407 lines
17 KiB
C++
407 lines
17 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 "UnitTestFramework.h"
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#include "PhysicsTestContext.h"
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#include "Layers.h"
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
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#include <Jolt/Physics/Collision/CollideShape.h>
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#include <Jolt/Physics/Collision/ShapeCast.h>
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#include <Jolt/Physics/Collision/CollisionDispatch.h>
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TEST_SUITE("ActiveEdgesTest")
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{
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static const float cCapsuleProbeOffset = 0.1f; // How much to offset the probe from y = 0 in order to avoid hitting a back instead of a front face
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static const float cCapsuleRadius = 0.1f;
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// Create a capsule as our probe
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static Ref<Shape> sCreateProbeCapsule()
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{
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// Ensure capsule is long enough so that when active edges mode is on, we will always get a horizontal penetration axis rather than a vertical one
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CapsuleShapeSettings capsule(1.0f, cCapsuleRadius);
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capsule.SetEmbedded();
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return capsule.Create().Get();
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}
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// Create a flat mesh shape consisting of 7 x 7 quads, we know that only the outer edges of this shape are active
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static Ref<ShapeSettings> sCreateMeshShape()
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{
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TriangleList triangles;
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for (int z = 0; z < 7; ++z)
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for (int x = 0; x < 7; ++x)
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{
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float fx = (float)x - 3.5f, fz = (float)z - 3.5f;
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triangles.push_back(Triangle(Vec3(fx, 0, fz), Vec3(fx, 0, fz + 1), Vec3(fx + 1, 0, fz + 1)));
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triangles.push_back(Triangle(Vec3(fx, 0, fz), Vec3(fx + 1, 0, fz + 1), Vec3(fx + 1, 0, fz)));
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}
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return new MeshShapeSettings(triangles);
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}
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// Create a flat height field shape that has the same properties as the mesh shape
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static Ref<ShapeSettings> sCreateHeightFieldShape()
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{
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float samples[8*8];
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memset(samples, 0, sizeof(samples));
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return new HeightFieldShapeSettings(samples, Vec3(-3.5f, 0, -3.5f), Vec3::sOne(), 8);
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}
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// This struct indicates what we hope to find as hit
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struct ExpectedHit
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{
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Vec3 mPosition;
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Vec3 mPenetrationAxis;
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};
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// Compare expected hits with returned hits
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template <class ResultType>
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static void sCheckMatch(const Array<ResultType> &inResult, const Array<ExpectedHit> &inExpectedHits, float inAccuracySq)
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{
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CHECK(inResult.size() == inExpectedHits.size());
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for (const ExpectedHit &hit : inExpectedHits)
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{
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bool found = false;
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for (const ResultType &result : inResult)
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if (result.mContactPointOn2.IsClose(hit.mPosition, inAccuracySq)
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&& result.mPenetrationAxis.Normalized().IsClose(hit.mPenetrationAxis, inAccuracySq))
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{
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found = true;
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break;
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}
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CHECK(found);
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}
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}
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// Collide our probe against the test shape and validate the hit results
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static void sTestCollideShape(Shape *inProbeShape, Shape *inTestShape, Vec3Arg inTestShapeScale, const CollideShapeSettings &inSettings, Vec3Arg inProbeShapePos, const Array<ExpectedHit> &inExpectedHits)
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{
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AllHitCollisionCollector<CollideShapeCollector> collector;
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CollisionDispatch::sCollideShapeVsShape(inProbeShape, inTestShape, Vec3::sOne(), inTestShapeScale, Mat44::sTranslation(inProbeShapePos), Mat44::sIdentity(), SubShapeIDCreator(), SubShapeIDCreator(), inSettings, collector);
