348 lines
15 KiB
C++
348 lines
15 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2022 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 <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
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#include <Jolt/Physics/Vehicle/WheeledVehicleController.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include "Layers.h"
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TEST_SUITE("WheeledVehicleTests")
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{
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enum
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{
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FL_WHEEL,
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FR_WHEEL,
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BL_WHEEL,
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BR_WHEEL
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};
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// Simplified vehicle settings
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struct VehicleSettings
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{
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RVec3 mPosition { 0, 2, 0 };
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bool mUseCastSphere = true;
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float mWheelRadius = 0.3f;
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float mWheelWidth = 0.1f;
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float mHalfVehicleLength = 2.0f;
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float mHalfVehicleWidth = 0.9f;
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float mHalfVehicleHeight = 0.2f;
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float mWheelOffsetHorizontal = 1.4f;
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float mWheelOffsetVertical = 0.18f;
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float mSuspensionMinLength = 0.3f;
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float mSuspensionMaxLength = 0.5f;
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float mMaxSteeringAngle = DegreesToRadians(30);
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bool mFourWheelDrive = false;
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float mFrontBackLimitedSlipRatio = 1.4f;
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float mLeftRightLimitedSlipRatio = 1.4f;
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bool mAntiRollbar = true;
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};
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// Helper function to create a vehicle
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static VehicleConstraint *AddVehicle(PhysicsTestContext &inContext, VehicleSettings &inSettings)
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{
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// Create vehicle body
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RefConst<Shape> car_shape = OffsetCenterOfMassShapeSettings(Vec3(0, -inSettings.mHalfVehicleHeight, 0), new BoxShape(Vec3(inSettings.mHalfVehicleWidth, inSettings.mHalfVehicleHeight, inSettings.mHalfVehicleLength))).Create().Get();
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BodyCreationSettings car_body_settings(car_shape, inSettings.mPosition, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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car_body_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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car_body_settings.mMassPropertiesOverride.mMass = 1500.0f;
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Body *car_body = inContext.GetBodyInterface().CreateBody(car_body_settings);
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inContext.GetBodyInterface().AddBody(car_body->GetID(), EActivation::Activate);
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// Create vehicle constraint
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VehicleConstraintSettings vehicle;
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vehicle.mDrawConstraintSize = 0.1f;
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vehicle.mMaxPitchRollAngle = DegreesToRadians(60.0f);
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// Wheels
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WheelSettingsWV *fl = new WheelSettingsWV;
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fl->mPosition = Vec3(inSettings.mHalfVehicleWidth, -inSettings.mWheelOffsetVertical, inSettings.mWheelOffsetHorizontal);
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fl->mMaxSteerAngle = inSettings.mMaxSteeringAngle;
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fl->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
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WheelSettingsWV *fr = new WheelSettingsWV;
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fr->mPosition = Vec3(-inSettings.mHalfVehicleWidth, -inSettings.mWheelOffsetVertical, inSettings.mWheelOffsetHorizontal);
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fr->mMaxSteerAngle = inSettings.mMaxSteeringAngle;
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fr->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
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WheelSettingsWV *bl = new WheelSettingsWV;
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bl->mPosition = Vec3(inSettings.mHalfVehicleWidth, -inSettings.mWheelOffsetVertical, -inSettings.mWheelOffsetHorizontal);
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bl->mMaxSteerAngle = 0.0f;
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WheelSettingsWV *br = new WheelSettingsWV;
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br->mPosition = Vec3(-inSettings.mHalfVehicleWidth, -inSettings.mWheelOffsetVertical, -inSettings.mWheelOffsetHorizontal);
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br->mMaxSteerAngle = 0.0f;
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vehicle.mWheels.resize(4);
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vehicle.mWheels[FL_WHEEL] = fl;
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vehicle.mWheels[FR_WHEEL] = fr;
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vehicle.mWheels[BL_WHEEL] = bl;
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vehicle.mWheels[BR_WHEEL] = br;
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for (WheelSettings *w : vehicle.mWheels)
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{
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w->mRadius = inSettings.mWheelRadius;
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w->mWidth = inSettings.mWheelWidth;
