134 lines
6.6 KiB
C++
134 lines
6.6 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/Water/WaterShapeTest.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
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#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
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#include <Layers.h>
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#include <Renderer/DebugRendererImp.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(WaterShapeTest)
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{
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JPH_ADD_BASE_CLASS(WaterShapeTest, Test)
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}
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void WaterShapeTest::Initialize()
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{
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CreateFloor();
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// Create scaled box
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BodyID body_id = mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShape(new BoxShape(Vec3(1.0f, 2.0f, 2.5f)), Vec3(0.5f, 0.6f, -0.7f)), RVec3(-10, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create box
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3(1.0f, 2.0f, 2.5f)), RVec3(-7, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create sphere
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new SphereShape(2.0f), RVec3(-3, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create static compound
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Ref<StaticCompoundShapeSettings> static_compound = new StaticCompoundShapeSettings;
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static_compound->AddShape(Vec3(2.0f, 0, 0), Quat::sIdentity(), new SphereShape(2.0f));
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static_compound->AddShape(Vec3(-1.0f, 0, 0), Quat::sIdentity(), new SphereShape(1.0f));
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(static_compound, RVec3(3, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create tetrahedron
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Array<Vec3> tetrahedron;
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tetrahedron.push_back(Vec3(-2, 0, -2));
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tetrahedron.push_back(Vec3(0, 0, 2));
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tetrahedron.push_back(Vec3(2, 0, -2));
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tetrahedron.push_back(Vec3(0, -2, 0));
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Ref<ConvexHullShapeSettings> tetrahedron_shape = new ConvexHullShapeSettings(tetrahedron);
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(tetrahedron_shape, RVec3(10, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Non-uniform scaled tetrahedron
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShapeSettings(tetrahedron_shape, Vec3(1, -1.5f, 2.0f)), RVec3(15, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create convex hull box
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Array<Vec3> box;
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box.push_back(Vec3(1.5f, 1.0f, 0.5f));
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box.push_back(Vec3(-1.5f, 1.0f, 0.5f));
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box.push_back(Vec3(1.5f, -1.0f, 0.5f));
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box.push_back(Vec3(-1.5f, -1.0f, 0.5f));
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box.push_back(Vec3(1.5f, 1.0f, -0.5f));
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box.push_back(Vec3(-1.5f, 1.0f, -0.5f));
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box.push_back(Vec3(1.5f, -1.0f, -0.5f));
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box.push_back(Vec3(-1.5f, -1.0f, -0.5f));
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new ConvexHullShapeSettings(box), RVec3(18, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create random convex shape
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default_random_engine random;
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uniform_real_distribution<float> hull_size(0.1f, 1.9f);
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Array<Vec3> points;
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for (int j = 0; j < 20; ++j)
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points.push_back(hull_size(random) * Vec3::sRandom(random));
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new ConvexHullShapeSettings(points), RVec3(21, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create mutable compound
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Ref<MutableCompoundShapeSettings> mutable_compound = new MutableCompoundShapeSettings;
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mutable_compound->AddShape(Vec3(1.0f, 0, 0), Quat::sIdentity(), new BoxShape(Vec3(0.5f, 0.75f, 1.0f)));
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mutable_compound->AddShape(Vec3(-1.0f, 0, 0), Quat::sIdentity(), new SphereShape(1.0f));
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(mutable_compound, RVec3(25, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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// Create box with center of mass offset
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body_id = mBodyInterface->CreateBody(BodyCreationSettings(new OffsetCenterOfMassShapeSettings(Vec3(-1.0f, 0.0f, 0.0f), new BoxShape(Vec3(2.0f, 0.25f, 0.25f))), RVec3(30, 20, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING))->GetID();
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mBodyInterface->AddBody(body_id, EActivation::Activate);
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}
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void WaterShapeTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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// Draw the water surface 5mm below actual surface to avoid z fighting with intersection shapes
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RVec3 surface_point = RVec3(0, 10, 0);
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for (int i = -20; i <= 20; ++i)
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{
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mDebugRenderer->DrawLine(surface_point + Vec3(5.0f * i, 0, -100), surface_point + Vec3(5.0f * i, 0, 100), Color::sBlue);
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mDebugRenderer->DrawLine(surface_point + Vec3(-100, 0, 5.0f * i), surface_point + Vec3(100, 0, 5.0f * i), Color::sBlue);
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}
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// Broadphase results, will apply buoyancy to any body that intersects with the water volume
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class MyCollector : public CollideShapeBodyCollector
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{
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public:
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MyCollector(PhysicsSystem *inSystem, RVec3Arg inSurfacePosition, Vec3Arg inSurfaceNormal, float inDeltaTime) : mSystem(inSystem), mSurfacePosition(inSurfacePosition), mSurfaceNormal(inSurfaceNormal), mDeltaTime(inDeltaTime) { }
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virtual void AddHit(const BodyID &inBodyID) override
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{
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BodyLockWrite lock(mSystem->GetBodyLockInterface(), inBodyID);
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Body &body = lock.GetBody();
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if (body.IsActive())
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body.ApplyBuoyancyImpulse(mSurfacePosition, mSurfaceNormal, 1.1f, 0.3f, 0.05f, Vec3::sZero(), mSystem->GetGravity(), mDeltaTime);
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}
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private:
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PhysicsSystem * mSystem;
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RVec3 mSurfacePosition;
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Vec3 mSurfaceNormal;
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float mDeltaTime;
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};
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MyCollector collector(mPhysicsSystem, surface_point, Vec3::sAxisY(), inParams.mDeltaTime);
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// Apply buoyancy to all bodies that intersect with the water
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AABox water_box(-Vec3(100, 100, 100), Vec3(100, 0, 100));
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water_box.Translate(Vec3(surface_point));
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mPhysicsSystem->GetBroadPhaseQuery().CollideAABox(water_box, collector, SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers::MOVING), SpecifiedObjectLayerFilter(Layers::MOVING));
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}
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