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sCheckMatch(collector.mHits, inExpectedHits, 1.0e-8f);
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}
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// Collide a probe shape against our test shape in various locations to verify active edge behavior
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static void sTestCollideShape(const ShapeSettings *inTestShape, Vec3Arg inTestShapeScale, bool inActiveEdgesOnly)
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{
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CollideShapeSettings settings;
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settings.mActiveEdgeMode = inActiveEdgesOnly? EActiveEdgeMode::CollideOnlyWithActive : EActiveEdgeMode::CollideWithAll;
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Ref<Shape> test_shape = inTestShape->Create().Get();
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Ref<Shape> capsule = sCreateProbeCapsule();
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// Test hitting all active edges
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(-3.5f, cCapsuleProbeOffset, 0), { { Vec3(-3.5f, 0, 0), Vec3(1, 0, 0) } });
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(3.5f, cCapsuleProbeOffset, 0), { { Vec3(3.5f, 0, 0), Vec3(-1, 0, 0) } });
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, -3.5f), { { Vec3(0, 0, -3.5f), Vec3(0, 0, 1) } });
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, 3.5f), { { Vec3(0, 0, 3.5f), Vec3(0, 0, -1) } });
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// Test hitting internal edges, this should return two hits
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(-2.5f, cCapsuleProbeOffset, 0), { { Vec3(-2.5f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(-1, 0, 0) }, { Vec3(-2.5f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(1, 0, 0) } });
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, -2.5f), { { Vec3(0, 0, -2.5f), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(0, 0, -1) }, { Vec3(0, 0, -2.5f), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(0, 0, -1) } });
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// Test hitting an interior diagonal, this should return two hits
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sTestCollideShape(capsule, test_shape, inTestShapeScale, settings, Vec3(-3.0f, cCapsuleProbeOffset, 0), { { Vec3(-3.0f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : (inTestShapeScale * Vec3(1, 0, -1)).Normalized() }, { Vec3(-3.0f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : (inTestShapeScale * Vec3(-1, 0, 1)).Normalized() } });
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}
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TEST_CASE("CollideShapeMesh")
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{
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Ref<ShapeSettings> shape = sCreateMeshShape();
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sTestCollideShape(shape, Vec3::sOne(), false);
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sTestCollideShape(shape, Vec3::sOne(), true);
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sTestCollideShape(shape, Vec3(-1, 1, 1), false);
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sTestCollideShape(shape, Vec3(-1, 1, 1), true);
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}
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TEST_CASE("CollideShapeHeightField")
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{
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Ref<ShapeSettings> shape = sCreateHeightFieldShape();
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sTestCollideShape(shape, Vec3::sOne(), false);
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sTestCollideShape(shape, Vec3::sOne(), true);
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sTestCollideShape(shape, Vec3(-1, 1, 1), false);
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sTestCollideShape(shape, Vec3(-1, 1, 1), true);
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}
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// Cast our probe against the test shape and validate the hit results
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static void sTestCastShape(Shape *inProbeShape, Shape *inTestShape, Vec3Arg inTestShapeScale, const ShapeCastSettings &inSettings, Vec3Arg inProbeShapePos, Vec3Arg inProbeShapeDirection, const Array<ExpectedHit> &inExpectedHits)
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{
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AllHitCollisionCollector<CastShapeCollector> collector;
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ShapeCast shape_cast(inProbeShape, Vec3::sOne(), Mat44::sTranslation(inProbeShapePos), inProbeShapeDirection);
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CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inSettings, inTestShape, inTestShapeScale, ShapeFilter(), Mat44::sIdentity(), SubShapeIDCreator(), SubShapeIDCreator(), collector);
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sCheckMatch(collector.mHits, inExpectedHits, 1.0e-6f);
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}
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// Cast a probe shape against our test shape in various locations to verify active edge behavior
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static void sTestCastShape(const ShapeSettings *inTestShape, Vec3Arg inTestShapeScale, bool inActiveEdgesOnly)
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{
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ShapeCastSettings settings;
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settings.mActiveEdgeMode = inActiveEdgesOnly? EActiveEdgeMode::CollideOnlyWithActive : EActiveEdgeMode::CollideWithAll;
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settings.mReturnDeepestPoint = true;
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Ref<Shape> test_shape = inTestShape->Create().Get();
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Ref<Shape> capsule = sCreateProbeCapsule();
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// Test hitting all active edges
