465 lines
17 KiB
C++
465 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 <Jolt/Physics/Collision/RayCast.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
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#include <Jolt/Physics/Collision/PhysicsMaterialSimple.h>
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TEST_SUITE("HeightFieldShapeTests")
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{
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static void sRandomizeMaterials(HeightFieldShapeSettings &ioSettings, uint inMaxMaterials)
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{
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// Create materials
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for (uint i = 0; i < inMaxMaterials; ++i)
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ioSettings.mMaterials.push_back(new PhysicsMaterialSimple("Material " + ConvertToString(i), Color::sGetDistinctColor(i)));
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if (inMaxMaterials > 1)
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{
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// Make random material indices
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UnitTestRandom random;
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uniform_int_distribution<uint> index_distribution(0, inMaxMaterials - 1);
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ioSettings.mMaterialIndices.resize(Square(ioSettings.mSampleCount - 1));
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for (uint y = 0; y < ioSettings.mSampleCount - 1; ++y)
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for (uint x = 0; x < ioSettings.mSampleCount - 1; ++x)
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ioSettings.mMaterialIndices[y * (ioSettings.mSampleCount - 1) + x] = uint8(index_distribution(random));
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}
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}
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static Ref<HeightFieldShape> sValidateGetPosition(const HeightFieldShapeSettings &inSettings, float inMaxError)
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{
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// Create shape
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Ref<HeightFieldShape> shape = StaticCast<HeightFieldShape>(inSettings.Create().Get());
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// Validate it
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float max_diff = -1.0f;
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for (uint y = 0; y < inSettings.mSampleCount; ++y)
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for (uint x = 0; x < inSettings.mSampleCount; ++x)
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{
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// Perform a raycast from above the height field on this location
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RayCast ray { inSettings.mOffset + inSettings.mScale * Vec3((float)x, 100.0f, (float)y), inSettings.mScale.GetY() * Vec3(0, -200, 0) };
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RayCastResult hit;
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shape->CastRay(ray, SubShapeIDCreator(), hit);
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// Get original (unscaled) height
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float height = inSettings.mHeightSamples[y * inSettings.mSampleCount + x];
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if (height != HeightFieldShapeConstants::cNoCollisionValue)
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{
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// Check there is collision
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CHECK(!shape->IsNoCollision(x, y));
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// Calculate position
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Vec3 original_pos = inSettings.mOffset + inSettings.mScale * Vec3((float)x, height, (float)y);
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// Calculate position from the shape
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Vec3 shape_pos = shape->GetPosition(x, y);
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// Calculate delta
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float diff = (original_pos - shape_pos).Length();
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max_diff = max(max_diff, diff);
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// Materials are defined on the triangle, not on the sample points
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if (x < inSettings.mSampleCount - 1 && y < inSettings.mSampleCount - 1)
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{
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const PhysicsMaterial *m1 = PhysicsMaterial::sDefault;
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if (!inSettings.mMaterialIndices.empty())
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m1 = inSettings.mMaterials[inSettings.mMaterialIndices[y * (inSettings.mSampleCount - 1) + x]];
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else if (!inSettings.mMaterials.empty())
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m1 = inSettings.mMaterials.front();
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const PhysicsMaterial *m2 = shape->GetMaterial(x, y);
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CHECK(m1 == m2);
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}
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// Don't test borders, the ray may or may not hit
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if (x > 0 && y > 0 && x < inSettings.mSampleCount - 1 && y < inSettings.mSampleCount - 1)
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{
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// Check that the ray hit the height field
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Vec3 hit_pos = ray.GetPointOnRay(hit.mFraction);
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CHECK_APPROX_EQUAL(hit_pos, shape_pos, 1.0e-3f);
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}
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}
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else
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{
