765 lines
33 KiB
C++
765 lines
33 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 "LoggingContactListener.h"
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/CollideShape.h>
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#include <Jolt/Physics/Collision/CollideShapeVsShapePerLeaf.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
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TEST_SUITE("SensorTests")
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{
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using LogEntry = LoggingContactListener::LogEntry;
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using EType = LoggingContactListener::EType;
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TEST_CASE("TestDynamicVsSensor")
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{
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PhysicsTestContext c;
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c.ZeroGravity();
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Sensor
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);
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// Dynamic body moving downwards
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Body &dynamic = c.CreateBox(RVec3(0, 2, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
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dynamic.SetLinearVelocity(Vec3(0, -1, 0));
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// After a single step the dynamic object should not have touched the sensor yet
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 0);
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// After half a second and one step we should be touching the sensor
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c.Simulate(0.5f + c.GetStepDeltaTime());
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CHECK(listener.Contains(EType::Add, dynamic.GetID(), sensor_id));
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listener.Clear();
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// The next step we require that the contact persists
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c.SimulateSingleStep();
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CHECK(listener.Contains(EType::Persist, dynamic.GetID(), sensor_id));
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CHECK(!listener.Contains(EType::Remove, dynamic.GetID(), sensor_id));
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listener.Clear();
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// After 3 more seconds we should have left the sensor at the bottom side
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c.Simulate(3.0f);
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CHECK(listener.Contains(EType::Remove, dynamic.GetID(), sensor_id));
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CHECK_APPROX_EQUAL(dynamic.GetPosition(), RVec3(0, -1.5f - 3.0f * c.GetDeltaTime(), 0), 1.0e-4f);
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}
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TEST_CASE("TestKinematicVsSensor")
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{
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PhysicsTestContext c;
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Sensor
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);
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// Kinematic body moving downwards
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Body &kinematic = c.CreateBox(RVec3(0, 2, 0), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
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kinematic.SetLinearVelocity(Vec3(0, -1, 0));
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// After a single step the kinematic object should not have touched the sensor yet
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 0);
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// After half a second and one step we should be touching the sensor
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c.Simulate(0.5f + c.GetStepDeltaTime());
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CHECK(listener.Contains(EType::Add, kinematic.GetID(), sensor_id));
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listener.Clear();
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// The next step we require that the contact persists
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c.SimulateSingleStep();
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CHECK(listener.Contains(EType::Persist, kinematic.GetID(), sensor_id));
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CHECK(!listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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listener.Clear();
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// After 3 more seconds we should have left the sensor at the bottom side
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c.Simulate(3.0f);