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(-4, cCapsuleProbeOffset, 0), Vec3(0.5f, 0, 0), { { Vec3(-3.5f, 0, 0), Vec3(1, 0, 0) } });
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(4, cCapsuleProbeOffset, 0), Vec3(-0.5f, 0, 0), { { Vec3(3.5f, 0, 0), Vec3(-1, 0, 0) } });
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, -4), Vec3(0, 0, 0.5f), { { Vec3(0, 0, -3.5f), Vec3(0, 0, 1) } });
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, 4), Vec3(0, 0, -0.5f), { { Vec3(0, 0, 3.5f), Vec3(0, 0, -1) } });
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// Test hitting internal edges, this should return two hits
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(-2.5f - 1.1f * cCapsuleRadius, cCapsuleProbeOffset, 0), Vec3(0.2f * cCapsuleRadius, 0, 0), { { Vec3(-2.5f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(-1, 0, 0) }, { Vec3(-2.5f, 0, 0), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(1, 0, 0) } });
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sTestCastShape(capsule, test_shape, inTestShapeScale, settings, Vec3(0, cCapsuleProbeOffset, -2.5f - 1.1f * cCapsuleRadius), Vec3(0, 0, 0.2f * cCapsuleRadius), { { Vec3(0, 0, -2.5f), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(0, 0, -1) }, { Vec3(0, 0, -2.5f), inActiveEdgesOnly? Vec3(0, -1, 0) : Vec3(0, 0, -1) } });
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}
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TEST_CASE("CastShapeMesh")
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{
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Ref<ShapeSettings> shape = sCreateMeshShape();
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sTestCastShape(shape, Vec3::sOne(), false);
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sTestCastShape(shape, Vec3::sOne(), true);
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sTestCastShape(shape, Vec3(-1, 1, 1), false);
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sTestCastShape(shape, Vec3(-1, 1, 1), true);
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}
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TEST_CASE("CastShapeHeightField")
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{
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Ref<ShapeSettings> shape = sCreateHeightFieldShape();
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sTestCastShape(shape, Vec3::sOne(), false);
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sTestCastShape(shape, Vec3::sOne(), true);
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sTestCastShape(shape, Vec3(-1, 1, 1), false);
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sTestCastShape(shape, Vec3(-1, 1, 1), true);
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}
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// Tests a discrete cube sliding over a mesh / heightfield shape
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static void sDiscreteCubeSlide(Ref<ShapeSettings> inShape, bool inCheckActiveEdges)
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{
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PhysicsTestContext c;
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const float cPenetrationSlop = c.GetSystem()->GetPhysicsSettings().mPenetrationSlop;
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// Set simulation settings
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PhysicsSettings settings;
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settings.mCheckActiveEdges = inCheckActiveEdges;
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c.GetSystem()->SetPhysicsSettings(settings);
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// Create frictionless floor
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Body &floor = c.CreateBody(inShape, RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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floor.SetFriction(0.0f);
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// Create box sliding over the floor
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RVec3 initial_position(-3, 0.1f - cPenetrationSlop, 0);
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Vec3 initial_velocity(3, 0, 0);
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Body &box = c.CreateBox(initial_position, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.1f));
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box.SetLinearVelocity(initial_velocity);
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box.SetFriction(0.0f);
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box.GetMotionProperties()->SetLinearDamping(0.0f);
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const float cSimulationTime = 2.0f;
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c.Simulate(cSimulationTime);
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RVec3 expected_position = initial_position + cSimulationTime * initial_velocity;
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if (inCheckActiveEdges)
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{
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// Box should have slided frictionless over the plane without encountering any collisions
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CHECK_APPROX_EQUAL(box.GetPosition(), expected_position, 1.0e-3f);
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CHECK_APPROX_EQUAL(box.GetLinearVelocity(), initial_velocity, 2.0e-3f);
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}
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else
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{
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// Box should have bumped into an internal edge and not reached its target
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CHECK(box.GetPosition().GetX() < expected_position.GetX() - 1.0f);
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}
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}
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TEST_CASE("DiscreteCubeSlideMesh")
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{
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Ref<ShapeSettings> shape = sCreateMeshShape();
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sDiscreteCubeSlide(shape, false);
