434 lines
13 KiB
C++
434 lines
13 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/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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#include <Jolt/Physics/Collision/Shape/TaperedCapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.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 <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/MeshShape.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
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#include <Jolt/Physics/Collision/CollidePointResult.h>
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TEST_SUITE("CollidePointTests")
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{
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// Probe directions in the direction of the faces
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static Vec3 cube_probes[] = {
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Vec3(-1.0f, 0, 0),
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Vec3(1.0f, 0, 0),
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Vec3(0, -1.0f, 0),
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Vec3(0, 1.0f, 0),
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Vec3(0, 0, -1.0f),
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Vec3(0, 0, 1.0f)
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};
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// Probe directions in the direction of the faces
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static Vec3 cube_and_zero_probes[] = {
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Vec3(0, 0, 0),
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Vec3(-1.0f, 0, 0),
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Vec3(1.0f, 0, 0),
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Vec3(0, -1.0f, 0),
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Vec3(0, 1.0f, 0),
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Vec3(0, 0, -1.0f),
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Vec3(0, 0, 1.0f)
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};
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// Probes in the xy-plane
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static Vec3 xy_probes[] = {
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Vec3(-1.0f, 0, 0),
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Vec3(1.0f, 0, 0),
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Vec3(0, 0, -1.0f),
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Vec3(0, 0, 1.0f)
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};
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// Probes in the xy-plane and zero
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static Vec3 xy_and_zero_probes[] = {
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Vec3(0, 0, 0),
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Vec3(-1.0f, 0, 0),
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Vec3(1.0f, 0, 0),
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Vec3(0, 0, -1.0f),
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Vec3(0, 0, 1.0f)
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};
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// Vertices of a cube
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static Vec3 cube_vertices[] = {
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Vec3(-1.0f, -1.0f, -1.0f),
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Vec3( 1.0f, -1.0f, -1.0f),
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Vec3(-1.0f, -1.0f, 1.0f),
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Vec3( 1.0f, -1.0f, 1.0f),
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Vec3(-1.0f, 1.0f, -1.0f),
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Vec3( 1.0f, 1.0f, -1.0f),
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Vec3(-1.0f, 1.0f, 1.0f),
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Vec3( 1.0f, 1.0f, 1.0f)
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};
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static void sTestHit(const Shape *inShape, Vec3Arg inPosition)
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{
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AllHitCollisionCollector<CollidePointCollector> collector;
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inShape->CollidePoint(inPosition - inShape->GetCenterOfMass(), SubShapeIDCreator(), collector);
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CHECK(collector.mHits.size() == 1);
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}
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static void sTestHit(const NarrowPhaseQuery &inNarrowPhase, RVec3Arg inPosition, const BodyID &inBodyID)
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{
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AllHitCollisionCollector<CollidePointCollector> collector;
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inNarrowPhase.CollidePoint(inPosition, collector);
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CHECK(collector.mHits.size() == 1);
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CHECK(collector.mHits[0].mBodyID == inBodyID);
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}
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static void sTestMiss(const Shape *inShape, Vec3Arg inPosition)
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{
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AllHitCollisionCollector<CollidePointCollector> collector;
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inShape->CollidePoint(inPosition - inShape->GetCenterOfMass(), SubShapeIDCreator(), collector);
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CHECK(collector.mHits.empty());
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}