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CHECK(listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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CHECK_APPROX_EQUAL(kinematic.GetPosition(), RVec3(0, -1.5f - 3.0f * c.GetDeltaTime(), 0), 1.0e-4f);
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}
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TEST_CASE("TestKinematicVsKinematicSensor")
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{
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// Same as TestKinematicVsSensor but with the sensor being an active kinematic body
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PhysicsTestContext c;
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Kinematic sensor
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);
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// Kinematic body moving downwards
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Body &kinematic = c.CreateBox(RVec3(0, 2, 0), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
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kinematic.SetLinearVelocity(Vec3(0, -1, 0));
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// After a single step the kinematic object should not have touched the sensor yet
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 0);
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// After half a second and one step we should be touching the sensor
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c.Simulate(0.5f + c.GetStepDeltaTime());
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CHECK(listener.Contains(EType::Add, kinematic.GetID(), sensor_id));
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listener.Clear();
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// The next step we require that the contact persists
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c.SimulateSingleStep();
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CHECK(listener.Contains(EType::Persist, kinematic.GetID(), sensor_id));
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CHECK(!listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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listener.Clear();
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// After 3 more seconds we should have left the sensor at the bottom side
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c.Simulate(3.0f);
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CHECK(listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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CHECK_APPROX_EQUAL(kinematic.GetPosition(), RVec3(0, -1.5f - 3.0f * c.GetDeltaTime(), 0), 1.0e-4f);
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}
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TEST_CASE("TestKinematicVsKinematicSensorReversed")
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{
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// Same as TestKinematicVsKinematicSensor but with bodies created in reverse order (this matters for Body::sFindCollidingPairsCanCollide because MotionProperties::mIndexInActiveBodies is swapped between the bodies)
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PhysicsTestContext c;
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Kinematic body moving downwards
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Body &kinematic = c.CreateBox(RVec3(0, 2, 0), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
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kinematic.SetLinearVelocity(Vec3(0, -1, 0));
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// Kinematic sensor
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);
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// After a single step the kinematic object should not have touched the sensor yet
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 0);
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// After half a second and one step we should be touching the sensor
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c.Simulate(0.5f + c.GetStepDeltaTime());
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CHECK(listener.Contains(EType::Add, kinematic.GetID(), sensor_id));
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listener.Clear();
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// The next step we require that the contact persists
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c.SimulateSingleStep();
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CHECK(listener.Contains(EType::Persist, kinematic.GetID(), sensor_id));
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CHECK(!listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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listener.Clear();
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// After 3 more seconds we should have left the sensor at the bottom side
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c.Simulate(3.0f);
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CHECK(listener.Contains(EType::Remove, kinematic.GetID(), sensor_id));
