Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
This commit is contained in:
Tom Ray
@@ -0,0 +1,221 @@
|
||||
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
||||
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
#include <TestFramework.h>
|
||||
|
||||
#include <Tests/ConvexCollision/InteractivePairsTest.h>
|
||||
#include <Input/Keyboard.h>
|
||||
#include <Jolt/Geometry/Sphere.h>
|
||||
#include <Jolt/Geometry/AABox.h>
|
||||
#include <Jolt/Geometry/ConvexSupport.h>
|
||||
#include <Jolt/Geometry/EPAPenetrationDepth.h>
|
||||
#include <Utils/DebugRendererSP.h>
|
||||
|
||||
JPH_IMPLEMENT_RTTI_VIRTUAL(InteractivePairsTest)
|
||||
{
|
||||
JPH_ADD_BASE_CLASS(InteractivePairsTest, Test)
|
||||
}
|
||||
|
||||
void InteractivePairsTest::ProcessInput(const ProcessInputParams &inParams)
|
||||
{
|
||||
// Keyboard controls
|
||||
if (inParams.mKeyboard->IsKeyPressed(EKey::Z))
|
||||
{
|
||||
mKeyboardMode = true;
|
||||
mDistance -= inParams.mDeltaTime;
|
||||
}
|
||||
else if (inParams.mKeyboard->IsKeyPressed(EKey::C))
|
||||
{
|
||||
mKeyboardMode = true;
|
||||
mDistance += inParams.mDeltaTime;
|
||||
}
|
||||
else if (inParams.mKeyboard->IsKeyPressed(EKey::X))
|
||||
{
|
||||
mKeyboardMode = false;
|
||||
}
|
||||
|
||||
// Auto update
|
||||
if (!mKeyboardMode)
|
||||
mDistance -= inParams.mDeltaTime;
|
||||
|
||||
// Clamp distance
|
||||
if (mDistance < -4.0f)
|
||||
mDistance = 4.0f;
|
||||
if (mDistance > 4.0f)
|
||||
mDistance = -4.0f;
|
||||
}
|
||||
|
||||
void InteractivePairsTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
|
||||
{
|
||||
float z = 0.0f;
|
||||
|
||||
const float r1 = 0.25f * JPH_PI;
|
||||
const float r2 = ATan(1.0f / sqrt(2.0f)); // When rotating cube by 45 degrees the one axis becomes sqrt(2) long while the other stays at length 1
|
||||
|
||||
for (int i = 0; i < 2; ++i)
|
||||
{
|
||||
const float cvx_radius = i == 0? 0.0f : 0.1f; // First round without convex radius, second with
|
||||
const float edge_len = 1.0f - cvx_radius;
|
||||
AABox b(Vec3(-edge_len, -edge_len, -edge_len), Vec3(edge_len, edge_len, edge_len));
|
||||
|
||||
// Face vs face
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, 0, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(r1, 0, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Face vs edge
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, r1, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, 0, r1), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Face vs vertex
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, r2, r1), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Edge vs edge
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, r1, 0), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, r1, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, 0, r1), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, r1, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Edge vs vertex
|
||||
TestBoxVsBox(Vec3(0, 0, z), Vec3(0, r2, r1), cvx_radius, b, Vec3(mDistance, 0, z), Vec3(0, r2, r1), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Sphere vs face
|
||||