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static void sTestMiss(const NarrowPhaseQuery &inNarrowPhase, RVec3Arg inPosition)
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{
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AllHitCollisionCollector<CollidePointCollector> collector;
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inNarrowPhase.CollidePoint(inPosition, collector);
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CHECK(collector.mHits.empty());
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}
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TEST_CASE("TestCollidePointVsBox")
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{
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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ShapeRefC shape = new BoxShape(half_box_size);
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, 0.99f * half_box_size * probe);
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, 1.01f * half_box_size * probe);
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}
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TEST_CASE("TestCollidePointVsSphere")
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{
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const float radius = 0.1f;
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ShapeRefC shape = new SphereShape(radius);
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, 0.99f * Vec3::sReplicate(radius) * probe);
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, 1.01f * Vec3::sReplicate(radius) * probe);
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}
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TEST_CASE("TestCollidePointVsCapsule")
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{
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const float half_height = 0.2f;
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const float radius = 0.1f;
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ShapeRefC shape = new CapsuleShape(half_height, radius);
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// Top hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * radius * probe + Vec3(0, half_height, 0));
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// Center hit
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sTestHit(shape, Vec3::sZero());
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// Bottom hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * radius * probe + Vec3(0, -half_height, 0));
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, 1.01f * Vec3(radius, half_height + radius, radius) * probe);
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}
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TEST_CASE("TestCollidePointVsTaperedCapsule")
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{
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const float half_height = 0.4f;
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const float top_radius = 0.1f;
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const float bottom_radius = 0.2f;
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TaperedCapsuleShapeSettings settings(half_height, top_radius, bottom_radius);
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ShapeRefC shape = settings.Create().Get();
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// Top hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * top_radius * probe + Vec3(0, half_height, 0));
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// Center hit
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sTestHit(shape, Vec3::sZero());
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// Bottom hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * bottom_radius * probe + Vec3(0, -half_height, 0));
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// Top misses
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sTestMiss(shape, Vec3(0, half_height + top_radius + 0.01f, 0));
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for (Vec3 probe : xy_probes)
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sTestMiss(shape, 1.01f * top_radius * probe + Vec3(0, half_height, 0));
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// Bottom misses
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sTestMiss(shape, Vec3(0, -half_height - bottom_radius - 0.01f, 0));
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for (Vec3 probe : xy_probes)
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sTestMiss(shape, 1.01f * bottom_radius * probe + Vec3(0, -half_height, 0));
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}
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TEST_CASE("TestCollidePointVsCylinder")
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{
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const float half_height = 0.2f;
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const float radius = 0.1f;
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ShapeRefC shape = new CylinderShape(half_height, radius);
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// Top hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * (radius * probe + Vec3(0, half_height, 0)));
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// Center hit
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sTestHit(shape, Vec3::sZero());
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// Bottom hits
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for (Vec3 probe : xy_and_zero_probes)
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sTestHit(shape, 0.99f * (radius * probe + Vec3(0, -half_height, 0)));
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, 1.01f * Vec3(radius, half_height, radius) * probe);
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}
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TEST_CASE("TestCollidePointVsConvexHull")