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CHECK_APPROX_EQUAL(kinematic.GetPosition(), RVec3(0, -1.5f - 3.0f * c.GetDeltaTime(), 0), 1.0e-4f);
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}
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TEST_CASE("TestDynamicSleepingVsStaticSensor")
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{
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PhysicsTestContext c;
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Sensor
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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Body &sensor = *c.GetBodyInterface().CreateBody(sensor_settings);
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c.GetBodyInterface().AddBody(sensor.GetID(), EActivation::DontActivate);
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// Floor
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Body &floor = c.CreateFloor();
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// Dynamic body on floor (make them penetrate)
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Body &dynamic = c.CreateBox(RVec3(0, 0.5f - c.GetSystem()->GetPhysicsSettings().mMaxPenetrationDistance, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f), EActivation::DontActivate);
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// After a single step (because the object is sleeping) there should not be a contact
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 0);
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// The dynamic object should not be part of an island
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CHECK(!sensor.IsActive());
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() == Body::cInactiveIndex);
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// Activate the body
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c.GetBodyInterface().ActivateBody(dynamic.GetID());
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// After a single step we should have detected the collision with the floor and the sensor
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 4);
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CHECK(listener.Contains(EType::Validate, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Add, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Validate, sensor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Add, sensor.GetID(), dynamic.GetID()));
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listener.Clear();
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// The dynamic object should be part of an island now
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CHECK(!sensor.IsActive());
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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// After a second the body should have gone to sleep and the contacts should have been removed
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c.Simulate(1.0f);
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CHECK(!dynamic.IsActive());
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CHECK(listener.Contains(EType::Remove, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Remove, sensor.GetID(), dynamic.GetID()));
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// The dynamic object should not be part of an island
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CHECK(!sensor.IsActive());
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() == Body::cInactiveIndex);
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}
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TEST_CASE("TestDynamicSleepingVsKinematicSensor")
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{
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PhysicsTestContext c;
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// Register listener
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LoggingContactListener listener;
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c.GetSystem()->SetContactListener(&listener);
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// Kinematic sensor that is active (so will keep detecting contacts with sleeping bodies)
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BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
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sensor_settings.mIsSensor = true;
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Body &sensor = *c.GetBodyInterface().CreateBody(sensor_settings);
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c.GetBodyInterface().AddBody(sensor.GetID(), EActivation::Activate);
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// Floor
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Body &floor = c.CreateFloor();
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// Dynamic body on floor (make them penetrate)
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Body &dynamic = c.CreateBox(RVec3(0, 0.5f - c.GetSystem()->GetPhysicsSettings().mMaxPenetrationDistance, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f), EActivation::DontActivate);