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sDiscreteCubeSlide(shape, true);
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Ref<ShapeSettings> scaled_shape = new ScaledShapeSettings(shape, Vec3(-1, 1, 1));
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sDiscreteCubeSlide(scaled_shape, false);
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sDiscreteCubeSlide(scaled_shape, true);
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}
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TEST_CASE("DiscreteCubeSlideHeightField")
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{
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Ref<ShapeSettings> shape = sCreateHeightFieldShape();
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sDiscreteCubeSlide(shape, false);
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sDiscreteCubeSlide(shape, true);
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Ref<ShapeSettings> scaled_shape = new ScaledShapeSettings(shape, Vec3(-1, 1, 1));
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sDiscreteCubeSlide(scaled_shape, false);
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sDiscreteCubeSlide(scaled_shape, true);
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}
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// Tests a linear cast cube sliding over a mesh / heightfield shape
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static void sLinearCastCubeSlide(Ref<ShapeSettings> inShape, bool inCheckActiveEdges)
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{
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PhysicsTestContext c;
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const float cPenetrationSlop = c.GetSystem()->GetPhysicsSettings().mPenetrationSlop;
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// Set simulation settings
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PhysicsSettings settings;
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settings.mCheckActiveEdges = inCheckActiveEdges;
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c.GetSystem()->SetPhysicsSettings(settings);
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// Create frictionless floor
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Body &floor = c.CreateBody(inShape, RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
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floor.SetFriction(0.0f);
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// Create box starting a little bit above the floor and ending 0.5 * cPenetrationSlop below the floor so that if no internal edges are hit the motion should not be stopped
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// Note that we need the vertical velocity or else back face culling will ignore the face
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RVec3 initial_position(-3, 0.1f + cPenetrationSlop, 0);
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Vec3 initial_velocity(6 * 60, -1.5f * cPenetrationSlop * 60, 0);
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Body &box = c.CreateBox(initial_position, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::LinearCast, Layers::MOVING, Vec3::sReplicate(0.1f));
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box.SetLinearVelocity(initial_velocity);
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box.SetFriction(0.0f);
|
||
|
|
box.GetMotionProperties()->SetLinearDamping(0.0f);
|
||
|
|
|
||
|
|
// To avoid extra vertical velocity being picked up in 1 step, zero gravity
|
||
|
|
c.ZeroGravity();
|
||
|
|
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
|
||
|
|
RVec3 expected_position = initial_position + initial_velocity / 60.0f;
|
||
|
|
if (inCheckActiveEdges)
|
||
|
|
{
|
||
|
|
// Box should stepped in one frame over the plane without encountering any linear cast collisions
|
||
|
|
CHECK_APPROX_EQUAL(box.GetPosition(), expected_position, 1.0e-4f);
|
||
|
|
CHECK_APPROX_EQUAL(box.GetLinearVelocity(), initial_velocity, 1.0e-4f);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// Box should have bumped into an internal edge and not reached its target
|
||
|
|
CHECK(box.GetPosition().GetX() < expected_position.GetX() - 1.0f);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("LinearCastCubeSlideMesh")
|
||
|
|
{
|
||
|
|
Ref<ShapeSettings> shape = sCreateMeshShape();
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(shape, false);
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(shape, true);
|
||
|
|
|
||
|
|
Ref<ShapeSettings> scaled_shape = new ScaledShapeSettings(shape, Vec3(-1, 1, 1));
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(scaled_shape, false);
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(scaled_shape, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("LinearCastCubeSlideHeightField")
|
||
|
|
{
|
||
|
|
Ref<ShapeSettings> shape = sCreateHeightFieldShape();
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(shape, false);
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(shape, true);
|
||
|
|
|
||
|
|
Ref<ShapeSettings> scaled_shape = new ScaledShapeSettings(shape, Vec3(-1, 1, 1));
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(scaled_shape, false);
|
||
|
|
|
||
|
|
sLinearCastCubeSlide(scaled_shape, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestNonManifoldMesh")
|
||
|
|
{
|
||
|
|
// Test 3 triangles in a plane that all share the same edge
|
||
|
|
// Normally the shared edge would not be active, but since the mesh is non-manifold we expect all of them to be active
|
||
|
|
TriangleList triangles;
|
||
|
|
triangles.push_back(Triangle(Float3(0, 0, -1), Float3(0, 0, 1), Float3(1, 0, 0), 0));
|
||
|
|
triangles.push_back(Triangle(Float3(0, 0, 1), Float3(0, 0, -1), Float3(-1, 0, 0), 0));
|
||
|
|
triangles.push_back(Triangle(Float3(0, 0, 1), Float3(0, 0, -1), Float3(-0.5f, 0, 0), 0));
|
||
|
|
|
||
|
|
ShapeRefC shape = MeshShapeSettings(triangles).Create().Get();
|
||
|
|
|
||
|
|
ShapeRefC sphere = new SphereShape(0.1f);
|
||
|
|
|
||
|
|
CollideShapeSettings settings;
|
||
|
|
settings.mActiveEdgeMode = EActiveEdgeMode::CollideOnlyWithActive;
|
||
|
|
|
||
|
|
// Collide a sphere on both sides of the active edge so that a 45 degree normal will be found then the edge is active.
