Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
This commit is contained in:
Tom Ray
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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 <TestFramework.h>
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#include <Tests/ConvexCollision/ConvexHullShrinkTest.h>
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#include <Utils/Log.h>
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#include <Utils/DebugRendererSP.h>
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#include <Jolt/Geometry/ConvexSupport.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Renderer/DebugRendererImp.h>
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#include <Utils/AssetStream.h>
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JPH_SUPPRESS_WARNINGS_STD_BEGIN
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#include <fstream>
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JPH_SUPPRESS_WARNINGS_STD_END
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JPH_IMPLEMENT_RTTI_VIRTUAL(ConvexHullShrinkTest)
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{
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JPH_ADD_BASE_CLASS(ConvexHullShrinkTest, Test)
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}
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void ConvexHullShrinkTest::Initialize()
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{
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// First add a list of shapes that were problematic before
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mPoints = {
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{
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Vec3(1, 1, 1),
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Vec3(1, 1, -1),
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Vec3(1, -1, 1),
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Vec3(1, -1, -1),
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},
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{
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Vec3(1, 1, 1),
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Vec3(1, 1, -1),
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Vec3(1, -1, 1),
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Vec3(1, -1, -1),
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Vec3(-1, 1, 1),
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Vec3(-1, 1, -1),
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Vec3(-1, -1, 1),
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Vec3(-1, -1, -1),
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},
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{
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Vec3(0.24055352f, 0.42262089f, 0.20811508f),
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Vec3(0.23034751f, 0.42984104f, -0.21389426f),
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Vec3(0.21995061f, 0.43724900f, 0.20929135f),
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Vec3(0.18619442f, 0.44122630f, 0.10257969f),
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Vec3(-0.22997921f, 0.43706810f, 0.21128670f),
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Vec3(0.18488347f, -0.44135576f, 0.10415942f),
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Vec3(-0.20950880f, -0.43603044f, 0.20873074f),
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Vec3(-0.21230474f, -0.43691945f, -0.20506332f),
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Vec3(0.23440370f, -0.43392032f, 0.20985059f),
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Vec3(0.22406587f, -0.43578571f, -0.21132792f),
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Vec3(0.24845430f, -0.41821426f, -0.21033705f),
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Vec3(0.24780219f, -0.42262548f, 0.21058462f),
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Vec3(-0.24866026f, 0.41188520f, 0.20908103f),
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Vec3(-0.25144735f, 0.41933101f, -0.20718251f),
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Vec3(-0.24799588f, -0.20490804f, 0.21178717f),
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Vec3(0.01075744f, -0.41775572f, -0.22181017f),
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Vec3(-0.18624404f, -0.18736419f, -0.21975047f),
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Vec3(0.22080457f, 0.01773871f, -0.22080121f),
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Vec3(-0.17988407f, 0.40095943f, -0.21670545f),
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Vec3(-0.23094913f, 0.42154532f, 0.21846796f),
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Vec3(0.23783659f, 0.41114848f, -0.20812420f),
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Vec3(0.25242796f, 0.00087111f, 0.04875314f),
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Vec3(0.20976084f, 0.43694448f, -0.20819492f),
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Vec3(0.21914389f, -0.42215359f, -0.21839635f),
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Vec3(0.22120973f, 0.42172050f, 0.21581716f),
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Vec3(0.07287904f, 0.40937370f, 0.21898652f),
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Vec3(-0.23638439f, 0.42299985f, -0.21391643f),
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Vec3(0.25210538f, -0.20603905f, 0.20603551f),
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Vec3(-0.22867783f, -0.43080616f, -0.21309699f),
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Vec3(-0.22365719f, 0.43650645f, -0.20515810f),
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Vec3(-0.23701435f, 0.43320888f, -0.20985882f),
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Vec3(-0.24509817f, 0.42541492f, 0.21352110f),
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Vec3(0.22803798f, -0.41877448f, 0.21590335f),
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Vec3(-0.21627685f, -0.41884291f, 0.21908275f),
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Vec3(-0.24125161f, -0.13299965f, -0.21386964f),
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Vec3(-0.22310710f, -0.43280768f, 0.21368177f),
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Vec3(-0.23707944f, -0.41916745f, 0.21170078f),
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Vec3(-0.23729360f, -0.42400050f, -0.20905880f),
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Vec3(-0.23056241f, 0.44033193f, -0.00191451f),
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Vec3(-0.24118152f, -0.41101628f, -0.20855166f),
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Vec3(0.21646300f, 0.42087674f, -0.21763385f),
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Vec3(0.25090047f, -0.41023433f, 0.10248772f),
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Vec3(0.03950108f, -0.43627834f, -0.21231101f),
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Vec3(-0.22727611f, -0.24993966f, 0.21899925f),