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// After a single step, there should be a contact with the sensor only (the sensor is active)
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 2);
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CHECK(listener.Contains(EType::Validate, sensor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Add, sensor.GetID(), dynamic.GetID()));
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listener.Clear();
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// The sensor should be in its own island
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() == Body::cInactiveIndex);
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// The second step, the contact with the sensor should have persisted
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 1);
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CHECK(listener.Contains(EType::Persist, sensor.GetID(), dynamic.GetID()));
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listener.Clear();
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// The sensor should still be in its own island
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() == Body::cInactiveIndex);
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// Activate the body
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c.GetBodyInterface().ActivateBody(dynamic.GetID());
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// After a single step we should have detected collision with the floor and the collision with the sensor should have persisted
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() == 3);
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CHECK(listener.Contains(EType::Validate, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Add, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Persist, sensor.GetID(), dynamic.GetID()));
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listener.Clear();
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// The sensor should not be part of the same island as the dynamic body (they won't interact, so this is not needed)
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != dynamic.GetMotionProperties()->GetIslandIndexInternal());
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// After another step we should have persisted the collision with the floor and sensor
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c.SimulateSingleStep();
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CHECK(listener.GetEntryCount() >= 2); // Depending on if we used the contact cache or not there will be validate callbacks too
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CHECK(listener.Contains(EType::Persist, floor.GetID(), dynamic.GetID()));
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CHECK(!listener.Contains(EType::Remove, floor.GetID(), dynamic.GetID()));
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CHECK(listener.Contains(EType::Persist, sensor.GetID(), dynamic.GetID()));
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CHECK(!listener.Contains(EType::Remove, sensor.GetID(), dynamic.GetID()));
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listener.Clear();
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// The same islands as the previous step should have been created
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(dynamic.GetMotionProperties()->GetIslandIndexInternal() != Body::cInactiveIndex);
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CHECK(sensor.GetMotionProperties()->GetIslandIndexInternal() != dynamic.GetMotionProperties()->GetIslandIndexInternal());
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// After a second the body should have gone to sleep and the contacts with the floor should have been removed, but not with the sensor
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c.Simulate(1.0f);
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CHECK(!dynamic.IsActive());
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CHECK(listener.Contains(EType::Remove, floor.GetID(), dynamic.GetID()));
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CHECK(!listener.Contains(EType::Remove, sensor.GetID(), dynamic.GetID()));
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}
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TEST_CASE("TestSensorVsSensor")
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{
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for (int test = 0; test < 2; ++test)
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{
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bool sensor_detects_sensor = test == 1;
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PhysicsTestContext c;
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|
|
// Register listener
|
||
|
|
LoggingContactListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Depending on the iteration we either place the sensor in the moving layer which means it will collide with other sensors
|
||
|
|
// or we put it in the sensor layer which means it won't collide with other sensors