|
||
|
|
// An inactive edge will return a normal that is perpendicular to the plane.
|
||
|
|
{
|
||
|
|
AllHitCollisionCollector<CollideShapeCollector> collector;
|
||
|
|
CollisionDispatch::sCollideShapeVsShape(sphere, shape, Vec3::sOne(), Vec3::sOne(), Mat44::sTranslation(Vec3(0.05f, 0.05f, 0)), Mat44::sIdentity(), SubShapeIDCreator(), SubShapeIDCreator(), settings, collector);
|
||
|
|
CHECK(collector.mHits.size() == 3);
|
||
|
|
|
||
|
|
// We expect one interior hit because the sphere is above the triangle and 2 active edge hits that provide a normal pointing towards the sphere
|
||
|
|
int num_interior = 0, num_on_shared_edge = 0;
|
||
|
|
for (const CollideShapeResult &r : collector.mHits)
|
||
|
|
if (r.mContactPointOn2.IsClose(Vec3(0.05f, 0.0f, 0.0f)))
|
||
|
|
{
|
||
|
|
CHECK_APPROX_EQUAL(r.mPenetrationAxis.Normalized(), Vec3(0, -1, 0));
|
||
|
|
++num_interior;
|
||
|
|
}
|
||
|
|
else if (r.mContactPointOn2.IsNearZero())
|
||
|
|
{
|
||
|
|
CHECK_APPROX_EQUAL(r.mPenetrationAxis.Normalized(), Vec3(-1, -1, 0).Normalized(), 1.0e-5f);
|
||
|
|
++num_on_shared_edge;
|
||
|
|
}
|
||
|
|
CHECK(num_interior == 1);
|
||
|
|
CHECK(num_on_shared_edge == 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
AllHitCollisionCollector<CollideShapeCollector> collector;
|
||
|
|
CollisionDispatch::sCollideShapeVsShape(sphere, shape, Vec3::sOne(), Vec3::sOne(), Mat44::sTranslation(Vec3(-0.05f, 0.05f, 0)), Mat44::sIdentity(), SubShapeIDCreator(), SubShapeIDCreator(), settings, collector);
|
||
|
|
CHECK(collector.mHits.size() == 3);
|
||
|
|
|
||
|
|
// We expect 2 interior hits because the sphere is above the triangle and 1 active edge hit that provide a normal pointing towards the sphere
|
||
|
|
int num_interior = 0, num_on_shared_edge = 0;
|
||
|
|
for (const CollideShapeResult &r : collector.mHits)
|
||
|
|
if (r.mContactPointOn2.IsClose(Vec3(-0.05f, 0.0f, 0.0f)))
|
||
|
|
{
|
||
|
|
CHECK_APPROX_EQUAL(r.mPenetrationAxis.Normalized(), Vec3(0, -1, 0));
|
||
|
|
++num_interior;
|
||
|
|
}
|
||
|
|
else if (r.mContactPointOn2.IsNearZero())
|
||
|
|
{
|
||
|
|
CHECK_APPROX_EQUAL(r.mPenetrationAxis.Normalized(), Vec3(1, -1, 0).Normalized(), 1.0e-5f);
|
||
|
|
++num_on_shared_edge;
|
||
|
|
}
|
||
|
|
CHECK(num_interior == 2);
|
||
|
|
CHECK(num_on_shared_edge == 1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|