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JoltPhysics
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JoltPhysics
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Tests
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Test.cpp

Test.cpp 12 KB
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  1. // SPDX-FileCopyrightText: 2021 Jorrit Rouwe
    2. 

  2. // SPDX-License-Identifier: MIT
    3. 

  3. 

  4. #include <TestFramework.h>
    5. 

  5. 

  6. #include <Tests/Test.h>
    7. 

  7. #include <Math/Perlin.h>
    8. 

  8. #include <Jolt/Physics/Collision/Shape/BoxShape.h>
    9. 

  9. #include <Jolt/Physics/Collision/Shape/MeshShape.h>
    10. 

  10. #include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
    11. 

  11. #include <Jolt/Physics/Body/BodyCreationSettings.h>
    12. 

  12. #include <Layers.h>
    13. 

  13. 

  14. JPH_IMPLEMENT_RTTI_ABSTRACT(Test)
    15. 

  15. {
    16. 

  16. }
    17. 

  17. 

  18. Body &Test::CreateFloor(float inSize)
    19. 

  19. {
    20. 

  20. 	const float scale = GetWorldScale();
    21. 

  21. 

  22. 	Body &floor = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(scale * Vec3(0.5f * inSize, 1.0f, 0.5f * inSize), 0.0f), scale * Vec3(0.0f, -1.0f, 0.0f), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
    23. 

  23. 	mBodyInterface->AddBody(floor.GetID(), EActivation::DontActivate);
    24. 

  24. 	return floor;
    25. 

  25. }
    26. 

  26. 

  27. Body &Test::CreateLargeTriangleFloor()
    28. 

  28. {
    29. 

  29. 	TriangleList triangles = {
    30. 

  30. 		Triangle(Float3(427.941376f, 0.000027f, -456.470642f), Float3(427.941376f, 0.000024f, -399.411774f), Float3(512.0f, 0.000031f, -511.999969f)),
    31. 

  31. 		Triangle(Float3(0.0f, 0.000031f, -511.999969f), Float3(28.529310f, 0.000027f, -456.470642f), Float3(427.941376f, 0.000027f, -456.470642f)),
    32. 

  32. 		Triangle(Float3(427.941376f, 0.000027f, -456.470642f), Float3(512.0f, 0.000031f, -511.999969f), Float3(0.0f, 0.000031f, -511.999969f)),
    33. 

  33. 		Triangle(Float3(285.294067f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(313.823395f, 0.000027f, -456.470642f)),
    34. 

  34. 		Triangle(Float3(313.823395f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(342.352936f, 0.000027f, -456.470642f)),
    35. 

  35. 		Triangle(Float3(342.352936f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(370.882507f, 0.000027f, -456.470642f)),
    36. 

  36. 		Triangle(Float3(399.411804f, 0.000024f, -399.411774f), Float3(427.941376f, 0.000024f, -399.411774f), Float3(370.882507f, 0.000027f, -456.470642f)),
    37. 

  37. 		Triangle(Float3(370.882507f, 0.000027f, -456.470642f), Float3(427.941376f, 0.000024f, -399.411774f), Float3(399.411804f, 0.000027f, -456.470642f)),
    38. 

  38. 		Triangle(Float3(399.411804f, 0.000027f, -456.470642f), Float3(427.941376f, 0.000024f, -399.411774f), Float3(427.941376f, 0.000027f, -456.470642f)),
    39. 

  39. 		Triangle(Float3(256.764771f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(285.294067f, 0.000027f, -456.470642f)),
    40. 

  40. 		Triangle(Float3(85.588173f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(114.117729f, 0.000027f, -456.470642f)),
    41. 

  41. 		Triangle(Float3(114.117729f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(142.647034f, 0.000027f, -456.470642f)),
    42. 

  42. 		Triangle(Float3(142.647034f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(171.176590f, 0.000027f, -456.470642f)),
    43. 

  43. 		Triangle(Float3(171.176590f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(199.705902f, 0.000027f, -456.470642f)),
    44. 

  44. 		Triangle(Float3(199.705902f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(228.235214f, 0.000027f, -456.470642f)),
    45. 

  45. 		Triangle(Float3(228.235214f, 0.000027f, -456.470642f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(256.764771f, 0.000027f, -456.470642f)),
    46. 

  46. 		Triangle(Float3(85.588173f, 0.000024f, -399.411774f), Float3(399.411804f, 0.000024f, -399.411774f), Float3(85.588173f, 0.000027f, -456.470642f)),
    47. 

