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Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

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Tom Ray
2026-03-22 00:28:03 +01:00
parent 6695d46bcd
commit 48348936a8
1147 changed files with 214331 additions and 353 deletions
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254
lib/All/JoltPhysics/Samples/Tests/ConvexCollision/ClosestPointTest.cpp Normal file
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#include <TestFramework.h>
#include <Tests/ConvexCollision/ClosestPointTest.h>
#include <Jolt/Geometry/ClosestPoint.h>
#include <Renderer/DebugRendererImp.h>
#include <Utils/DebugRendererSP.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(ClosestPointTest)
{
JPH_ADD_BASE_CLASS(ClosestPointTest, Test)
}
void ClosestPointTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
{
Vec3 pos(inParams.mCameraState.mPos);
{
// Normal tetrahedron
Vec3 a(2, 0, 0);
Vec3 b(1, 0, 1);
Vec3 c(2, 0, 1);
Vec3 d(1, 1, 0);
TestTetra(pos, a, b, c, d);
}
{
// Inside out tetrahedron
Vec3 a(2, -2, 0);
Vec3 b(1, -2, 1);
Vec3 c(2, -2, 1);
Vec3 d(1, -3, 0);
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 3, 0);
Vec3 b = a;
Vec3 c(2, 3, 1);
Vec3 d(1, 4, 0);
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 6, 0);
Vec3 b(1, 6, 1);
Vec3 c = a;
Vec3 d(1, 7, 0);
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 9, 0);
Vec3 b(1, 9, 1);
Vec3 c(2, 9, 1);
Vec3 d = a;
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 12, 0);
Vec3 b(1, 12, 1);
Vec3 c = b;
Vec3 d(1, 13, 0);
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 15, 0);
Vec3 b(1, 15, 1);
Vec3 c(2, 15, 1);
Vec3 d = b;
TestTetra(pos, a, b, c, d);
}
{
// Degenerate tetrahedron
Vec3 a(2, 18, 0);
Vec3 b(1, 18, 1);
Vec3 c(2, 18, 1);
Vec3 d = c;
TestTetra(pos, a, b, c, d);
}
{
// Normal tri
Vec3 a(5, 0, 0);
Vec3 b(4, 0, 1);
Vec3 c(5, 0, 1);
TestTri(pos, a, b, c);
}
{
// Degenerate tri
Vec3 a(5, 3, 0);
Vec3 b = a;
Vec3 c(5, 3, 1);
TestTri(pos, a, b, c);
}
{
// Degenerate tri
Vec3 a(5, 6, 0);
Vec3 b(4, 6, 1);
Vec3 c = a;
TestTri(pos, a, b, c);
}
{
// Degenerate tri
Vec3 a(5, 9, 0);
Vec3 b(4, 9, 1);
Vec3 c = b;
TestTri(pos, a, b, c);
}
{
// Normal line
Vec3 a(10, 0, 0);
Vec3 b(9, 0, 1);
TestLine(pos, a, b);
}
{
// Degenerate line
Vec3 a(10, 3, 0);
Vec3 b = a;
TestLine(pos, a, b);
}
}
void ClosestPointTest::TestLine(Vec3Arg inPosition, Vec3Arg inA, Vec3Arg inB)
{
Vec3 a = inA - inPosition;
Vec3 b = inB - inPosition;
uint32 set;
Vec3 closest = ClosestPoint::GetClosestPointOnLine(a, b, set) + inPosition;
DrawLineSP(mDebugRenderer, inA, inB, Color::sWhite);
DrawMarkerSP(mDebugRenderer, closest, Color::sRed, 0.1f);
if (set & 0b0001)
DrawMarkerSP(mDebugRenderer, inA, Color::sYellow, 0.5f);
if (set & 0b0010)
DrawMarkerSP(mDebugRenderer, inB, Color::sYellow, 0.5f);