|
||
|
|
ObjectLayer layer = sensor_detects_sensor? Layers::MOVING : Layers::SENSOR;
|
||
|
|
|
||
|
|
// Sensor 1
|
||
|
|
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, layer);
|
||
|
|
sensor_settings.mIsSensor = true;
|
||
|
|
BodyID sensor_id1 = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);
|
||
|
|
|
||
|
|
// Sensor 2 moving downwards
|
||
|
|
sensor_settings.mMotionType = EMotionType::Kinematic;
|
||
|
|
sensor_settings.mPosition = RVec3(0, 3, 0);
|
||
|
|
sensor_settings.mIsSensor = true;
|
||
|
|
sensor_settings.mLinearVelocity = Vec3(0, -2, 0);
|
||
|
|
BodyID sensor_id2 = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);
|
||
|
|
|
||
|
|
// After a single step the sensors should not touch yet
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
|
||
|
|
// After half a second and one step the sensors should be touching
|
||
|
|
c.Simulate(0.5f + c.GetDeltaTime());
|
||
|
|
if (sensor_detects_sensor)
|
||
|
|
CHECK(listener.Contains(EType::Add, sensor_id1, sensor_id2));
|
||
|
|
else
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// The next step we require that the contact persists
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
if (sensor_detects_sensor)
|
||
|
|
{
|
||
|
|
CHECK(listener.Contains(EType::Persist, sensor_id1, sensor_id2));
|
||
|
|
CHECK(!listener.Contains(EType::Remove, sensor_id1, sensor_id2));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// After 2 more seconds we should have left the sensor at the bottom side
|
||
|
|
c.Simulate(2.0f);
|
||
|
|
if (sensor_detects_sensor)
|
||
|
|
CHECK(listener.Contains(EType::Remove, sensor_id1, sensor_id2));
|
||
|
|
else
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
CHECK_APPROX_EQUAL(c.GetBodyInterface().GetPosition(sensor_id2), sensor_settings.mPosition + sensor_settings.mLinearVelocity * (2.5f + 3.0f * c.GetDeltaTime()), 1.0e-4f);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestContactListenerMakesSensor")
|
||
|
|
{
|
||
|
|
PhysicsTestContext c;
|
||
|
|
c.ZeroGravity();
|
||
|
|
|
||
|
|
class SensorOverridingListener : public LoggingContactListener
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual void OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
|
||
|
|
{
|
||
|
|
LoggingContactListener::OnContactAdded(inBody1, inBody2, inManifold, ioSettings);
|
||
|
|
|
||
|
|
JPH_ASSERT(ioSettings.mIsSensor == false);
|
||
|
|
if (inBody1.GetID() == mBodyThatSeesSensorID || inBody2.GetID() == mBodyThatSeesSensorID)
|
||
|
|
ioSettings.mIsSensor = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
|
||
|
|
{
|
||
|
|
LoggingContactListener::OnContactPersisted(inBody1, inBody2, inManifold, ioSettings);
|
||
|
|
|
||
|
|
JPH_ASSERT(ioSettings.mIsSensor == false);
|
||
|
|
if (inBody1.GetID() == mBodyThatSeesSensorID || inBody2.GetID() == mBodyThatSeesSensorID)
|
||
|
|
ioSettings.mIsSensor = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
BodyID mBodyThatSeesSensorID;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Register listener
|
||
|
|
SensorOverridingListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Body that will appear as a sensor to one object and as static to another
|
||
|
|
BodyID static_id = c.GetBodyInterface().CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(5, 1, 5)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
||
|
|
|
||
|
|
// Dynamic body moving down that will do a normal collision
|
||
|
|
Body &dynamic1 = c.CreateBox(RVec3(-2, 2, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
|
||
|
|
dynamic1.SetAllowSleeping(false);
|
||
|
|
dynamic1.SetLinearVelocity(Vec3(0, -1, 0));
|
||
|
|
|
||
|
|
// Dynamic body moving down that will only see the static object as a sensor
|
||
|
|
Body &dynamic2 = c.CreateBox(RVec3(2, 2, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3::sReplicate(0.5f));
|
||
|
|
dynamic2.SetAllowSleeping(false);
|
||
|
|
dynamic2.SetLinearVelocity(Vec3(0, -1, 0));
|
||
|
|
listener.mBodyThatSeesSensorID = dynamic2.GetID();
|
||
|
|
|
||
|
|
// After a single step the dynamic object should not have touched the sensor yet
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
|
||
|
|
// After half a second both bodies should be touching the sensor
|
||
|
|
c.Simulate(0.5f);
|
||
|
|
CHECK(listener.Contains(EType::Add, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(listener.Contains(EType::Add, dynamic2.GetID(), static_id));
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// The next step we require that the contact persists
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.Contains(EType::Persist, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(!listener.Contains(EType::Remove, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(listener.Contains(EType::Persist, dynamic2.GetID(), static_id));
|
||
|
|
CHECK(!listener.Contains(EType::Remove, dynamic2.GetID(), static_id));
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// After 3 more seconds one body should be resting on the static body, the other should have fallen through
|
||
|
|
