|
|
@@ -0,0 +1,174 @@
|
|
|
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
|
+// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
|
|
|
+// SPDX-License-Identifier: MIT
|
|
|
+
|
|
|
+#include <TestFramework.h>
|
|
|
+
|
|
|
+#include <Tests/Vehicle/VehicleStressTest.h>
|
|
|
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
|
|
|
+#include <Jolt/Physics/Vehicle/WheeledVehicleController.h>
|
|
|
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
|
|
|
+#include <Layers.h>
|
|
|
+#include <Renderer/DebugRendererImp.h>
|
|
|
+
|
|
|
+JPH_IMPLEMENT_RTTI_VIRTUAL(VehicleStressTest)
|
|
|
+{
|
|
|
+ JPH_ADD_BASE_CLASS(VehicleStressTest, VehicleTest)
|
|
|
+}
|
|
|
+
|
|
|
+VehicleStressTest::~VehicleStressTest()
|
|
|
+{
|
|
|
+ for (Ref<VehicleConstraint> &c : mVehicles)
|
|
|
+ mPhysicsSystem->RemoveStepListener(c);
|
|
|
+}
|
|
|
+
|
|
|
+void VehicleStressTest::Initialize()
|
|
|
+{
|
|
|
+ CreateMeshTerrain();
|
|
|
+
|
|
|
+ // Create walls so the vehicles don't fall off
|
|
|
+ mBodyInterface->CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(50.0f, 5.0f, 0.5f)), RVec3(0, 0, -50), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
|
|
+ mBodyInterface->CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(50.0f, 5.0f, 0.5f)), RVec3(0, 0, 50), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
|
|
+ mBodyInterface->CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(0.5f, 5.0f, 50.0f)), RVec3(-50, 0, 0), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
|
|
+ mBodyInterface->CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(0.5f, 5.0f, 50.0f)), RVec3(50, 0, 0), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
|
|
+
|
|
|
+ const float wheel_radius = 0.3f;
|
|
|
+ const float wheel_width = 0.1f;
|
|
|
+ const float half_vehicle_length = 2.0f;
|
|
|
+ const float half_vehicle_width = 0.9f;
|
|
|
+ const float half_vehicle_height = 0.2f;
|
|
|
+ const float max_steering_angle = DegreesToRadians(30.0f);
|
|
|
+
|
|
|
+ // Create vehicle body
|
|
|
+ RefConst<Shape> car_shape = new BoxShape(Vec3(half_vehicle_width, half_vehicle_height, half_vehicle_length));
|
|
|
+ BodyCreationSettings car_body_settings(car_shape, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
|
|
|
+ car_body_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
|
|
|
+ car_body_settings.mMassPropertiesOverride.mMass = 1500.0f;
|
|
|
+
|
|
|
+ // Create vehicle constraint
|
|
|
+ VehicleConstraintSettings vehicle;
|
|
|
+
|
|
|
+ // Wheels, left front
|
|
|
+ WheelSettingsWV *w1 = new WheelSettingsWV;
|
|
|
+ w1->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
|
|
|
+ w1->mMaxSteerAngle = max_steering_angle;
|
|
|
+ w1->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
|
|
|
+
|
|
|
+ // Right front
|
|
|
+ WheelSettingsWV *w2 = new WheelSettingsWV;
|
|
|
+ w2->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
|
|
|
+ w2->mMaxSteerAngle = max_steering_angle;
|
|
|
+ w2->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
|
|
|
+
|
|
|
+ // Left rear
|
|
|
+ WheelSettingsWV *w3 = new WheelSettingsWV;
|
|
|
+ w3->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
|
|
|
+ w3->mMaxSteerAngle = 0.0f;
|
|
|
+
|
|
|
+ // Right rear
|
|
|
+ WheelSettingsWV *w4 = new WheelSettingsWV;
|
|
|
+ w4->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
|
|
|
+ w4->mMaxSteerAngle = 0.0f;
|
|
|
+
|
|
|
+ vehicle.mWheels = { w1, w2, w3, w4 };
|
|
|
+
|
|
|
+ for (WheelSettings *w : vehicle.mWheels)
|
|
|
+ {
|
|
|
+ w->mRadius = wheel_radius;
|
|
|
+ w->mWidth = wheel_width;
|
|
|
+ }
|
|
|
+
|
|
|
+ // Controller
|
|
|
+ WheeledVehicleControllerSettings *controller = new WheeledVehicleControllerSettings;