Vec3 a2 = inA - closest;
Vec3 b2 = inB - closest;
float u, v;
ClosestPoint::GetBaryCentricCoordinates(a2, b2, u, v);
DrawWireSphereSP(mDebugRenderer, u * inA + v * inB, 0.05f, Color::sGreen);
DrawText3DSP(mDebugRenderer, inA, "a");
DrawText3DSP(mDebugRenderer, inB, "b");
}
void ClosestPointTest::TestTri(Vec3Arg inPosition, Vec3Arg inA, Vec3Arg inB, Vec3Arg inC)
{
Vec3 a = inA - inPosition;
Vec3 b = inB - inPosition;
Vec3 c = inC - inPosition;
uint32 set;
Vec3 closest = ClosestPoint::GetClosestPointOnTriangle(a, b, c, set) + inPosition;
DrawLineSP(mDebugRenderer, inA, inB, Color::sWhite);
DrawLineSP(mDebugRenderer, inA, inC, Color::sWhite);
DrawLineSP(mDebugRenderer, inB, inC, Color::sWhite);
DrawTriangleSP(mDebugRenderer, inA, inB, inC, Color::sGrey);
DrawMarkerSP(mDebugRenderer, closest, Color::sRed, 0.1f);
if (set & 0b0001)
DrawMarkerSP(mDebugRenderer, inA, Color::sYellow, 0.5f);
if (set & 0b0010)
DrawMarkerSP(mDebugRenderer, inB, Color::sYellow, 0.5f);
if (set & 0b0100)
DrawMarkerSP(mDebugRenderer, inC, Color::sYellow, 0.5f);
Vec3 a2 = inA - closest;
Vec3 b2 = inB - closest;
Vec3 c2 = inC - closest;
float u, v, w;
ClosestPoint::GetBaryCentricCoordinates(a2, b2, c2, u, v, w);
DrawWireSphereSP(mDebugRenderer, u * inA + v * inB + w * inC, 0.05f, Color::sGreen);
DrawText3DSP(mDebugRenderer, inA, "a");
DrawText3DSP(mDebugRenderer, inB, "b");
DrawText3DSP(mDebugRenderer, inC, "c");
}
void ClosestPointTest::TestTetra(Vec3Arg inPosition, Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, Vec3Arg inD)
{
Vec3 a = inA - inPosition;
Vec3 b = inB - inPosition;
Vec3 c = inC - inPosition;
Vec3 d = inD - inPosition;
uint32 set;
Vec3 closest = ClosestPoint::GetClosestPointOnTetrahedron(a, b, c, d, set) + inPosition;
DrawLineSP(mDebugRenderer, inA, inB, Color::sWhite);
DrawLineSP(mDebugRenderer, inA, inC, Color::sWhite);
DrawLineSP(mDebugRenderer, inA, inD, Color::sWhite);
DrawLineSP(mDebugRenderer, inB, inC, Color::sWhite);
DrawLineSP(mDebugRenderer, inB, inD, Color::sWhite);
DrawLineSP(mDebugRenderer, inC, inD, Color::sWhite);
DrawTriangleSP(mDebugRenderer, inA, inC, inB, Color::sGrey);
DrawTriangleSP(mDebugRenderer, inA, inD, inC, Color::sGrey);
DrawTriangleSP(mDebugRenderer, inA, inB, inD, Color::sGrey);
DrawTriangleSP(mDebugRenderer, inB, inC, inD, Color::sGrey);
DrawMarkerSP(mDebugRenderer, closest, Color::sRed, 0.1f);
if (set & 0b0001)
DrawMarkerSP(mDebugRenderer, inA, Color::sYellow, 0.5f);
if (set & 0b0010)
DrawMarkerSP(mDebugRenderer, inB, Color::sYellow, 0.5f);
if (set & 0b0100)
DrawMarkerSP(mDebugRenderer, inC, Color::sYellow, 0.5f);
if (set & 0b1000)
DrawMarkerSP(mDebugRenderer, inD, Color::sYellow, 0.5f);
DrawText3DSP(mDebugRenderer, inA, "a");
DrawText3DSP(mDebugRenderer, inB, "b");
DrawText3DSP(mDebugRenderer, inC, "c");
DrawText3DSP(mDebugRenderer, inD, "d");
}