  47. 		Triangle(Float3(427.941376f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(512.0f, 0.000031f, -511.999969f)),
    48. 

  48. 		Triangle(Float3(399.411804f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(427.941376f, 0.000024f, -399.411774f)),
    49. 

  49. 		Triangle(Float3(285.294067f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(313.823395f, 0.000024f, -399.411774f)),
    50. 

  50. 		Triangle(Float3(313.823395f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(342.352936f, 0.000024f, -399.411774f)),
    51. 

  51. 		Triangle(Float3(342.352936f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(370.882507f, 0.000024f, -399.411774f)),
    52. 

  52. 		Triangle(Float3(370.882507f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(399.411804f, 0.000024f, -399.411774f)),
    53. 

  53. 		Triangle(Float3(256.764771f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(285.294067f, 0.000024f, -399.411774f)),
    54. 

  54. 		Triangle(Float3(228.235214f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(256.764771f, 0.000024f, -399.411774f)),
    55. 

  55. 		Triangle(Float3(199.705902f, 0.000024f, -399.411774f), Float3(512.0f, 0.000019f, -313.823364f), Float3(228.235214f, 0.000024f, -399.411774f)),
    56. 

  56. 		Triangle(Float3(228.235214f, 0.000019f, -313.823364f), Float3(512.0f, 0.000019f, -313.823364f), Float3(199.705902f, 0.000024f, -399.411774f)),
    57. 

  57. 		Triangle(Float3(142.647034f, 0.000024f, -399.411774f), Float3(228.235214f, 0.000019f, -313.823364f), Float3(171.176590f, 0.000024f, -399.411774f)),
    58. 

  58. 		Triangle(Float3(171.176590f, 0.000024f, -399.411774f), Float3(228.235214f, 0.000019f, -313.823364f), Float3(199.705902f, 0.000024f, -399.411774f)),
    59. 

  59. 		Triangle(Float3(85.588173f, 0.000022f, -370.882477f), Float3(228.235214f, 0.000019f, -313.823364f), Float3(142.647034f, 0.000024f, -399.411774f)),
    60. 

  60. 		Triangle(Float3(85.588173f, 0.000022f, -370.882477f), Float3(199.705902f, 0.000019f, -313.823364f), Float3(228.235214f, 0.000019f, -313.823364f)),
    61. 

  61. 		Triangle(Float3(114.117729f, 0.000024f, -399.411774f), Float3(85.588173f, 0.000022f, -370.882477f), Float3(142.647034f, 0.000024f, -399.411774f)),
    62. 

  62. 		Triangle(Float3(85.588173f, 0.000024f, -399.411774f), Float3(85.588173f, 0.000022f, -370.882477f), Float3(114.117729f, 0.000024f, -399.411774f)),
    63. 

  63. 		Triangle(Float3(28.529310f, 0.000019f, -313.823364f), Float3(199.705902f, 0.000019f, -313.823364f), Float3(85.588173f, 0.000022f, -370.882477f)),
    64. 

  64. 		Triangle(Float3(57.058865f, 0.000019f, -313.823364f), Float3(0.0f, 0.000017f, -285.294037f), Float3(85.588173f, 0.000019f, -313.823364f)),
    65. 

  65. 		Triangle(Float3(28.529310f, 0.000019f, -313.823364f), Float3(0.0f, 0.000017f, -285.294037f), Float3(57.058865f, 0.000019f, -313.823364f)),
    66. 

  66. 		Triangle(Float3(28.529310f, 0.000027f, -456.470642f), Float3(0.0f, 0.000017f, -285.294037f), Float3(57.058865f, 0.000027f, -456.470642f)),
    67. 

  67. 		Triangle(Float3(0.0f, 0.000017f, -285.294037f), Float3(28.529310f, 0.000027f, -456.470642f), Float3(0.0f, 0.000031f, -511.999969f)),
    68. 

  68. 		Triangle(Float3(0.0f, 0.000017f, -285.294037f), Float3(85.588173f, 0.000022f, -370.882477f), Float3(85.588173f, 0.000024f, -399.411774f)),
    69. 

  69. 		Triangle(Float3(0.0f, 0.000017f, -285.294037f), Float3(85.588173f, 0.000024f, -399.411774f), Float3(57.058865f, 0.000027f, -456.470642f)),
    70. 