|
|
|
+ vehicle.mController = controller;
|
|
|
+ vehicle.mMaxPitchRollAngle = DegreesToRadians(60.0f);
|
|
|
+
|
|
|
+ // Differential
|
|
|
+ controller->mDifferentials.resize(1);
|
|
|
+ controller->mDifferentials[0].mLeftWheel = 0;
|
|
|
+ controller->mDifferentials[0].mRightWheel = 1;
|
|
|
+
|
|
|
+ for (int x = 0; x < 15; ++x)
|
|
|
+ for (int y = 0; y < 15; ++y)
|
|
|
+ {
|
|
|
+ // Create body
|
|
|
+ car_body_settings.mPosition = RVec3(-28.0f + x * 4.0f, 2.0f, -35.0f + y * 5.0f);
|
|
|
+ Body *car_body = mBodyInterface->CreateBody(car_body_settings);
|
|
|
+ mBodyInterface->AddBody(car_body->GetID(), EActivation::Activate);
|
|
|
+
|
|
|
+ // Create constraint
|
|
|
+ VehicleConstraint *c = new VehicleConstraint(*car_body, vehicle);
|
|
|
+ c->SetNumStepsBetweenCollisionTestActive(2); // Only test collision every other step to speed up simulation
|
|
|
+ c->SetNumStepsBetweenCollisionTestInactive(0); // Disable collision testing when inactive
|
|
|
+
|
|
|
+ // Set the collision tester
|
|
|
+ VehicleCollisionTester *tester = new VehicleCollisionTesterRay(Layers::MOVING);
|
|
|
+ c->SetVehicleCollisionTester(tester);
|
|
|
+
|
|
|
+ // Add the vehicle
|
|
|
+ mPhysicsSystem->AddConstraint(c);
|
|
|
+ mPhysicsSystem->AddStepListener(c);
|
|
|
+ mVehicles.push_back(c);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void VehicleStressTest::ProcessInput(const ProcessInputParams &inParams)
|
|
|
+{
|
|
|
+ // Determine acceleration and brake
|
|
|
+ mForward = 0.0f;
|
|
|
+ if (inParams.mKeyboard->IsKeyPressed(DIK_UP))
|
|
|
+ mForward = 1.0f;
|
|
|
+ else if (inParams.mKeyboard->IsKeyPressed(DIK_DOWN))
|
|
|
+ mForward = -1.0f;
|
|
|
+
|
|
|
+ // Steering
|
|
|
+ mRight = 0.0f;
|
|
|
+ if (inParams.mKeyboard->IsKeyPressed(DIK_LEFT))
|
|
|
+ mRight = -1.0f;
|
|
|
+ else if (inParams.mKeyboard->IsKeyPressed(DIK_RIGHT))
|
|
|
+ mRight = 1.0f;
|
|
|
+
|
|
|
+ // Hand brake will cancel gas pedal
|
|
|
+ mHandBrake = 0.0f;
|
|
|
+ if (inParams.mKeyboard->IsKeyPressed(DIK_Z))
|
|
|
+ {
|
|
|
+ mForward = 0.0f;
|
|
|
+ mHandBrake = 1.0f;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void VehicleStressTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
|
|
|
+{
|
|
|
+ for (VehicleConstraint *c : mVehicles)
|
|
|
+ {
|
|
|
+ // On user input, assure that the car is active
|
|
|
+ if (mRight != 0.0f || mForward != 0.0f)
|
|
|
+ mBodyInterface->ActivateBody(c->GetVehicleBody()->GetID());
|
|
|
+
|
|
|
+ // Pass the input on to the constraint
|
|
|
+ WheeledVehicleController *controller = static_cast<WheeledVehicleController *>(c->GetController());
|
|
|
+ controller->SetDriverInput(mForward, mRight, 0.0f, mHandBrake);
|
|
|
+
|
|
|
+ // Draw our wheels (this needs to be done in the pre update since we draw the bodies too in the state before the step)
|
|
|
+ for (uint w = 0; w < 4; ++w)
|
|
|
+ {
|
|
|
+ const WheelSettings *settings = c->GetWheels()[w]->GetSettings();
|
|
|
+ RMat44 wheel_transform = c->GetWheelWorldTransform(w, Vec3::sAxisY(), Vec3::sAxisX()); // The cyclinder we draw is aligned with Y so we specify that as rotational axis
|
|
|
+ mDebugRenderer->DrawCylinder(wheel_transform, 0.5f * settings->mWidth, settings->mRadius, Color::sGreen);
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void VehicleStressTest::SaveInputState(StateRecorder &inStream) const
|
|
|
+{
|
|
|
+ inStream.Write(mForward);
|
|
|
+ inStream.Write(mRight);
|
|
|
+ inStream.Write(mHandBrake);
|
|
|
+}
|
|
|
+
|
|
|
+void VehicleStressTest::RestoreInputState(StateRecorder &inStream)
|
|
|
+{
|
|
|
+ inStream.Read(mForward);
|
|
|
+ inStream.Read(mRight);
|
|
|
+ inStream.Read(mHandBrake);
|
|
|
+}
|
Jorrit Rouwe