c.Simulate(3.0f + c.GetDeltaTime());
|
||
|
|
CHECK(listener.Contains(EType::Persist, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(!listener.Contains(EType::Remove, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(listener.Contains(EType::Remove, dynamic2.GetID(), static_id));
|
||
|
|
CHECK_APPROX_EQUAL(dynamic1.GetPosition(), RVec3(-2, 1.5f, 0), 5.0e-3f);
|
||
|
|
CHECK_APPROX_EQUAL(dynamic2.GetPosition(), RVec3(2, -1.5f - 3.0f * c.GetDeltaTime(), 0), 1.0e-4f);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestContactListenerMakesSensorCCD")
|
||
|
|
{
|
||
|
|
PhysicsTestContext c;
|
||
|
|
c.ZeroGravity();
|
||
|
|
|
||
|
|
const float cPenetrationSlop = c.GetSystem()->GetPhysicsSettings().mPenetrationSlop;
|
||
|
|
|
||
|
|
class SensorOverridingListener : public LoggingContactListener
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual void OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
|
||
|
|
{
|
||
|
|
LoggingContactListener::OnContactAdded(inBody1, inBody2, inManifold, ioSettings);
|
||
|
|
|
||
|
|
JPH_ASSERT(ioSettings.mIsSensor == false);
|
||
|
|
if (inBody1.GetID() == mBodyThatBecomesSensor || inBody2.GetID() == mBodyThatBecomesSensor)
|
||
|
|
ioSettings.mIsSensor = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
|
||
|
|
{
|
||
|
|
LoggingContactListener::OnContactPersisted(inBody1, inBody2, inManifold, ioSettings);
|
||
|
|
|
||
|
|
JPH_ASSERT(ioSettings.mIsSensor == false);
|
||
|
|
if (inBody1.GetID() == mBodyThatBecomesSensor || inBody2.GetID() == mBodyThatBecomesSensor)
|
||
|
|
ioSettings.mIsSensor = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
BodyID mBodyThatBecomesSensor;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Register listener
|
||
|
|
SensorOverridingListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Body that blocks the path
|
||
|
|
BodyID static_id = c.GetBodyInterface().CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(0.1f, 10, 10)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
||
|
|
|
||
|
|
// Dynamic body moving to the static object that will do a normal CCD collision
|
||
|
|
RVec3 dynamic1_pos(-0.5f, 2, 0);
|
||
|
|
Vec3 initial_velocity(500, 0, 0);
|
||
|
|
Body &dynamic1 = c.CreateBox(dynamic1_pos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::LinearCast, Layers::MOVING, Vec3::sReplicate(0.1f));
|
||
|
|
dynamic1.SetAllowSleeping(false);
|
||
|
|
dynamic1.SetLinearVelocity(initial_velocity);
|
||
|
|
dynamic1.SetRestitution(1.0f);
|
||
|
|
|
||
|
|
// Dynamic body moving through the static object that will become a sensor an thus pass through
|
||
|
|
RVec3 dynamic2_pos(-0.5f, -2, 0);
|
||
|
|
Body &dynamic2 = c.CreateBox(dynamic2_pos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::LinearCast, Layers::MOVING, Vec3::sReplicate(0.1f));
|
||
|
|
dynamic2.SetAllowSleeping(false);
|
||
|
|
dynamic2.SetLinearVelocity(initial_velocity);
|
||
|
|
dynamic2.SetRestitution(1.0f);
|
||
|
|
listener.mBodyThatBecomesSensor = dynamic2.GetID();
|
||
|
|
|
||
|
|
// After a single step the we should have contact added callbacks for both bodies
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.Contains(EType::Add, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(listener.Contains(EType::Add, dynamic2.GetID(), static_id));
|
||
|
|
listener.Clear();
|
||
|
|
CHECK_APPROX_EQUAL(dynamic1.GetPosition(), dynamic1_pos + RVec3(0.3f + cPenetrationSlop, 0, 0), 1.0e-4f); // Dynamic 1 should have moved to the surface of the static body
|
||
|
|
CHECK_APPROX_EQUAL(dynamic2.GetPosition(), dynamic2_pos + initial_velocity * c.GetDeltaTime(), 1.0e-4f); // Dynamic 2 should have passed through the static body because it became a sensor
|
||
|
|
|
||
|
|
// The next step the sensor should have its contact removed and the CCD body should have its contact persisted because it starts penetrating
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.Contains(EType::Persist, dynamic1.GetID(), static_id));
|
||
|
|
CHECK(listener.Contains(EType::Remove, dynamic2.GetID(), static_id));
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// The next step all contacts have been removed
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.Contains(EType::Remove, dynamic1.GetID(), static_id));
|
||
|
|
listener.Clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestSensorVsSubShapes")
|
||
|
|
{
|
||
|
|
PhysicsTestContext c;
|
||
|
|
BodyInterface &bi = c.GetBodyInterface();
|
||
|
|
|
||
|
|
// Register listener
|
||
|
|
LoggingContactListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Create sensor
|
||
|
|
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(5.0f)), RVec3(0, 10, 0), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
|
||
|
|
sensor_settings.mIsSensor = true;
|
||
|
|
BodyID sensor_id = bi.CreateAndAddBody(sensor_settings, EActivation::DontActivate);
|
||
|
|
|
||
|
|
// We will be testing if we receive callbacks from the individual sub shapes
|
||
|
|
enum class EUserData
|
||
|
|
{
|
||
|
|
Bottom,
|
||
|
|
Middle,
|
||
|
|
Top,
|
||
|
|
};
|
||
|
|
|
||
|
|
// Create compound with 3 sub shapes