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w->mSuspensionMinLength = inSettings.mSuspensionMinLength;
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w->mSuspensionMaxLength = inSettings.mSuspensionMaxLength;
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}
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WheeledVehicleControllerSettings *controller = new WheeledVehicleControllerSettings;
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vehicle.mController = controller;
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// Differential
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controller->mDifferentials.resize(inSettings.mFourWheelDrive? 2 : 1);
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controller->mDifferentials[0].mLeftWheel = FL_WHEEL;
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controller->mDifferentials[0].mRightWheel = FR_WHEEL;
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controller->mDifferentials[0].mLimitedSlipRatio = inSettings.mLeftRightLimitedSlipRatio;
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controller->mDifferentialLimitedSlipRatio = inSettings.mFrontBackLimitedSlipRatio;
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if (inSettings.mFourWheelDrive)
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{
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controller->mDifferentials[1].mLeftWheel = BL_WHEEL;
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controller->mDifferentials[1].mRightWheel = BR_WHEEL;
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controller->mDifferentials[1].mLimitedSlipRatio = inSettings.mLeftRightLimitedSlipRatio;
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// Split engine torque
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controller->mDifferentials[0].mEngineTorqueRatio = controller->mDifferentials[1].mEngineTorqueRatio = 0.5f;
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}
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// Anti rollbars
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if (inSettings.mAntiRollbar)
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{
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vehicle.mAntiRollBars.resize(2);
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vehicle.mAntiRollBars[0].mLeftWheel = FL_WHEEL;
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vehicle.mAntiRollBars[0].mRightWheel = FR_WHEEL;
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vehicle.mAntiRollBars[1].mLeftWheel = BL_WHEEL;
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vehicle.mAntiRollBars[1].mRightWheel = BR_WHEEL;
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}
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// Create the constraint
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VehicleConstraint *constraint = new VehicleConstraint(*car_body, vehicle);
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// Create collision tester
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RefConst<VehicleCollisionTester> tester;
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if (inSettings.mUseCastSphere)
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tester = new VehicleCollisionTesterCastSphere(Layers::MOVING, 0.5f * inSettings.mWheelWidth);
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else
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tester = new VehicleCollisionTesterRay(Layers::MOVING);
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constraint->SetVehicleCollisionTester(tester);
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// Add to the world
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inContext.GetSystem()->AddConstraint(constraint);
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inContext.GetSystem()->AddStepListener(constraint);
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return constraint;
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}
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static void CheckOnGround(VehicleConstraint *inConstraint, const VehicleSettings &inSettings, const BodyID &inGroundID)
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{
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// Between min and max suspension length
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RVec3 pos = inConstraint->GetVehicleBody()->GetPosition();
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CHECK(pos.GetY() > inSettings.mSuspensionMinLength + inSettings.mWheelOffsetVertical + inSettings.mHalfVehicleHeight);
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CHECK(pos.GetY() < inSettings.mSuspensionMaxLength + inSettings.mWheelOffsetVertical + inSettings.mHalfVehicleHeight);
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// Wheels touching ground
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for (const Wheel *w : inConstraint->GetWheels())
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CHECK(w->GetContactBodyID() == inGroundID);
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}
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TEST_CASE("TestBasicWheeledVehicle")
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{
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PhysicsTestContext c;
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BodyID floor_id = c.CreateFloor().GetID();
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VehicleSettings settings;
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VehicleConstraint *constraint = AddVehicle(c, settings);
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Body *body = constraint->GetVehicleBody();
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WheeledVehicleController *controller = static_cast<WheeledVehicleController *>(constraint->GetController());
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// Should start at specified position
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CHECK_APPROX_EQUAL(body->GetPosition(), settings.mPosition);
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// After 1 step we should not be at ground yet
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c.SimulateSingleStep();
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for (const Wheel *w : constraint->GetWheels())
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CHECK(w->GetContactBodyID().IsInvalid());
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CHECK(controller->GetTransmission().GetCurrentGear() == 0);
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// After 1 second we should be on ground but not moving horizontally
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c.Simulate(1.0f);
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CheckOnGround(constraint, settings, floor_id);