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Vec3(0.24388977f, -0.07015021f, -0.21204789f)
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}
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};
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// Open the external file with hulls
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// A stream containing predefined convex hulls
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AssetStream points_asset_stream("convex_hulls.bin", std::ios::in | std::ios::binary);
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std::istream &points_stream = points_asset_stream.Get();
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for (;;)
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{
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// Read the length of the next point cloud
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uint32 len = 0;
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points_stream.read((char *)&len, sizeof(len));
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if (points_stream.eof())
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break;
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// Read the points
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if (len > 0)
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{
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Points p;
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for (uint32 i = 0; i < len; ++i)
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{
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Float3 v;
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points_stream.read((char *)&v, sizeof(v));
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p.push_back(Vec3(v));
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}
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mPoints.push_back(std::move(p));
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}
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}
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}
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void ConvexHullShrinkTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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// Take one of the predefined shapes
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const Points &points = mIteration < mPoints.size()? mPoints[mIteration] : mPoints.back();
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mIteration++;
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// Create shape
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ConvexHullShapeSettings settings(points, cDefaultConvexRadius);
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Shape::ShapeResult result = settings.Create();
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if (!result.IsValid())
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{
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Trace("%d: %s", mIteration - 1, result.GetError().c_str());
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return;
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}
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RefConst<ConvexHullShape> shape = StaticCast<ConvexHullShape>(result.Get());
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// Shape creation may have reduced the convex radius, fetch the result
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const float convex_radius = shape->GetConvexRadius();
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if (convex_radius > 0.0f)
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{
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// Get the support function of the shape excluding convex radius and add the convex radius
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ConvexShape::SupportBuffer buffer;
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const ConvexShape::Support *support = shape->GetSupportFunction(ConvexShape::ESupportMode::ExcludeConvexRadius, buffer, Vec3::sOne());
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AddConvexRadius add_cvx(*support, convex_radius);
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// Calculate the error w.r.t. the original hull
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float max_error = -FLT_MAX;
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int max_error_plane = 0;
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Vec3 max_error_support_point = Vec3::sZero();
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const Array<Plane> &planes = shape->GetPlanes();
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for (int i = 0; i < (int)planes.size(); ++i)
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{
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const Plane &plane = planes[i];
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Vec3 support_point = add_cvx.GetSupport(plane.GetNormal());
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float distance = plane.SignedDistance(support_point);
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if (distance > max_error)
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{
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max_error = distance;
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max_error_support_point = support_point;
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max_error_plane = i;
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}
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}
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if (max_error > settings.mMaxErrorConvexRadius)
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{
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Trace("%d, %f, %f", mIteration - 1, (double)convex_radius, (double)max_error);
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DrawMarkerSP(mDebugRenderer, max_error_support_point, Color::sPurple, 0.1f);
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DrawArrowSP(mDebugRenderer, max_error_support_point, max_error_support_point - max_error * planes[max_error_plane].GetNormal(), Color::sPurple, 0.01f);
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}
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}
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#ifdef JPH_DEBUG_RENDERER
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// Draw the hulls
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shape->Draw(DebugRenderer::sInstance, RMat44::sIdentity(), Vec3::sOne(), Color::sRed, false, false);
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shape->DrawGetSupportFunction(DebugRenderer::sInstance, RMat44::sIdentity(), Vec3::sOne(), Color::sLightGrey, false);
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shape->DrawShrunkShape(DebugRenderer::sInstance, RMat44::sIdentity(), Vec3::sOne());
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#endif // JPH_DEBUG_RENDERER
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}
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