|
||
|
|
Ref<StaticCompoundShapeSettings> shape_settings = new StaticCompoundShapeSettings();
|
||
|
|
Ref<BoxShapeSettings> shape1 = new BoxShapeSettings(Vec3::sReplicate(0.4f));
|
||
|
|
shape1->mUserData = (uint64)EUserData::Bottom;
|
||
|
|
Ref<BoxShapeSettings> shape2 = new BoxShapeSettings(Vec3::sReplicate(0.4f));
|
||
|
|
shape2->mUserData = (uint64)EUserData::Middle;
|
||
|
|
Ref<BoxShapeSettings> shape3 = new BoxShapeSettings(Vec3::sReplicate(0.4f));
|
||
|
|
shape3->mUserData = (uint64)EUserData::Top;
|
||
|
|
shape_settings->AddShape(Vec3(0, -1.0f, 0), Quat::sIdentity(), shape1);
|
||
|
|
shape_settings->AddShape(Vec3(0, 0.0f, 0), Quat::sIdentity(), shape2);
|
||
|
|
shape_settings->AddShape(Vec3(0, 1.0f, 0), Quat::sIdentity(), shape3);
|
||
|
|
BodyCreationSettings compound_body_settings(shape_settings, RVec3(0, 20, 0), Quat::sIdentity(), JPH::EMotionType::Dynamic, Layers::MOVING);
|
||
|
|
compound_body_settings.mUseManifoldReduction = false; // Turn off manifold reduction for this body so that we can get proper callbacks for individual sub shapes
|
||
|
|
JPH::BodyID compound_body = bi.CreateAndAddBody(compound_body_settings, JPH::EActivation::Activate);
|
||
|
|
|
||
|
|
// Simulate until the body passes the origin
|
||
|
|
while (bi.GetPosition(compound_body).GetY() > 0.0f)
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
|
||
|
|
// The expected events
|
||
|
|
struct Expected
|
||
|
|
{
|
||
|
|
|
||
|
|
EType mType;
|
||
|
|
EUserData mUserData;
|
||
|
|
};
|
||
|
|
const Expected expected[] = {
|
||
|
|
{ EType::Add, EUserData::Bottom },
|
||
|
|
{ EType::Add, EUserData::Middle },
|
||
|
|
{ EType::Add, EUserData::Top },
|
||
|
|
{ EType::Remove, EUserData::Bottom },
|
||
|
|
{ EType::Remove, EUserData::Middle },
|
||
|
|
{ EType::Remove, EUserData::Top }
|
||
|
|
};
|
||
|
|
const Expected *next = expected;
|
||
|
|
const Expected *end = expected + size(expected);
|
||
|
|
|
||
|
|
// Loop over events that we received
|
||
|
|
for (size_t e = 0; e < listener.GetEntryCount(); ++e)
|
||
|
|
{
|
||
|
|
const LoggingContactListener::LogEntry &entry = listener.GetEntry(e);
|
||
|
|
|
||
|
|
// Only interested in adds/removes
|
||
|
|
if (entry.mType != EType::Add && entry.mType != EType::Remove)
|
||
|
|
continue;
|
||
|
|
|
||
|
|
// Check if we have more expected events
|
||
|
|
if (next >= end)
|
||
|
|
{
|
||
|
|
CHECK(false);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Check if it is of expected type
|
||
|
|
CHECK(entry.mType == next->mType);
|
||
|
|
CHECK(entry.mBody1 == sensor_id);
|
||
|
|
CHECK(entry.mManifold.mSubShapeID1 == SubShapeID());
|
||
|
|
CHECK(entry.mBody2 == compound_body);
|
||
|
|
EUserData user_data = (EUserData)bi.GetShape(compound_body)->GetSubShapeUserData(entry.mManifold.mSubShapeID2);
|
||
|
|
CHECK(user_data == next->mUserData);
|
||
|
|
|
||
|
|
// Next expected event
|
||
|
|
++next;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Check all expected events received
|
||
|
|
CHECK(next == end);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestSensorVsStatic")
|
||
|
|
{
|
||
|
|
PhysicsTestContext c;
|
||
|
|
|
||
|
|
// Register listener
|
||
|
|
LoggingContactListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Static body 1
|
||
|
|
Body &static1 = c.CreateSphere(RVec3::sZero(), 1.0f, EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
|
||
|
|
|
||
|
|
// Sensor
|
||
|
|
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::MOVING); // Put in layer that collides with static
|
||
|
|
sensor_settings.mIsSensor = true;
|
||
|
|
Body &sensor = *c.GetBodyInterface().CreateBody(sensor_settings);
|
||
|
|
BodyID sensor_id = sensor.GetID();
|
||
|
|
c.GetBodyInterface().AddBody(sensor_id, EActivation::Activate);
|
||
|
|
|
||
|
|
// Static body 2 (created after sensor to force higher body ID)
|
||
|
|
Body &static2 = c.CreateSphere(RVec3::sZero(), 1.0f, EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
|
||
|
|
|
||
|
|
// After a step we should not detect the static bodies
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.GetEntryCount() == 0);
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// Start detecting static
|
||
|
|
sensor.SetCollideKinematicVsNonDynamic(true);
|
||
|
|
|
||
|
|
// After a single step we should detect both static bodies
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.GetEntryCount() == 4); // Should also contain validates
|
||
|
|
CHECK(listener.Contains(EType::Add, static1.GetID(), sensor_id));
|
||
|
|
CHECK(listener.Contains(EType::Add, static2.GetID(), sensor_id));
|
||
|
|
listener.Clear();
|
||
|
|
|
||
|
|
// Stop detecting static
|
||
|
|
sensor.SetCollideKinematicVsNonDynamic(false);
|
||
|
|
|
||
|
|
// After a single step we should stop detecting both static bodies
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
CHECK(listener.GetEntryCount() == 2);
|
||
|
|
CHECK(listener.Contains(EType::Remove, static1.GetID(), sensor_id));
|
||
|
|
CHECK(listener.Contains(EType::Remove, static2.GetID(), sensor_id));
|
||
|
|
listener.Clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