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RVec3 pos1 = body->GetPosition();
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CHECK_APPROX_EQUAL(pos1.GetX(), 0); // Not moving horizontally
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CHECK_APPROX_EQUAL(pos1.GetZ(), 0);
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CHECK(controller->GetTransmission().GetCurrentGear() == 0);
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// Start driving forward
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controller->SetDriverInput(1.0f, 0.0f, 0.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(2.0f);
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CheckOnGround(constraint, settings, floor_id);
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RVec3 pos2 = body->GetPosition();
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CHECK_APPROX_EQUAL(pos2.GetX(), 0, 1.0e-2_r); // Not moving left/right
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CHECK(pos2.GetZ() > pos1.GetZ() + 1.0f); // Moving in Z direction
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Vec3 vel = body->GetLinearVelocity();
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CHECK_APPROX_EQUAL(vel.GetX(), 0, 2.0e-2f); // Not moving left/right
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CHECK(vel.GetZ() > 1.0f); // Moving in Z direction
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CHECK(controller->GetTransmission().GetCurrentGear() > 0);
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// Brake
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controller->SetDriverInput(0.0f, 0.0f, 1.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(5.0f);
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CheckOnGround(constraint, settings, floor_id);
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CHECK(!body->IsActive()); // Car should have gone to sleep
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RVec3 pos3 = body->GetPosition();
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CHECK_APPROX_EQUAL(pos3.GetX(), 0, 2.0e-2_r); // Not moving left/right
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CHECK(pos3.GetZ() > pos2.GetZ() + 1.0f); // Moving in Z direction while braking
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vel = body->GetLinearVelocity();
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CHECK_APPROX_EQUAL(vel, Vec3::sZero(), 1.0e-3f); // Not moving
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// Start driving backwards
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controller->SetDriverInput(-1.0f, 0.0f, 0.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(2.0f);
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CheckOnGround(constraint, settings, floor_id);
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RVec3 pos4 = body->GetPosition();
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CHECK_APPROX_EQUAL(pos4.GetX(), 0, 3.0e-2_r); // Not moving left/right
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CHECK(pos4.GetZ() < pos3.GetZ() - 1.0f); // Moving in -Z direction
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vel = body->GetLinearVelocity();
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CHECK_APPROX_EQUAL(vel.GetX(), 0, 5.0e-2f); // Not moving left/right
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CHECK(vel.GetZ() < -1.0f); // Moving in -Z direction
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CHECK(controller->GetTransmission().GetCurrentGear() < 0);
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// Brake
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controller->SetDriverInput(0.0f, 0.0f, 1.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(5.0f);
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CheckOnGround(constraint, settings, floor_id);
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CHECK(!body->IsActive()); // Car should have gone to sleep
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RVec3 pos5 = body->GetPosition();
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CHECK_APPROX_EQUAL(pos5.GetX(), 0, 7.0e-2_r); // Not moving left/right
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CHECK(pos5.GetZ() < pos4.GetZ() - 1.0f); // Moving in -Z direction while braking
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vel = body->GetLinearVelocity();
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CHECK_APPROX_EQUAL(vel, Vec3::sZero(), 1.0e-3f); // Not moving
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// Turn right
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controller->SetDriverInput(1.0f, 1.0f, 0.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(2.0f);
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CheckOnGround(constraint, settings, floor_id);
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Vec3 omega = body->GetAngularVelocity();
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CHECK(omega.GetY() < -0.4f); // Rotating right
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CHECK(controller->GetTransmission().GetCurrentGear() > 0);
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// Hand brake
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controller->SetDriverInput(0.0f, 0.0f, 0.0f, 1.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(7.0f);
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CheckOnGround(constraint, settings, floor_id);
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CHECK(!body->IsActive()); // Car should have gone to sleep
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vel = body->GetLinearVelocity();
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CHECK_APPROX_EQUAL(vel, Vec3::sZero(), 1.0e-3f); // Not moving
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// Turn left
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controller->SetDriverInput(1.0f, -1.0f, 0.0f, 0.0f);
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c.GetBodyInterface().ActivateBody(body->GetID());
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c.Simulate(2.0f);
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CheckOnGround(constraint, settings, floor_id);
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omega = body->GetAngularVelocity();
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CHECK(omega.GetY() > 0.4f); // Rotating left
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CHECK(controller->GetTransmission().GetCurrentGear() > 0);
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}
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TEST_CASE("TestLSDifferential")
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{
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struct Test