  70. 		Triangle(Float3(57.058865f, 0.000027f, -456.470642f), Float3(85.588173f, 0.000024f, -399.411774f), Float3(85.588173f, 0.000027f, -456.470642f)),
    71. 

  71. 		Triangle(Float3(399.411804f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(456.470673f, 0.000019f, -313.823364f)),
    72. 

  72. 		Triangle(Float3(456.470673f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(512.0f, 0.000019f, -313.823364f)),
    73. 

  73. 		Triangle(Float3(228.235214f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(256.764771f, 0.000019f, -313.823364f)),
    74. 

  74. 		Triangle(Float3(256.764771f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(285.294067f, 0.000019f, -313.823364f)),
    75. 

  75. 		Triangle(Float3(285.294067f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(313.823395f, 0.000019f, -313.823364f)),
    76. 

  76. 		Triangle(Float3(313.823395f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(342.352936f, 0.000019f, -313.823364f)),
    77. 

  77. 		Triangle(Float3(342.352936f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(370.882507f, 0.000019f, -313.823364f)),
    78. 

  78. 		Triangle(Float3(370.882507f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(399.411804f, 0.000019f, -313.823364f)),
    79. 

  79. 		Triangle(Float3(0.0f, 0.000017f, -285.294037f), Float3(0.0f, 0.000009f, -142.647018f), Float3(512.0f, 0.000003f, -57.058861f)),
    80. 

  80. 		Triangle(Float3(199.705902f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(228.235214f, 0.000019f, -313.823364f)),
    81. 

  81. 		Triangle(Float3(171.176590f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(199.705902f, 0.000019f, -313.823364f)),
    82. 

  82. 		Triangle(Float3(0.0f, 0.000017f, -285.294037f), Float3(512.0f, 0.000003f, -57.058861f), Float3(85.588173f, 0.000019f, -313.823364f)),
    83. 

  83. 		Triangle(Float3(85.588173f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(142.647034f, 0.000019f, -313.823364f)),
    84. 

  84. 		Triangle(Float3(142.647034f, 0.000019f, -313.823364f), Float3(512.0f, 0.000003f, -57.058861f), Float3(171.176590f, 0.000019f, -313.823364f)),
    85. 

  85. 		Triangle(Float3(485.0f, 0.000002f, -28.529308f), Float3(512.0f, 0.0f, 0.0f), Float3(512.0f, 0.000002f, -28.529308f)),
    86. 

  86. 		Triangle(Float3(512.0f, 0.0f, 0.0f), Float3(427.941376f, 0.000002f, -28.529308f), Float3(285.294067f, 0.000002f, -28.529308f)),
    87. 

  87. 		Triangle(Float3(456.470673f, 0.000002f, -28.529308f), Float3(512.0f, 0.0f, 0.0f), Float3(485.0f, 0.000002f, -28.529308f)),
    88. 

  88. 		Triangle(Float3(427.941376f, 0.000002f, -28.529308f), Float3(512.0f, 0.0f, 0.0f), Float3(456.470673f, 0.000002f, -28.529308f)),
    89. 

  89. 		Triangle(Float3(171.176590f, 0.0f, 0.0f), Float3(512.0f, 0.0f, 0.0f), Float3(285.294067f, 0.000002f, -28.529308f)),
    90. 

  90. 		Triangle(Float3(285.294067f, 0.000002f, -28.529308f), Float3(512.0f, 0.000002f, -28.529308f), Float3(512.0f, 0.000003f, -57.058861f)),
    91. 

  91. 		Triangle(Float3(0.0f, 0.000009f, -142.647018f), Float3(285.294067f, 0.000002f, -28.529308f), Float3(512.0f, 0.000003f, -57.058861f)),
    92. 

  92. 		Triangle(Float3(0.0f, 0.000007f, -114.117722f), Float3(171.176590f, 0.0f, 0.0f), Float3(0.0f, 0.000009f, -142.647018f)),
    93. 

  93. 		Triangle(Float3(0.0f, 0.0f, 0.0f), Float3(171.176590f, 0.0f, 0.0f), Float3(0.0f, 0.000007f, -114.117722f)),
    94. 

  94. 		Triangle(Float3(0.0f, 0.000009f, -142.647018f), Float3(171.176590f, 0.0f, 0.0f), Float3(285.294067f, 0.000002f, -28.529308f))
    95. 

  95. 	};
    96. 

  96. 	MeshShapeSettings mesh_settings(triangles);
    97. 

  97. 	mesh_settings.SetEmbedded();
    98. 

