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- // SPDX-FileCopyrightText: 2021 Jorrit Rouwe
- // SPDX-License-Identifier: MIT
- #include <TestFramework.h>
- #include <Tests/General/HighSpeedTest.h>
- #include <Jolt/Physics/Collision/RayCast.h>
- #include <Jolt/Physics/Collision/CastResult.h>
- #include <Jolt/Physics/Collision/Shape/SphereShape.h>
- #include <Jolt/Physics/Collision/Shape/ScaledShape.h>
- #include <Jolt/Physics/Collision/Shape/BoxShape.h>
- #include <Jolt/Physics/Collision/Shape/MeshShape.h>
- #include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
- #include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
- #include <Jolt/Physics/Body/BodyCreationSettings.h>
- #include <Jolt/Physics/PhysicsScene.h>
- #include <Jolt/ObjectStream/ObjectStreamIn.h>
- #include <Application/DebugUI.h>
- #include <Utils/Log.h>
- #include <Layers.h>
- JPH_IMPLEMENT_RTTI_VIRTUAL(HighSpeedTest)
- {
- JPH_ADD_BASE_CLASS(HighSpeedTest, Test)
- }
- const char *HighSpeedTest::sScenes[] =
- {
- "Simple",
- "Convex Hull On Large Triangles",
- "Convex Hull On Terrain1",
- };
- int HighSpeedTest::sSelectedScene = 0;
- void HighSpeedTest::CreateDominoBlocks(Vec3Arg inOffset, int inNumWalls, float inDensity, float inRadius)
- {
- BodyCreationSettings box_settings;
- Ref<BoxShape> box_shape = new BoxShape(Vec3(0.9f, 1.0f, 0.1f));
- box_shape->SetDensity(inDensity); // Make box more heavy so the bouncing ball keeps a higher velocity
- box_settings.SetShape(box_shape);
- box_settings.mObjectLayer = Layers::MOVING;
- // U shaped set of thin boxes
- for (int i = 0; i < inNumWalls; ++i)
- {
- box_settings.mPosition = inOffset + Vec3(2.0f * i, 1, -1.1f - inRadius);
- mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
- box_settings.mPosition = inOffset + Vec3(2.0f * i, 1, +1.1f + inRadius);
- mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
- }
- box_settings.mPosition = inOffset + Vec3(-1.1f - inRadius, 1, 0);
- box_settings.mRotation = Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI);
- mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
- }
- void HighSpeedTest::CreateDynamicObject(Vec3Arg inPosition, Vec3Arg inVelocity, Shape *inShape, EMotionQuality inMotionQuality)
- {
- BodyCreationSettings creation_settings;
- creation_settings.SetShape(inShape);
- creation_settings.mFriction = 0.0f;
- creation_settings.mRestitution = 1.0f;
- creation_settings.mLinearDamping = 0.0f;
- creation_settings.mAngularDamping = 0.0f;
- creation_settings.mMotionQuality = inMotionQuality;
- creation_settings.mObjectLayer = Layers::MOVING;
- creation_settings.mPosition = inPosition;
- Body &body = *mBodyInterface->CreateBody(creation_settings);
- body.SetLinearVelocity(inVelocity);
- mBodyInterface->AddBody(body.GetID(), inVelocity.IsNearZero()? EActivation::DontActivate : EActivation::Activate);
- }
- void HighSpeedTest::CreateSimpleScene()
- {
- // Floor
- CreateFloor();
- const float radius = 0.1f;
- const int num_walls = 5;
- const float density = 2000.0f;
- const float speed = 240.0f;
- Vec3 offset(0, 0, -30);
- {
- // U shaped set of thin walls
- TriangleList triangles;
- for (int i = 0; i < num_walls; ++i)
- {
- triangles.push_back(Triangle(Float3(2.0f*i-1,0,-1-radius), Float3(2.0f*i+1,0,-1-radius), Float3(2.0f*i,2,-1-radius)));
- triangles.push_back(Triangle(Float3(2.0f*i-1,0,1+radius), Float3(2.0f*i,2,1+radius), Float3(2.0f*i+1,0,1+radius)));
- }
- triangles.push_back(Triangle(Float3(-1-radius,0,-1), Float3(-1-radius,2,0), Float3(-1-radius,0,1)));
- Body &walls = *mBodyInterface->CreateBody(BodyCreationSettings(new MeshShapeSettings(triangles), offset, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
- walls.SetRestitution(1.0f);
- walls.SetFriction(0.0f);
- mBodyInterface->AddBody(walls.GetID(), EActivation::DontActivate);
- // Fast moving sphere against mesh
- CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new SphereShape(radius));
- }
- offset += Vec3(0, 0, 5);
- {
- // Create wall of domino blocks
- CreateDominoBlocks(offset, num_walls, density, radius);
- // Fast moving sphere against domino blocks
- CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new SphereShape(radius));
- }
- offset += Vec3(0, 0, 5);
- {
- // Create wall of domino blocks
- CreateDominoBlocks(offset, num_walls, density, radius);