TestSphereVsBox(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), Vec3(0, 0, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
TestSphereVsBox(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), Vec3(r1, 0, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Sphere vs edge
|
||||
TestSphereVsBox(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), Vec3(0, r1, 0), cvx_radius, b);
|
||||
z += 4;
|
||||
TestSphereVsBox(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), Vec3(0, 0, r1), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Sphere vs vertex
|
||||
TestSphereVsBox(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), Vec3(0, r2, r1), cvx_radius, b);
|
||||
z += 4;
|
||||
|
||||
// Sphere vs sphere
|
||||
TestSphereVsSphere(Vec3(0, 0, z), 1.0f, Vec3(mDistance, 0, z), 1.0f, i == 1);
|
||||
z += 4;
|
||||
}
|
||||
}
|
||||
|
||||
void InteractivePairsTest::TestBoxVsBox(Vec3Arg inTranslationA, Vec3Arg inRotationA, float inConvexRadiusA, const AABox &inA, Vec3Arg inTranslationB, Vec3Arg inRotationB, float inConvexRadiusB, const AABox &inB)
|
||||
{
|
||||
Mat44 mat_a = Mat44::sTranslation(inTranslationA) * Mat44::sRotationX(inRotationA.GetX()) * Mat44::sRotationY(inRotationA.GetY()) * Mat44::sRotationZ(inRotationA.GetZ());
|
||||
TransformedConvexObject a(mat_a, inA);
|
||||
|
||||
Mat44 mat_b = Mat44::sTranslation(inTranslationB) * Mat44::sRotationX(inRotationB.GetX()) * Mat44::sRotationY(inRotationB.GetY()) * Mat44::sRotationZ(inRotationB.GetZ());
|
||||
TransformedConvexObject b(mat_b, inB);
|
||||
|
||||
EPAPenetrationDepth pen_depth;
|
||||
Vec3 v = Vec3::sAxisX(), pa, pb;
|
||||
|
||||
DrawBoxSP(mDebugRenderer, mat_a, inA, Color::sWhite);
|
||||
|
||||
AABox widened_a = inA;
|
||||
widened_a.ExpandBy(Vec3::sReplicate(inConvexRadiusA));
|
||||
|
||||
AABox widened_b = inB;
|
||||
widened_b.ExpandBy(Vec3::sReplicate(inConvexRadiusB));
|
||||
|
||||
DrawBoxSP(mDebugRenderer, mat_a, inA, Color::sWhite);
|
||||
if (inConvexRadiusA > 0.0f)
|
||||
DrawWireBoxSP(mDebugRenderer, mat_a, widened_a, Color::sWhite);
|
||||
|
||||
AddConvexRadius a_inc(a, inConvexRadiusA);
|
||||
AddConvexRadius b_inc(b, inConvexRadiusB);
|
||||
|
||||
if (pen_depth.GetPenetrationDepth(a, a_inc, inConvexRadiusA, b, b_inc, inConvexRadiusB, 1.0e-4f, FLT_EPSILON, v, pa, pb))
|
||||
{
|
||||
DrawBoxSP(mDebugRenderer, mat_b, inB, Color::sRed);
|
||||
if (inConvexRadiusB > 0.0f)
|
||||
DrawWireBoxSP(mDebugRenderer, mat_b, widened_b, Color::sRed);
|
||||
DrawMarkerSP(mDebugRenderer, pa, Color::sYellow, 2.0f);
|
||||
DrawMarkerSP(mDebugRenderer, pb, Color::sCyan, 2.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
DrawBoxSP(mDebugRenderer, mat_b, inB, Color::sGreen);
|
||||
if (inConvexRadiusB > 0.0f)
|
||||
DrawWireBoxSP(mDebugRenderer, mat_b, widened_b, Color::sGreen);
|
||||
}
|
||||
DrawArrowSP(mDebugRenderer, inTranslationB + Vec3(0, 2, 0), inTranslationB + v + Vec3(0, 2, 0), Color::sOrange, 0.05f);
|
||||
}
|
||||
|
||||
void InteractivePairsTest::TestSphereVsBox(Vec3Arg inTranslationA, float inRadiusA, Vec3Arg inTranslationB, Vec3Arg inRotationB, float inConvexRadiusB, const AABox &inB)
|
||||
{
|
||||
Sphere s(inTranslationA, inRadiusA);