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// Should be no collision here
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CHECK(shape->IsNoCollision(x, y));
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// Ray should not have given a hit
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CHECK(hit.mFraction > 1.0f);
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}
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}
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// Check error
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CHECK(max_diff <= inMaxError);
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return shape;
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}
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TEST_CASE("TestPlane")
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{
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// Create flat plane with offset and scale
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HeightFieldShapeSettings settings;
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settings.mOffset = Vec3(3, 5, 7);
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settings.mScale = Vec3(9, 13, 17);
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settings.mSampleCount = 32;
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settings.mBitsPerSample = 1;
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settings.mBlockSize = 4;
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settings.mHeightSamples.resize(Square(settings.mSampleCount));
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for (float &h : settings.mHeightSamples)
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h = 1.0f;
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// Make some random holes
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UnitTestRandom random;
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uniform_int_distribution<uint> index_distribution(0, (uint)settings.mHeightSamples.size() - 1);
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for (int i = 0; i < 10; ++i)
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settings.mHeightSamples[index_distribution(random)] = HeightFieldShapeConstants::cNoCollisionValue;
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// We should be able to encode a flat plane in 1 bit
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CHECK(settings.CalculateBitsPerSampleForError(0.0f) == 1);
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sRandomizeMaterials(settings, 256);
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sValidateGetPosition(settings, 0.0f);
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}
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TEST_CASE("TestPlaneCloseToOrigin")
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{
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// Create flat plane very close to origin, this tests that we don't introduce a quantization error on a flat plane
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HeightFieldShapeSettings settings;
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settings.mSampleCount = 32;
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settings.mBitsPerSample = 1;
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settings.mBlockSize = 4;
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settings.mHeightSamples.resize(Square(settings.mSampleCount));
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for (float &h : settings.mHeightSamples)
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h = 1.0e-6f;
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// We should be able to encode a flat plane in 1 bit
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CHECK(settings.CalculateBitsPerSampleForError(0.0f) == 1);
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sRandomizeMaterials(settings, 50);
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sValidateGetPosition(settings, 0.0f);
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}
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TEST_CASE("TestRandomHeightField")
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{
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const float cMinHeight = -5.0f;
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const float cMaxHeight = 10.0f;
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UnitTestRandom random;
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uniform_real_distribution<float> height_distribution(cMinHeight, cMaxHeight);
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// Create height field with random samples
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HeightFieldShapeSettings settings;
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settings.mOffset = Vec3(0.3f, 0.5f, 0.7f);
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settings.mScale = Vec3(1.1f, 1.2f, 1.3f);
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settings.mSampleCount = 32;
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settings.mBitsPerSample = 8;
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settings.mBlockSize = 4;
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settings.mHeightSamples.resize(Square(settings.mSampleCount));
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for (float &h : settings.mHeightSamples)
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h = height_distribution(random);
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// Check if bits per sample is ok
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for (uint32 bits_per_sample = 1; bits_per_sample <= 8; ++bits_per_sample)
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{
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// Calculate maximum error you can get if you quantize using bits_per_sample.
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// We ignore the fact that we have range blocks that give much better compression, although
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// with random input data there shouldn't be much benefit of that.
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float max_error = 0.5f * (cMaxHeight - cMinHeight) / ((1 << bits_per_sample) - 1);
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uint32 calculated_bits_per_sample = settings.CalculateBitsPerSampleForError(max_error);
