacterVirtualSettings();
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+ settings->mShape = RotatedTranslatedShapeSettings(Vec3(0, 0.5f * cCharacterHeightStanding + cCharacterRadiusStanding, 0), Quat::sIdentity(), new CapsuleShape(0.5f * cCharacterHeightStanding, cCharacterRadiusStanding)).Create().Get();
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+ settings->mSupportingVolume = Plane(Vec3::sAxisY(), -cCharacterRadiusStanding); // Accept contacts that touch the lower sphere of the capsule
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+ mCharacter = new CharacterVirtual(settings, cShipInitialPosition + Vec3(0, cSpaceShipHeight, 0), Quat::sIdentity(), mPhysicsSystem);
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+ mCharacter->SetListener(this);
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+
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+ // Create the space ship
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+ StaticCompoundShapeSettings compound;
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+ compound.SetEmbedded();
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+ for (float h = cSpaceShipRingHeight; h < cSpaceShipHeight; h += cSpaceShipRingHeight)
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+ compound.AddShape(Vec3::sZero(), Quat::sIdentity(), new CylinderShape(h, sqrt(Square(cSpaceShipRadius) - Square(cSpaceShipRadius - cSpaceShipHeight - cSpaceShipRingHeight + h))));
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+ mSpaceShip = mBodyInterface->CreateAndAddBody(BodyCreationSettings(&compound, cShipInitialPosition, Quat::sIdentity(), EMotionType::Kinematic, Layers::MOVING), EActivation::Activate);
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+ mSpaceShipPrevTransform = mBodyInterface->GetCenterOfMassTransform(mSpaceShip);
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+}
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+
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+void CharacterSpaceShipTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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+{
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+ // Update scene time
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+ mTime += inParams.mDeltaTime;
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+
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+ // Update the character so it stays relative to the space ship
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+ RMat44 new_space_ship_transform = mBodyInterface->GetCenterOfMassTransform(mSpaceShip);
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+ mCharacter->SetPosition(new_space_ship_transform * mSpaceShipPrevTransform.Inversed() * mCharacter->GetPosition());
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+
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+ // Update the character rotation and its up vector to match the new up vector of the ship
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+ mCharacter->SetUp(new_space_ship_transform.GetAxisY());
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+ mCharacter->SetRotation(new_space_ship_transform.GetRotation().GetQuaternion());
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+
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+ // Draw character pre update (the sim is also drawn pre update)
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+ // Note that we have first updated the position so that it matches the new position of the ship
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+#ifdef JPH_DEBUG_RENDERER
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+ mCharacter->GetShape()->Draw(mDebugRenderer, mCharacter->GetCenterOfMassTransform(), Vec3::sReplicate(1.0f), Color::sGreen, false, true);
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+#endif // JPH_DEBUG_RENDERER
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+
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+ // Determine controller input
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+ Vec3 control_input = Vec3::sZero();
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+ if (inParams.mKeyboard->IsKeyPressed(DIK_LEFT)) control_input.SetZ(-1);
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+ if (inParams.mKeyboard->IsKeyPressed(DIK_RIGHT)) control_input.SetZ(1);
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+ if (inParams.mKeyboard->IsKeyPressed(DIK_UP)) control_input.SetX(1);
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+ if (inParams.mKeyboard->IsKeyPressed(DIK_DOWN)) control_input.SetX(-1);
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+ if (control_input != Vec3::sZero())
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+ control_input = control_input.Normalized();
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+
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+ // Calculate the desired velocity in local space to the ship based on the camera forward
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+ Vec3 cam_fwd = new_space_ship_transform.GetRotation().Multiply3x3Transposed(inParams.mCameraState.mForward);
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+ cam_fwd.SetY(0.0f);
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+ cam_fwd = cam_fwd.NormalizedOr(Vec3::sAxisX());
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+ Quat rotation = Quat::sFromTo(Vec3::sAxisX(), cam_fwd);
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+ control_input = rotation * control_input;
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+
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+ // Smooth the player input in local space to the ship
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+ mDesiredVelocity = 0.25f * control_input * cCharacterSpeed + 0.75f * mDesiredVelocity;
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+
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+ // Check jump
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+ bool jump = false;
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+ for (int key = inParams.mKeyboard->GetFirstKey(); key != 0; key = inParams.mKeyboard->GetNextKey())
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+ {
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+ if (key == DIK_RCONTROL)
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+ jump = true;
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+ }
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+
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+ // Determine new character velocity
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+ Vec3 current_vertical_velocity = mCharacter->GetLinearVelocity().Dot(mSpaceShipPrevTransform.GetAxisY()) * mCharacter->GetUp();
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+ Vec3 ground_velocity = mCharacter->GetGroundVelocity();
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+ Vec3 new_velocity;
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+ if (mCharacter->GetGroundState() == CharacterVirtual::EGroundState::OnGround // If on ground
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+ && (current_vertical_velocity.GetY() - ground_velocity.GetY()) < 0.1f) // And not moving away from ground
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+ {
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+ // Assume velocity of ground when on ground