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{
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RVec3 mBlockPosition; // Location of the box under the vehicle
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bool mFourWheelDrive; // 4WD or not
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float mFBLSRatio; // Limited slip ratio front-back
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float mLRLSRatio; // Limited slip ratio left-right
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bool mFLHasContactPre; // Which wheels should be in contact with the ground prior to the test
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bool mFRHasContactPre;
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bool mBLHasContactPre;
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bool mBRHasContactPre;
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bool mShouldMove; // If the vehicle should be able to drive off the block
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};
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Test tests[] = {
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// Block Position, 4WD, FBSlip, LRSlip FLPre, FRPre, BLPre, BRPre, ShouldMove
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{ RVec3(1, 0.5f, 0), true, FLT_MAX, FLT_MAX, false, true, false, true, false }, // Block left, no limited slip -> vehicle can't move
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{ RVec3(1, 0.5f, 0), true, 1.4f, FLT_MAX, false, true, false, true, false }, // Block left, only FB limited slip -> vehicle can't move
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{ RVec3(1, 0.5f, 0), true, 1.4f, 1.4f, false, true, false, true, true }, // Block left, limited slip -> vehicle drives off
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{ RVec3(-1, 0.5f, 0), true, FLT_MAX, FLT_MAX, true, false, true, false, false }, // Block right, no limited slip -> vehicle can't move
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{ RVec3(-1, 0.5f, 0), true, 1.4f, FLT_MAX, true, false, true, false, false }, // Block right, only FB limited slip -> vehicle can't move
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{ RVec3(-1, 0.5f, 0), true, 1.4f, 1.4f, true, false, true, false, true }, // Block right, limited slip -> vehicle drives off
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{ RVec3(0, 0.5f, 1.5f), true, FLT_MAX, FLT_MAX, false, false, true, true, false }, // Block front, no limited slip -> vehicle can't move
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{ RVec3(0, 0.5f, 1.5f), true, 1.4f, FLT_MAX, false, false, true, true, true }, // Block front, only FB limited slip -> vehicle drives off
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{ RVec3(0, 0.5f, 1.5f), true, 1.4f, 1.4f, false, false, true, true, true }, // Block front, limited slip -> vehicle drives off
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{ RVec3(0, 0.5f, 1.5f), false, 1.4f, 1.4f, false, false, true, true, false }, // Block front, limited slip, 2WD -> vehicle can't move
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{ RVec3(0, 0.5f, -1.5f), true, FLT_MAX, FLT_MAX, true, true, false, false, false }, // Block back, no limited slip -> vehicle can't move
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{ RVec3(0, 0.5f, -1.5f), true, 1.4f, FLT_MAX, true, true, false, false, true }, // Block back, only FB limited slip -> vehicle drives off
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{ RVec3(0, 0.5f, -1.5f), true, 1.4f, 1.4f, true, true, false, false, true }, // Block back, limited slip -> vehicle drives off
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{ RVec3(0, 0.5f, -1.5f), false, 1.4f, 1.4f, true, true, false, false, true }, // Block back, limited slip, 2WD -> vehicle drives off
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};
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for (Test &t : tests)
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{
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PhysicsTestContext c;
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BodyID floor_id = c.CreateFloor().GetID();
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// Box under left side of the vehicle, left wheels won't be touching the ground
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|
|
Body &box = c.CreateBox(t.mBlockPosition, Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3::sReplicate(0.5f));
|
||
|
|
box.SetFriction(1.0f);
|
||
|
|
|
||
|
|
// Create vehicle
|
||
|
|
VehicleSettings settings;
|
||
|
|
settings.mFourWheelDrive = t.mFourWheelDrive;
|
||
|
|
settings.mFrontBackLimitedSlipRatio = t.mFBLSRatio;
|
||
|
|
settings.mLeftRightLimitedSlipRatio = t.mLRLSRatio;
|
||
|
|
|
||
|
|
VehicleConstraint *constraint = AddVehicle(c, settings);
|
||
|
|
Body *body = constraint->GetVehicleBody();
|
||
|
|
WheeledVehicleController *controller = static_cast<WheeledVehicleController *>(constraint->GetController());
|
||
|
|
|
||
|
|
// Give the wheels extra grip
|
||
|
|
controller->SetTireMaxImpulseCallback(
|
||
|
|
[](uint, float &outLongitudinalImpulse, float &outLateralImpulse, float inSuspensionImpulse, float inLongitudinalFriction, float inLateralFriction, float, float, float)
|
||
|
|
{
|
||
|
|
outLongitudinalImpulse = 10.0f * inLongitudinalFriction * inSuspensionImpulse;
|
||
|
|
outLateralImpulse = inLateralFriction * inSuspensionImpulse;
|
||
|
|
});
|
||
|
|
|
||
|
|
// Simulate till vehicle rests on block
|
||
|
|
bool vehicle_on_floor = false;
|
||
|
|
for (float time = 0; time < 2.0f; time += c.GetDeltaTime())
|
||
|
|
{
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
|
||
|
|
// Check pre condition
|
||
|
|
if ((constraint->GetWheel(FL_WHEEL)->GetContactBodyID() == (t.mFLHasContactPre? floor_id : BodyID()))
|
||
|
|
&& (constraint->GetWheel(FR_WHEEL)->GetContactBodyID() == (t.mFRHasContactPre? floor_id : BodyID()))
|
||
|
|
&& (constraint->GetWheel(BL_WHEEL)->GetContactBodyID() == (t.mBLHasContactPre? floor_id : BodyID()))
|
||
|
|
&& (constraint->GetWheel(BR_WHEEL)->GetContactBodyID() == (t.mBRHasContactPre? floor_id : BodyID())))
|
||
|
|
{
|
||
|
|
vehicle_on_floor = true;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
CHECK(vehicle_on_floor);
|
||
|
|
CHECK_APPROX_EQUAL(body->GetPosition().GetZ(), 0, 0.03_r);
|
||
|
|
|
||
|
|
// Start driving
|
||
|
|
controller->SetDriverInput(1.0f, 0, 0, 0);
|
||
|
|
c.GetBodyInterface().ActivateBody(body->GetID());
|
||
|
|
c.Simulate(2.0f);
|
||
|
|
|
||
|
|
// Check if vehicle had traction
|
||
|
|
if (t.mShouldMove)
|
||
|
|
CHECK(body->GetPosition().GetZ() > 0.5f);
|
||
|
|
else
|
||
|
|
CHECK_APPROX_EQUAL(body->GetPosition().GetZ(), 0, 0.06_r);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|