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CHECK(calculated_bits_per_sample <= bits_per_sample);
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}
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sRandomizeMaterials(settings, 1);
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sValidateGetPosition(settings, settings.mScale.GetY() * (cMaxHeight - cMinHeight) / ((1 << settings.mBitsPerSample) - 1));
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}
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TEST_CASE("TestEmptyHeightField")
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{
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// Create height field with no collision
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HeightFieldShapeSettings settings;
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settings.mSampleCount = 32;
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settings.mHeightSamples.resize(Square(settings.mSampleCount));
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for (float &h : settings.mHeightSamples)
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h = HeightFieldShapeConstants::cNoCollisionValue;
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// This should use the minimum amount of bits
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CHECK(settings.CalculateBitsPerSampleForError(0.0f) == 1);
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sRandomizeMaterials(settings, 50);
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Ref<HeightFieldShape> shape = sValidateGetPosition(settings, 0.0f);
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// Check that we allocated the minimum amount of memory
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Shape::Stats stats = shape->GetStats();
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CHECK(stats.mNumTriangles == 0);
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CHECK(stats.mSizeBytes == sizeof(HeightFieldShape));
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}
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TEST_CASE("TestGetHeights")
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{
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const float cMinHeight = -5.0f;
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const float cMaxHeight = 10.0f;
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const uint cSampleCount = 32;
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const uint cNoCollisionIndex = 10;
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UnitTestRandom random;
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uniform_real_distribution<float> height_distribution(cMinHeight, cMaxHeight);
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// Create height field with random samples
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HeightFieldShapeSettings settings;
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settings.mOffset = Vec3(0.3f, 0.5f, 0.7f);
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settings.mScale = Vec3(1.1f, 1.2f, 1.3f);
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settings.mSampleCount = cSampleCount;
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settings.mBitsPerSample = 8;
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settings.mBlockSize = 4;
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settings.mHeightSamples.resize(Square(cSampleCount));
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for (float &h : settings.mHeightSamples)
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h = height_distribution(random);
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// Add 1 sample that has no collision
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settings.mHeightSamples[cNoCollisionIndex] = HeightFieldShapeConstants::cNoCollisionValue;
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// Create shape
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ShapeRefC shape = settings.Create().Get();
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const HeightFieldShape *height_field = StaticCast<HeightFieldShape>(shape);
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{
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// Check that the GetHeights function returns the same values as the original height samples
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Array<float> sampled_heights;
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sampled_heights.resize(Square(cSampleCount));
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height_field->GetHeights(0, 0, cSampleCount, cSampleCount, sampled_heights.data(), cSampleCount);
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for (uint i = 0; i < Square(cSampleCount); ++i)
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if (i == cNoCollisionIndex)
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CHECK(sampled_heights[i] == HeightFieldShapeConstants::cNoCollisionValue);
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else
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CHECK_APPROX_EQUAL(sampled_heights[i], settings.mOffset.GetY() + settings.mScale.GetY() * settings.mHeightSamples[i], 0.05f);
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}
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{
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// With a random height field the max error is going to be limited by the amount of bits we have per sample as we will not get any benefit from a reduced range per block
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float tolerance = (cMaxHeight - cMinHeight) / ((1 << settings.mBitsPerSample) - 2);
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// Check a sub rect of the height field
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uint sx = 4, sy = 8, cx = 16, cy = 8;
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Array<float> sampled_heights;
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sampled_heights.resize(cx * cy);
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height_field->GetHeights(sx, sy, cx, cy, sampled_heights.data(), cx);
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for (uint y = 0; y < cy; ++y)
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for (uint x = 0; x < cx; ++x)