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{
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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Vec3 offset(10.0f, 11.0f, 12.0f);
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ConvexHullShapeSettings settings;
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for (uint i = 0; i < size(cube_vertices); ++i)
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settings.mPoints.push_back(offset + cube_vertices[i] * half_box_size);
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ShapeRefC shape = settings.Create().Get();
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, offset + 0.99f * half_box_size * probe);
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, offset + 1.01f * half_box_size * probe);
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}
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TEST_CASE("TestCollidePointVsRotatedTranslated")
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{
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Vec3 translation(10.0f, 11.0f, 12.0f);
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Quat rotation = Quat::sRotation(Vec3(1, 2, 3).Normalized(), 0.3f * JPH_PI);
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Mat44 transform = Mat44::sRotationTranslation(rotation, translation);
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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RotatedTranslatedShapeSettings settings(translation, rotation, new BoxShape(half_box_size));
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ShapeRefC shape = settings.Create().Get();
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, transform * (0.99f * half_box_size * probe));
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, transform * (1.01f * half_box_size * probe));
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}
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TEST_CASE("TestCollidePointVsScaled")
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{
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Vec3 scale(2.0f, 3.0f, -4.0f);
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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ShapeRefC shape = new ScaledShape(new BoxShape(half_box_size), scale);
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, scale * (0.99f * half_box_size * probe));
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, scale * (1.01f * half_box_size * probe));
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}
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TEST_CASE("TestCollidePointVsOffsetCenterOfMass")
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{
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Vec3 offset(10.0f, 11.0f, 12.0f);
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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OffsetCenterOfMassShapeSettings settings(offset, new BoxShape(half_box_size));
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ShapeRefC shape = settings.Create().Get();
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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sTestHit(shape, 0.99f * half_box_size * probe);
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// Misses
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for (Vec3 probe : cube_probes)
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sTestMiss(shape, 1.01f * half_box_size * probe);
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}
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TEST_CASE("TestCollidePointVsStaticCompound")
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{
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Vec3 translation1(10.0f, 11.0f, 12.0f);
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Quat rotation1 = Quat::sRotation(Vec3(1, 2, 3).Normalized(), 0.3f * JPH_PI);
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Mat44 transform1 = Mat44::sRotationTranslation(rotation1, translation1);
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Vec3 translation2(-1.0f, -2.0f, -3.0f);
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Quat rotation2 = Quat::sRotation(Vec3(4, 5, 6).Normalized(), 0.2f * JPH_PI);
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Mat44 transform2 = Mat44::sRotationTranslation(rotation2, translation2);
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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ShapeRefC box = new BoxShape(half_box_size);
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StaticCompoundShapeSettings settings;
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settings.AddShape(translation1, rotation1, box);
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settings.AddShape(translation2, rotation2, box);
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ShapeRefC shape = settings.Create().Get();
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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{
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Vec3 point = 0.99f * half_box_size * probe;
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sTestHit(shape, transform1 * point);
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sTestHit(shape, transform2 * point);
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}
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// Misses
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for (Vec3 probe : cube_probes)
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{
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Vec3 point = 1.01f * half_box_size * probe;
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sTestMiss(shape, transform1 * point);
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sTestMiss(shape, transform2 * point);