  98. 	BodyCreationSettings floor_settings(&mesh_settings, Vec3(-256.0f, 0.0f, 256.0f), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
    99. 

  99. 	Body &floor = *mBodyInterface->CreateBody(floor_settings);
    100. 

  100. 	mBodyInterface->AddBody(floor.GetID(), EActivation::DontActivate);
    101. 

  101. 	return floor;
    102. 

  102. }
    103. 

  103. 

  104. Body &Test::CreateMeshTerrain()
    105. 

  105. {
    106. 

  106. 	const float scale = GetWorldScale();
    107. 

  107. 

  108. #ifdef _DEBUG
    109. 

  109. 	const int n = 50;
    110. 

  110. 	const float cell_size = scale * 2.0f;
    111. 

  111. #else
    112. 

  112. 	const int n = 100;
    113. 

  113. 	const float cell_size = scale * 1.0f;
    114. 

  114. #endif
    115. 

  115. 	const float max_height = scale * 3.0f;
    116. 

  116. 

  117. 	// Create heights
    118. 

  118. 	float heights[n + 1][n + 1];
    119. 

  119. 	for (int x = 0; x <= n; ++x)
    120. 

  120. 		for (int z = 0; z <= n; ++z)
    121. 

  121. 			heights[x][z] = max_height * PerlinNoise3(float(x) * 8.0f / n, 0, float(z) * 8.0f / n, 256, 256, 256);
    122. 

  122. 

  123. 	// Create regular grid of triangles
    124. 

  124. 	TriangleList triangles;
    125. 

  125. 	for (int x = 0; x < n; ++x)
    126. 

  126. 		for (int z = 0; z < n; ++z)
    127. 

  127. 		{
    128. 

  128. 			float center = n * cell_size / 2;
    129. 

  129. 

  130. 			float x1 = cell_size * x - center;
    131. 

  131. 			float z1 = cell_size * z - center;
    132. 

  132. 			float x2 = x1 + cell_size;
    133. 

  133. 			float z2 = z1 + cell_size;
    134. 

  134. 

  135. 			Float3 v1 = Float3(x1, heights[x][z], z1);
    136. 

  136. 			Float3 v2 = Float3(x2, heights[x + 1][z], z1);
    137. 

  137. 			Float3 v3 = Float3(x1, heights[x][z + 1], z2);
    138. 

  138. 			Float3 v4 = Float3(x2, heights[x + 1][z + 1], z2);
    139. 

  139. 

  140. 			triangles.push_back(Triangle(v1, v3, v4));
    141. 

  141. 			triangles.push_back(Triangle(v1, v4, v2));
    142. 

  142. 		}
    143. 

  143. 

  144. 	// Floor
    145. 

  145. 	Body &floor = *mBodyInterface->CreateBody(BodyCreationSettings(new MeshShapeSettings(triangles), Vec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
    146. 

  146. 	mBodyInterface->AddBody(floor.GetID(), EActivation::DontActivate);
    147. 

  147. 	return floor;
    148. 

  148. }
    149. 

  149. 

  150. Body &Test::CreateHeightFieldTerrain()
    151. 

  151. {
    152. 

  152. 	const float scale = GetWorldScale();
    153. 

  153. 

  154. 	const int n = 128;
    155. 

  155. 	const float cell_size = scale * 1.0f;
    156. 

  156. 	const float max_height = scale * 5.0f;
    157. 

  157. 

  158. 	// Create height samples
    159. 

  159. 	float heights[n * n];
    160. 

  160. 	for (int y = 0; y < n; ++y)
    161. 

  161. 		for (int x = 0; x < n; ++x)
    162. 

  162. 			heights[y * n + x] = max_height * PerlinNoise3(float(x) * 8.0f / n, 0, float(y) * 8.0f / n, 256, 256, 256);
    163. 

  163. 

  164. 	// Create height field
    165. 

  165. 	RefConst<ShapeSettings> height_field = new HeightFieldShapeSettings(heights, Vec3(-0.5f * cell_size * n, 0.0f, -0.5f * cell_size * n), Vec3(cell_size, 1.0f, cell_size), n);
    166. 

  166. 

  167. 	// Floor
    168. 

  168. 	Body &floor = *mBodyInterface->CreateBody(BodyCreationSettings(height_field, Vec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
    169. 

  169. 	mBodyInterface->AddBody(floor.GetID(), EActivation::DontActivate);
    170. 

  170. 	return floor;
    171. 

  171. }
    172.