- // Fast moving scaled box against domino blocks
- CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new ScaledShape(new BoxShape(Vec3::sReplicate(0.5f * radius), 0.01f), Vec3::sReplicate(2.0f)));
- }
- offset += Vec3(0, 0, 5);
- {
- // Fast moving box stuck in ground moving, one moving up, one moving down
- CreateDynamicObject(offset + Vec3(-1, 0, 0), Vec3(0, speed, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(1, 0, 0), Vec3(0, -speed, 0), new BoxShape(Vec3::sReplicate(radius)));
- }
- offset += Vec3(0, 0, 5);
- {
- // Single shape that has 4 walls to surround fast moving sphere
- BodyCreationSettings enclosing_settings;
- Ref<BoxShapeSettings> box_shape = new BoxShapeSettings(Vec3(1.0f, 1.0f, 0.1f));
- Ref<StaticCompoundShapeSettings> enclosing_shape = new StaticCompoundShapeSettings();
- enclosing_shape->AddShape(Vec3(0, 0, 1), Quat::sIdentity(), box_shape);
- enclosing_shape->AddShape(Vec3(0, 0, -1), Quat::sIdentity(), box_shape);
- enclosing_shape->AddShape(Vec3(1, 0, 0), Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI), box_shape);
- enclosing_shape->AddShape(Vec3(-1, 0, 0), Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI), box_shape);
- enclosing_settings.SetShapeSettings(enclosing_shape);
- enclosing_settings.mMotionType = EMotionType::Kinematic;
- enclosing_settings.mObjectLayer = Layers::MOVING;
- enclosing_settings.mPosition = offset + Vec3(0, 1, 0);
- Body &enclosing = *mBodyInterface->CreateBody(enclosing_settings);
- mBodyInterface->AddBody(enclosing.GetID(), EActivation::Activate);
- // Fast moving sphere in box
- CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3(-speed, 0, -0.5f * speed), new SphereShape(radius));
- }
- offset += Vec3(0, 0, 5);
- {
- // Two boxes on a collision course
- CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(-1, 0.5f, 0), Vec3(speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- }
- offset += Vec3(0, 0, 5);
- {
- // Two boxes on a collision course, off center
- CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(-1, 0.5f, radius), Vec3(speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- }
- offset += Vec3(0, 0, 5);
- {
- // Two boxes on a collision course, one discrete
- CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(-1, 0.5f, 0), Vec3(60.0f, 0, 0), new BoxShape(Vec3::sReplicate(radius)), EMotionQuality::Discrete);
- }
- offset += Vec3(0, 0, 5);
- {
- // Two boxes on a collision course, one inactive
- CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3::sZero(), new BoxShape(Vec3::sReplicate(radius)));
- }
- offset += Vec3(0, 0, 5);
- {
- // Two boxes on a collision course, one inactive and discrete
- CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
- CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3::sZero(), new BoxShape(Vec3::sReplicate(radius)), EMotionQuality::Discrete);
- }
- offset += Vec3(0, 0, 5);
- {
- // Create long thin shape
- BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
- box_settings.SetEmbedded();
- BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
- body_settings.mMotionQuality = EMotionQuality::LinearCast;
- body_settings.mRestitution = 0.0f;
- body_settings.mFriction = 1.0f;
- Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
- body.SetLinearVelocity(Vec3(0, -100.0f, 0));
- mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
- }
- offset += Vec3(0, 0, 5);
- {
- // Create long thin shape under 45 degrees
- BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
- box_settings.SetEmbedded();
- BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
- body_settings.mMotionQuality = EMotionQuality::LinearCast;
- body_settings.mRestitution = 0.0f;
- body_settings.mFriction = 1.0f;
- Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
- body.SetLinearVelocity(Vec3(0, -100.0f, 0));
- mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
- }
- offset += Vec3(0, 0, 5);
- {
- // Create long thin shape with restitution
- BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
- box_settings.SetEmbedded();
- BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
- body_settings.mMotionQuality = EMotionQuality::LinearCast;
- body_settings.mRestitution = 1.0f;
- body_settings.mFriction = 1.0f;
- Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