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CHECK_APPROX_EQUAL(sampled_heights[y * cx + x], settings.mOffset.GetY() + settings.mScale.GetY() * settings.mHeightSamples[(sy + y) * cSampleCount + sx + x], tolerance);
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}
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}
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TEST_CASE("TestSetHeights")
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{
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const float cMinHeight = -5.0f;
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const float cMaxHeight = 10.0f;
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const uint cSampleCount = 32;
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UnitTestRandom random;
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uniform_real_distribution<float> height_distribution(cMinHeight, cMaxHeight);
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// Create height field with random samples
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HeightFieldShapeSettings settings;
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settings.mOffset = Vec3(0.3f, 0.5f, 0.7f);
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settings.mScale = Vec3(1.1f, 1.2f, 1.3f);
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settings.mSampleCount = cSampleCount;
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settings.mBitsPerSample = 8;
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settings.mBlockSize = 4;
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settings.mHeightSamples.resize(Square(cSampleCount));
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settings.mMinHeightValue = cMinHeight;
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settings.mMaxHeightValue = cMaxHeight;
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for (float &h : settings.mHeightSamples)
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h = height_distribution(random);
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// Create shape
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Ref<Shape> shape = settings.Create().Get();
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HeightFieldShape *height_field = StaticCast<HeightFieldShape>(shape);
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// Get the original (quantized) heights
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Array<float> original_heights;
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original_heights.resize(Square(cSampleCount));
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height_field->GetHeights(0, 0, cSampleCount, cSampleCount, original_heights.data(), cSampleCount);
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// Create new data for height field
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Array<float> patched_heights;
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uint sx = 4, sy = 16, cx = 16, cy = 8;
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patched_heights.resize(cx * cy);
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for (uint y = 0; y < cy; ++y)
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for (uint x = 0; x < cx; ++x)
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patched_heights[y * cx + x] = height_distribution(random);
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// Add 1 sample that has no collision
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uint no_collision_idx = (sy + 1) * cSampleCount + sx + 2;
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patched_heights[1 * cx + 2] = HeightFieldShapeConstants::cNoCollisionValue;
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// Update the height field
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TempAllocatorMalloc temp_allocator;
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height_field->SetHeights(sx, sy, cx, cy, patched_heights.data(), cx, temp_allocator);
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// With a random height field the max error is going to be limited by the amount of bits we have per sample as we will not get any benefit from a reduced range per block
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float tolerance = (cMaxHeight - cMinHeight) / ((1 << settings.mBitsPerSample) - 2);
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// Check a sub rect of the height field
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Array<float> verify_heights;
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verify_heights.resize(cSampleCount * cSampleCount);
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height_field->GetHeights(0, 0, cSampleCount, cSampleCount, verify_heights.data(), cSampleCount);
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for (uint y = 0; y < cSampleCount; ++y)
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for (uint x = 0; x < cSampleCount; ++x)
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{
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uint idx = y * cSampleCount + x;
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if (idx == no_collision_idx)
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CHECK(verify_heights[idx] == HeightFieldShapeConstants::cNoCollisionValue);
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else if (x >= sx && x < sx + cx && y >= sy && y < sy + cy)
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CHECK_APPROX_EQUAL(verify_heights[y * cSampleCount + x], patched_heights[(y - sy) * cx + x - sx], tolerance);
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else if (x >= sx - settings.mBlockSize && x < sx + cx && y >= sy - settings.mBlockSize && y < sy + cy)
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CHECK_APPROX_EQUAL(verify_heights[idx], original_heights[idx], tolerance); // We didn't modify this but it has been quantized again
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else
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CHECK(verify_heights[idx] == original_heights[idx]); // We didn't modify this and it is outside of the affected range
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}
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}
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TEST_CASE("TestSetMaterials")