static void sCollideBodyVsBodyAll(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter)
|
||
|
|
{
|
||
|
|
// Override the back face mode so we get hits with all triangles
|
||
|
|
ioCollideShapeSettings.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
|
||
|
|
PhysicsSystem::sDefaultSimCollideBodyVsBody(inBody1, inBody2, inCenterOfMassTransform1, inCenterOfMassTransform2, ioCollideShapeSettings, ioCollector, inShapeFilter);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void sCollideBodyVsBodyPerBody(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter)
|
||
|
|
{
|
||
|
|
// Max 1 hit per body pair
|
||
|
|
AnyHitCollisionCollector<CollideShapeCollector> collector;
|
||
|
|
SubShapeIDCreator part1, part2;
|
||
|
|
CollisionDispatch::sCollideShapeVsShape(inBody1.GetShape(), inBody2.GetShape(), Vec3::sOne(), Vec3::sOne(), inCenterOfMassTransform1, inCenterOfMassTransform2, part1, part2, ioCollideShapeSettings, collector);
|
||
|
|
if (collector.HadHit())
|
||
|
|
ioCollector.AddHit(collector.mHit);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void sCollideBodyVsBodyPerLeaf(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter)
|
||
|
|
{
|
||
|
|
// Max 1 hit per leaf shape pair
|
||
|
|
SubShapeIDCreator part1, part2;
|
||
|
|
CollideShapeVsShapePerLeaf<AnyHitCollisionCollector<CollideShapeCollector>>(inBody1.GetShape(), inBody2.GetShape(), Vec3::sOne(), Vec3::sOne(), inCenterOfMassTransform1, inCenterOfMassTransform2, part1, part2, ioCollideShapeSettings, ioCollector, inShapeFilter);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("TestSimCollideBodyVsBody")
|
||
|
|
{
|
||
|
|
// Create pyramid with flat top
|
||
|
|
MeshShapeSettings pyramid;
|
||
|
|
pyramid.mTriangleVertices = { Float3(1, 0, 1), Float3(1, 0, -1), Float3(-1, 0, -1), Float3(-1, 0, 1), Float3(0.1f, 1, 0.1f), Float3(0.1f, 1, -0.1f), Float3(-0.1f, 1, -0.1f), Float3(-0.1f, 1, 0.1f) };
|
||
|
|
pyramid.mIndexedTriangles = { IndexedTriangle(0, 1, 4), IndexedTriangle(4, 1, 5), IndexedTriangle(1, 2, 5), IndexedTriangle(2, 6, 5), IndexedTriangle(2, 3, 6), IndexedTriangle(3, 7, 6), IndexedTriangle(3, 0, 7), IndexedTriangle(0, 4, 7), IndexedTriangle(4, 5, 6), IndexedTriangle(4, 6, 7) };
|
||
|
|
pyramid.SetEmbedded();
|
||
|
|
|
||
|
|
// Create floor of many pyramids
|
||
|
|
StaticCompoundShapeSettings compound;
|
||
|
|
for (int x = -10; x <= 10; ++x)
|
||
|
|
for (int z = -10; z <= 10; ++z)
|
||
|
|
compound.AddShape(Vec3(x * 2.0f, 0, z * 2.0f), Quat::sIdentity(), &pyramid);
|
||
|
|
compound.SetEmbedded();
|
||
|
|
|
||
|
|
for (int type = 0; type < 3; ++type)
|
||
|
|
{
|
||
|
|
PhysicsTestContext c;
|
||
|
|
|
||
|
|
// Register listener
|
||
|
|
LoggingContactListener listener;
|
||
|
|
c.GetSystem()->SetContactListener(&listener);
|
||
|
|
|
||
|
|
// Create floor
|
||
|
|
BodyID floor_id = c.GetBodyInterface().CreateAndAddBody(BodyCreationSettings(&compound, RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
|
||
|
|
|
||
|
|
// A kinematic sensor that also detects static bodies
|
||
|
|
// Note that the size has been picked so that it is slightly smaller than 11 x 11 pyramids and incorporates all triangles in those pyramids
|
||
|
|
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(10.99f)), RVec3(0, 5, 0), Quat::sIdentity(), EMotionType::Kinematic, Layers::MOVING); // Put in a layer that collides with static
|
||
|
|
sensor_settings.mIsSensor = true;
|
||
|
|
sensor_settings.mCollideKinematicVsNonDynamic = true;
|
||
|
|
sensor_settings.mUseManifoldReduction = false;
|
||
|
|
BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);
|
||
|
|
|
||
|
|
// Select the body vs body collision function
|
||
|
|
switch (type)
|
||
|
|
{
|
||
|
|
case 0:
|
||
|
|
c.GetSystem()->SetSimCollideBodyVsBody(sCollideBodyVsBodyAll);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 1:
|
||
|
|
c.GetSystem()->SetSimCollideBodyVsBody(sCollideBodyVsBodyPerLeaf);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 2:
|
||
|
|
c.GetSystem()->SetSimCollideBodyVsBody(sCollideBodyVsBodyPerBody);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Trigger collision callbacks
|
||
|
|
c.SimulateSingleStep();
|
||
|
|
|
||
|
|
// Count the number of hits that were detected
|
||
|
|
size_t count = 0;
|
||
|
|
for (size_t i = 0; i < listener.GetEntryCount(); ++i)
|
||
|
|
{
|
||
|
|
const LoggingContactListener::LogEntry &entry = listener.GetEntry(i);
|
||
|
|
if (entry.mType == EType::Add && entry.mBody1 == floor_id && entry.mBody2 == sensor_id)
|
||
|
|
++count;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Check that we received the number of hits that we expected
|
||
|
|
switch (type)
|
||
|
|
{
|
||
|
|
case 0:
|
||
|
|
// All hits
|
||
|
|
CHECK(count == 11 * 11 * pyramid.mIndexedTriangles.size());
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 1:
|
||
|
|
// Only 1 per sub shape
|
||
|
|
CHECK(count == 11 * 11);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 2:
|
||
|
|
// Only 1 per body pair
|
||
|
|
CHECK(count == 1);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|