- body.SetLinearVelocity(Vec3(0, -100.0f, 0));
- mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
- }
- offset += Vec3(0, 0, 5);
- {
- // Create long thin shape under 45 degrees with restitution
- BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
- box_settings.SetEmbedded();
- BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
- body_settings.mMotionQuality = EMotionQuality::LinearCast;
- body_settings.mRestitution = 1.0f;
- body_settings.mFriction = 1.0f;
- Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
- body.SetLinearVelocity(Vec3(0, -100.0f, 0));
- mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
- }
- }
- void HighSpeedTest::CreateFastSmallConvexObjects()
- {
- // Create small convex hull
- Array<Vec3> vertices = {
- Vec3(-0.044661f, 0.001230f, 0.003877f),
- Vec3(-0.024743f, -0.042562f, 0.003877f),
- Vec3(-0.012336f, -0.021073f, 0.048484f),
- Vec3(0.016066f, 0.028121f, -0.049904f),
- Vec3(-0.023734f, 0.043275f, -0.024153f),
- Vec3(0.020812f, 0.036341f, -0.019530f),
- Vec3(0.012495f, 0.021936f, 0.045288f),
- Vec3(0.026750f, 0.001230f, 0.049273f),
- Vec3(0.045495f, 0.001230f, -0.022077f),
- Vec3(0.022193f, -0.036274f, -0.021126f),
- Vec3(0.022781f, -0.037291f, 0.029558f),
- Vec3(0.014691f, -0.023280f, 0.052897f),
- Vec3(-0.012187f, -0.020815f, -0.040214f),
- Vec3(0.000541f, 0.001230f, -0.056224f),
- Vec3(-0.039882f, 0.001230f, -0.019461f),
- Vec3(0.000541f, 0.001230f, 0.056022f),
- Vec3(-0.020614f, -0.035411f, -0.020551f),
- Vec3(-0.019485f, 0.035916f, 0.027001f),
- Vec3(-0.023968f, 0.043680f, 0.003877f),
- Vec3(-0.020051f, 0.001230f, 0.039543f),
- Vec3(0.026213f, 0.001230f, -0.040589f),
- Vec3(-0.010797f, 0.020868f, 0.043152f),
- Vec3(-0.012378f, 0.023607f, -0.040876f)
- };
- ConvexHullShapeSettings convex_settings(vertices);
- convex_settings.SetEmbedded();
- BodyCreationSettings body_settings(&convex_settings, Vec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
- body_settings.mMotionQuality = EMotionQuality::LinearCast;
- // Create many instances with high velocity
- default_random_engine rnd;
- uniform_real_distribution<float> restitution_distrib(0.0f, 0.1f);
- uniform_real_distribution<float> velocity_distrib(-10.0f, 10.0f);
- for (int x = -25; x < 25; ++x)
- for (int y = -25 ; y < 25; ++y)
- {
- // Cast a ray to find the terrain
- Vec3 origin(float(x), 100.0f, float(y));
- Vec3 direction(0, -100.0f, 0);
- RayCastResult hit;
- if (mPhysicsSystem->GetNarrowPhaseQuery().CastRay({ origin, direction }, hit, SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers::NON_MOVING), SpecifiedObjectLayerFilter(Layers::NON_MOVING)))
- {
- // Place 10m above terrain
- body_settings.mPosition = origin + hit.mFraction * direction + Vec3(0, 10.0f, 0);
- body_settings.mRotation = Quat::sRandom(rnd);
- body_settings.mRestitution = restitution_distrib(rnd);
- Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
- body.SetLinearVelocity(Vec3(velocity_distrib(rnd), -100.0f, velocity_distrib(rnd)));
- mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
- }
- }
- }
- void HighSpeedTest::CreateConvexOnLargeTriangles()
- {
- // Create floor
- CreateLargeTriangleFloor();
- CreateFastSmallConvexObjects();
- }
- void HighSpeedTest::CreateConvexOnTerrain1()
- {
- // Load scene
- Ref<PhysicsScene> scene;
- if (!ObjectStreamIn::sReadObject("Assets/terrain1.bof", scene))
- FatalError("Failed to load scene");
- for (BodyCreationSettings &body : scene->GetBodies())
- body.mObjectLayer = Layers::NON_MOVING;
- scene->FixInvalidScales();
- scene->CreateBodies(mPhysicsSystem);
- CreateFastSmallConvexObjects();
- }
- void HighSpeedTest::Initialize()
- {
- switch (sSelectedScene)
- {
- case 0:
- CreateSimpleScene();
- break;
- case 1:
- CreateConvexOnLargeTriangles();
- break;
- case 2:
- CreateConvexOnTerrain1();
- break;
- default:
- JPH_ASSERT(false);
- break;
- }
- }
- void HighSpeedTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
- {
- inUI->CreateTextButton(inSubMenu, "Select Scene", [this, inUI]() {
- UIElement *scene_name = inUI->CreateMenu();
- for (uint i = 0; i < size(sScenes); ++i)
- inUI->CreateTextButton(scene_name, sScenes[i], [this, i]() { sSelectedScene = i; RestartTest(); });
- inUI->ShowMenu(scene_name);
- });
- }
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