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}
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}
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TEST_CASE("TestCollidePointVsMutableCompound")
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{
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Vec3 translation1(10.0f, 11.0f, 12.0f);
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Quat rotation1 = Quat::sRotation(Vec3(1, 2, 3).Normalized(), 0.3f * JPH_PI);
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Mat44 transform1 = Mat44::sRotationTranslation(rotation1, translation1);
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Vec3 translation2(-1.0f, -2.0f, -3.0f);
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Quat rotation2 = Quat::sRotation(Vec3(4, 5, 6).Normalized(), 0.2f * JPH_PI);
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Mat44 transform2 = Mat44::sRotationTranslation(rotation2, translation2);
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Vec3 half_box_size(0.1f, 0.2f, 0.3f);
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ShapeRefC box = new BoxShape(half_box_size);
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MutableCompoundShapeSettings settings;
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settings.AddShape(translation1, rotation1, box);
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settings.AddShape(translation2, rotation2, box);
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ShapeRefC shape = settings.Create().Get();
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// Hits
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for (Vec3 probe : cube_and_zero_probes)
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{
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Vec3 point = 0.99f * half_box_size * probe;
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sTestHit(shape, transform1 * point);
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sTestHit(shape, transform2 * point);
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}
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// Misses
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for (Vec3 probe : cube_probes)
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||
|
|
{
|
||
|
|
Vec3 point = 1.01f * half_box_size * probe;
|
||
|
|
sTestMiss(shape, transform1 * point);
|
||
|
|
sTestMiss(shape, transform2 * point);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestCollidePointVsMesh")
|
||
|
|
{
|
||
|
|
// Face indices of a cube
|
||
|
|
int indices[][3] = {
|
||
|
|
{ 0, 1, 3 },
|
||
|
|
{ 0, 3, 2 },
|
||
|
|
{ 4, 7, 5 },
|
||
|
|
{ 4, 6, 7 },
|
||
|
|
{ 2, 3, 6 },
|
||
|
|
{ 3, 7, 6 },
|
||
|
|
{ 1, 0, 4 },
|
||
|
|
{ 1, 4, 5 },
|
||
|
|
{ 1, 7, 3 },
|
||
|
|
{ 1, 5, 7 },
|
||
|
|
{ 0, 2, 6 },
|
||
|
|
{ 0, 6, 4 }
|
||
|
|
};
|
||
|
|
|
||
|
|
const int grid_size = 2;
|
||
|
|
|
||
|
|
UnitTestRandom random;
|
||
|
|
uniform_real_distribution<float> range(0.1f, 0.3f);
|
||
|
|
|
||
|
|
// Create a grid of closed shapes
|
||
|
|
MeshShapeSettings settings;
|
||
|
|
settings.SetEmbedded();
|
||
|
|
int num_cubes = Cubed(2 * grid_size + 1);
|
||
|
|
settings.mTriangleVertices.reserve(num_cubes * size(cube_vertices));
|
||
|
|
settings.mIndexedTriangles.reserve(num_cubes * size(indices));
|
||
|
|
for (int x = -grid_size; x <= grid_size; ++x)
|
||
|
|
for (int y = -grid_size; y <= grid_size; ++y)
|
||
|
|
for (int z = -grid_size; z <= grid_size; ++z)
|
||
|
|
{
|
||
|
|
Vec3 center((float)x, (float)y, (float)z);
|
||
|
|
|
||
|
|
// Create vertices with randomness
|
||
|
|
uint vtx = (uint)settings.mTriangleVertices.size();
|
||
|
|
settings.mTriangleVertices.resize(vtx + size(cube_vertices));
|
||
|
|
for (uint i = 0; i < size(cube_vertices); ++i)
|
||
|
|
{
|
||
|
|
Vec3 vertex(center + cube_vertices[i] * Vec3(range(random), range(random), range(random)));
|
||
|
|
vertex.StoreFloat3(&settings.mTriangleVertices[vtx + i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Flip inside out? (inside out shapes should act the same as normal shapes for CollidePoint)
|
||
|
|
bool flip = (y & 1) == 0;
|
||
|
|
|
||
|
|
// Create face indices
|
||
|
|
uint idx = (uint)settings.mIndexedTriangles.size();
|
||
|
|
settings.mIndexedTriangles.resize(idx + size(indices));
|
||
|
|
for (uint i = 0; i < size(indices); ++i)
|
||
|
|
settings.mIndexedTriangles[idx + i] = IndexedTriangle(vtx + indices[i][0], vtx + indices[i][flip? 2 : 1], vtx + indices[i][flip? 1 : 2]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Create body with random orientation
|
||
|
|
PhysicsTestContext context;
|
||
|
|
Body &mesh_body = context.CreateBody(&settings, RVec3(Vec3::sRandom(random)), Quat::sRandom(random), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
|
||
|
|
|
||
|
|
// Get the shape
|
||
|
|
ShapeRefC mesh_shape = mesh_body.GetShape();
|
||
|
|
|
||
|
|
// Get narrow phase
|
||
|
|
const NarrowPhaseQuery &narrow_phase = context.GetSystem()->GetNarrowPhaseQuery();
|
||
|
|
|
||
|
|
// Get transform
|
||
|
|
RMat44 body_transform = mesh_body.GetWorldTransform();
|
||
|
|
CHECK(body_transform != RMat44::sIdentity());
|
||
|
|
|
||
|
|
// Test points
|
||
|
|
for (int x = -grid_size; x <= grid_size; ++x)
|
||
|
|
for (int y = -grid_size; y <= grid_size; ++y)
|
||
|
|
for (int z = -grid_size; z <= grid_size; ++z)
|
||
|
|
{
|
||
|
|
Vec3 center((float)x, (float)y, (float)z);
|
||
|
|
|
||
|
|
// The center point should hit
|
||
|
|
sTestHit(mesh_shape, center);
|
||
|
|
sTestHit(narrow_phase, body_transform * center, mesh_body.GetID());
|
||
|
|
|
||
|
|
// Points outside the hull should not hit
|
||
|
|
for (Vec3 probe : cube_probes)
|
||
|
|
{
|
||
|
|
Vec3 point = center + 0.4f * probe;
|
||
|
|
sTestMiss(mesh_shape, point);
|
||
|
|
sTestMiss(narrow_phase, body_transform * point);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|