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{
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constexpr uint cSampleCount = 32;
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PhysicsMaterialRefC material_0 = new PhysicsMaterialSimple("Material 0", Color::sGetDistinctColor(0));
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PhysicsMaterialRefC material_1 = new PhysicsMaterialSimple("Material 1", Color::sGetDistinctColor(1));
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PhysicsMaterialRefC material_2 = new PhysicsMaterialSimple("Material 2", Color::sGetDistinctColor(2));
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PhysicsMaterialRefC material_3 = new PhysicsMaterialSimple("Material 3", Color::sGetDistinctColor(3));
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|
PhysicsMaterialRefC material_4 = new PhysicsMaterialSimple("Material 4", Color::sGetDistinctColor(4));
|
||
|
|
PhysicsMaterialRefC material_5 = new PhysicsMaterialSimple("Material 5", Color::sGetDistinctColor(5));
|
||
|
|
|
||
|
|
// Create height field with a single material
|
||
|
|
HeightFieldShapeSettings settings;
|
||
|
|
settings.mSampleCount = cSampleCount;
|
||
|
|
settings.mBitsPerSample = 8;
|
||
|
|
settings.mBlockSize = 4;
|
||
|
|
settings.mHeightSamples.resize(Square(cSampleCount));
|
||
|
|
for (float &h : settings.mHeightSamples)
|
||
|
|
h = 0.0f;
|
||
|
|
settings.mMaterials.push_back(material_0);
|
||
|
|
settings.mMaterialIndices.resize(Square(cSampleCount - 1));
|
||
|
|
for (uint8 &m : settings.mMaterialIndices)
|
||
|
|
m = 0;
|
||
|
|
|
||
|
|
// Store the current state
|
||
|
|
Array<const PhysicsMaterial *> current_state;
|
||
|
|
current_state.resize(Square(cSampleCount - 1));
|
||
|
|
for (const PhysicsMaterial *&m : current_state)
|
||
|
|
m = material_0;
|
||
|
|
|
||
|
|
// Create shape
|
||
|
|
Ref<Shape> shape = settings.Create().Get();
|
||
|
|
HeightFieldShape *height_field = StaticCast<HeightFieldShape>(shape);
|
||
|
|
|
||
|
|
// Check that the material is set
|
||
|
|
auto check_materials = [height_field, ¤t_state]() {
|
||
|
|
const PhysicsMaterialList &material_list = height_field->GetMaterialList();
|
||
|
|
|
||
|
|
uint sample_count_min_1 = height_field->GetSampleCount() - 1;
|
||
|
|
|
||
|
|
Array<uint8> material_indices;
|
||
|
|
material_indices.resize(Square(sample_count_min_1));
|
||
|
|
height_field->GetMaterials(0, 0, sample_count_min_1, sample_count_min_1, material_indices.data(), sample_count_min_1);
|
||
|
|
|
||
|
|
for (uint i = 0; i < (uint)current_state.size(); ++i)
|
||
|
|
CHECK(current_state[i] == material_list[material_indices[i]]);
|
||
|
|
};
|
||
|
|
check_materials();
|
||
|
|
|
||
|
|
// Function to randomize materials
|
||
|
|
auto update_materials = [height_field, ¤t_state](uint inStartX, uint inStartY, uint inSizeX, uint inSizeY, const PhysicsMaterialList *inMaterialList) {
|
||
|
|
TempAllocatorMalloc temp_allocator;
|
||
|
|
|
||
|
|
const PhysicsMaterialList &material_list = inMaterialList != nullptr? *inMaterialList : height_field->GetMaterialList();
|
||
|
|
|
||
|
|
UnitTestRandom random;
|
||
|
|
uniform_int_distribution<uint> index_distribution(0, uint(material_list.size()) - 1);
|
||
|
|
|
||
|
|
uint sample_count_min_1 = height_field->GetSampleCount() - 1;
|
||
|
|
|
||
|
|
Array<uint8> patched_materials;
|
||
|
|
patched_materials.resize(inSizeX * inSizeY);
|
||
|
|
for (uint y = 0; y < inSizeY; ++y)
|
||
|
|
for (uint x = 0; x < inSizeX; ++x)
|
||
|
|
{
|
||
|
|
// Initialize the patch
|
||
|
|
uint8 index = uint8(index_distribution(random));
|
||
|
|
patched_materials[y * inSizeX + x] = index;
|
||
|
|
|
||
|
|
// Update reference state
|
||
|
|
current_state[(inStartY + y) * sample_count_min_1 + inStartX + x] = material_list[index];
|
||
|
|
}
|
||
|
|
CHECK(height_field->SetMaterials(inStartX, inStartY, inSizeX, inSizeY, patched_materials.data(), inSizeX, inMaterialList, temp_allocator));
|
||
|
|
};
|
||
|
|
|
||
|
|
{
|
||
|
|
// Add material 1
|
||
|
|
PhysicsMaterialList patched_materials_list;
|
||
|
|
patched_materials_list.push_back(material_1);
|
||
|
|
patched_materials_list.push_back(material_0);
|
||
|
|
update_materials(4, 16, 16, 8, &patched_materials_list);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
// Add material 2
|
||
|
|
PhysicsMaterialList patched_materials_list;
|
||
|
|
patched_materials_list.push_back(material_0);
|
||
|
|
patched_materials_list.push_back(material_2);
|
||
|
|
update_materials(8, 16, 16, 8, &patched_materials_list);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
// Add material 3
|
||
|
|
PhysicsMaterialList patched_materials_list;
|
||
|
|
patched_materials_list.push_back(material_0);
|
||
|
|
patched_materials_list.push_back(material_1);
|
||
|
|
patched_materials_list.push_back(material_2);
|
||
|
|
patched_materials_list.push_back(material_3);
|
||
|
|
update_materials(8, 8, 16, 8, &patched_materials_list);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
// Add material 4
|
||
|
|
PhysicsMaterialList patched_materials_list;
|
||
|
|
patched_materials_list.push_back(material_0);
|
||
|
|
patched_materials_list.push_back(material_1);
|
||
|
|
patched_materials_list.push_back(material_4);
|
||
|
|
patched_materials_list.push_back(material_2);
|
||
|
|
patched_materials_list.push_back(material_3);
|
||
|
|
update_materials(0, 0, 30, 30, &patched_materials_list);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
// Add material 5
|
||
|
|
PhysicsMaterialList patched_materials_list;
|
||
|
|
patched_materials_list.push_back(material_4);
|
||
|
|
patched_materials_list.push_back(material_3);
|
||
|
|
patched_materials_list.push_back(material_0);
|
||
|
|
patched_materials_list.push_back(material_1);
|
||
|
|
patched_materials_list.push_back(material_2);
|
||
|
|
patched_materials_list.push_back(material_5);
|
||
|
|
update_materials(1, 1, 30, 30, &patched_materials_list);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
// Update materials without new material list
|
||
|
|
update_materials(2, 5, 10, 15, nullptr);
|
||
|
|
check_materials();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Check materials using GetMaterial call
|
||
|
|
for (uint y = 0; y < cSampleCount - 1; ++y)
|
||
|
|
for (uint x = 0; x < cSampleCount - 1; ++x)
|
||
|
|
CHECK(height_field->GetMaterial(x, y) == current_state[y * (cSampleCount - 1) + x]);
|
||
|
|
}
|
||
|
|
}
|