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+ new_velocity = ground_velocity;
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+
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+ // Jump
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+ if (jump)
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+ new_velocity += cJumpSpeed * mCharacter->GetUp();
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+ }
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+ else
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+ new_velocity = current_vertical_velocity;
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+
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+ // Gravity always acts relative to the ship
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+ Vec3 gravity = new_space_ship_transform.Multiply3x3(mPhysicsSystem->GetGravity());
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+ new_velocity += gravity * inParams.mDeltaTime;
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+
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+ // Transform player input to world space
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+ new_velocity += new_space_ship_transform.Multiply3x3(mDesiredVelocity);
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+
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+ // Update character velocity
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+ mCharacter->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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+ mCharacter->ExtendedUpdate(inParams.mDeltaTime,
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+ gravity,
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+ update_settings,
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+ mPhysicsSystem->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
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+ mPhysicsSystem->GetDefaultLayerFilter(Layers::MOVING),
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+ { },
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+ { },
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+ *mTempAllocator);
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+
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+ // Update previous transform
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+ mSpaceShipPrevTransform = new_space_ship_transform;
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+
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+ // Calculate new velocity
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+ UpdateShipVelocity();
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+}
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+
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+void CharacterSpaceShipTest::UpdateShipVelocity()
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+{
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+ // Make it a rocky ride...
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+ mSpaceShipLinearVelocity = Vec3(Sin(mTime), 0, Cos(mTime)) * 50.0f;
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+ mSpaceShipAngularVelocity = Vec3(Sin(2.0f * mTime), 1, Cos(2.0f * mTime)) * 0.5f;
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+
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+ mBodyInterface->SetLinearAndAngularVelocity(mSpaceShip, mSpaceShipLinearVelocity, mSpaceShipAngularVelocity);
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+}
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+
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+void CharacterSpaceShipTest::GetInitialCamera(CameraState& ioState) const
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+{
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+ // This will become the local space offset, look down the x axis and slightly down
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+ ioState.mPos = RVec3::sZero();
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+ ioState.mForward = Vec3(10.0f, -2.0f, 0).Normalized();
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+}
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+
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+RMat44 CharacterSpaceShipTest::GetCameraPivot(float inCameraHeading, float inCameraPitch) const
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+{
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+ // Pivot is center of character + distance behind based on the heading and pitch of the camera
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+ Vec3 fwd = Vec3(Cos(inCameraPitch) * Cos(inCameraHeading), Sin(inCameraPitch), Cos(inCameraPitch) * Sin(inCameraHeading));
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+ return RMat44::sTranslation(mCharacter->GetPosition() + Vec3(0, cCharacterHeightStanding + cCharacterRadiusStanding, 0) - 5.0f * fwd);
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+}
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+
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+void CharacterSpaceShipTest::SaveState(StateRecorder &inStream) const
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+{
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+ mCharacter->SaveState(inStream);
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+
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+ inStream.Write(mTime);
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+ inStream.Write(mDesiredVelocity);
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+ inStream.Write(mSpaceShipPrevTransform);
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+}
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+
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+void CharacterSpaceShipTest::RestoreState(StateRecorder &inStream)
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+{
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+ mCharacter->RestoreState(inStream);
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+
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+ inStream.Read(mTime);
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+ inStream.Read(mDesiredVelocity);
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+ inStream.Read(mSpaceShipPrevTransform);
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+
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+ // Calculate new velocity
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+ UpdateShipVelocity();
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+}
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+
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+void CharacterSpaceShipTest::OnAdjustBodyVelocity(const CharacterVirtual *inCharacter, const Body &inBody2, Vec3 &ioLinearVelocity, Vec3 &ioAngularVelocity)
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+{
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+ // Cancel out velocity of space ship, we move relative to this which means we don't feel any of the acceleration of the ship (= engage inertial dampeners!)
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+ ioLinearVelocity -= mSpaceShipLinearVelocity;
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+ ioAngularVelocity -= mSpaceShipAngularVelocity;
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+}
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Jorrit Rouwe