|
||||
Mat44 mat_b = Mat44::sTranslation(inTranslationB) * Mat44::sRotationX(inRotationB.GetX()) * Mat44::sRotationY(inRotationB.GetY()) * Mat44::sRotationZ(inRotationB.GetZ());
|
||||
TransformedConvexObject b(mat_b, inB);
|
||||
|
||||
AABox widened_b = inB;
|
||||
widened_b.ExpandBy(Vec3::sReplicate(inConvexRadiusB));
|
||||
|
||||
EPAPenetrationDepth pen_depth;
|
||||
Vec3 v = Vec3::sAxisX(), pa, pb;
|
||||
|
||||
DrawSphereSP(mDebugRenderer, inTranslationA, inRadiusA, Color::sWhite);
|
||||
|
||||
AddConvexRadius b_inc(b, inConvexRadiusB);
|
||||
|
||||
if (pen_depth.GetPenetrationDepth(s, s, 0.0f, b, b_inc, inConvexRadiusB, 1.0e-4f, FLT_EPSILON, v, pa, pb))
|
||||
{
|
||||
DrawBoxSP(mDebugRenderer, mat_b, inB, Color::sRed);
|
||||
if (inConvexRadiusB > 0.0f)
|
||||
DrawWireBoxSP(mDebugRenderer, mat_b, widened_b, Color::sRed);
|
||||
DrawMarkerSP(mDebugRenderer, pa, Color::sYellow, 2.0f);
|
||||
DrawMarkerSP(mDebugRenderer, pb, Color::sCyan, 2.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
DrawBoxSP(mDebugRenderer, mat_b, inB, Color::sGreen);
|
||||
if (inConvexRadiusB > 0.0f)
|
||||
DrawWireBoxSP(mDebugRenderer, mat_b, widened_b, Color::sGreen);
|
||||
}
|
||||
DrawArrowSP(mDebugRenderer, inTranslationB + Vec3(0, 2, 0), inTranslationB + v + Vec3(0, 2, 0), Color::sOrange, 0.05f);
|
||||
}
|
||||
|
||||
void InteractivePairsTest::TestSphereVsSphere(Vec3Arg inTranslationA, float inRadiusA, Vec3Arg inTranslationB, float inRadiusB, bool inTreatSphereAsPointWithConvexRadius)
|
||||
{
|
||||
Sphere s1(inTranslationA, inRadiusA);
|
||||
Sphere s2(inTranslationB, inRadiusB);
|
||||
|
||||
if (inTreatSphereAsPointWithConvexRadius)
|
||||
DrawWireSphereSP(mDebugRenderer, s1.GetCenter(), s1.GetRadius(), Color::sWhite);
|
||||
else
|
||||
DrawSphereSP(mDebugRenderer, s1.GetCenter(), s1.GetRadius(), Color::sWhite);
|
||||
|
||||
bool intersects;
|
||||
EPAPenetrationDepth pen_depth;
|
||||
Vec3 v = Vec3::sAxisX(), pa, pb;
|
||||
if (inTreatSphereAsPointWithConvexRadius)
|
||||
intersects = pen_depth.GetPenetrationDepth(PointConvexSupport { inTranslationA }, s1, inRadiusA, PointConvexSupport { inTranslationB }, s2, inRadiusB, 1.0e-4f, FLT_EPSILON, v, pa, pb);
|
||||
else
|
||||
intersects = pen_depth.GetPenetrationDepth(s1, s1, 0.0f, s2, s2, 0.0f, 1.0e-4f, FLT_EPSILON, v, pa, pb);
|
||||
|
||||
if (intersects)
|
||||
{
|
||||
if (inTreatSphereAsPointWithConvexRadius)
|
||||
DrawWireSphereSP(mDebugRenderer, s2.GetCenter(), s2.GetRadius(), Color::sRed);
|
||||
else
|
||||
DrawSphereSP(mDebugRenderer, s2.GetCenter(), s2.GetRadius(), Color::sRed);
|
||||
DrawMarkerSP(mDebugRenderer, pa, Color::sYellow, 2.0f);
|
||||
DrawMarkerSP(mDebugRenderer, pb, Color::sCyan, 2.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (inTreatSphereAsPointWithConvexRadius)
|
||||
DrawWireSphereSP(mDebugRenderer, s2.GetCenter(), s2.GetRadius(), Color::sGreen);
|
||||
else
|
||||
DrawSphereSP(mDebugRenderer, s2.GetCenter(), s2.GetRadius(), Color::sGreen);
|
||||
}
|
||||
DrawArrowSP(mDebugRenderer, inTranslationB + Vec3(0, 2, 0), inTranslationB + v + Vec3(0, 2, 0), Color::sOrange, 0.05f);
|
||||
}
|
||||
Reference in New Issue
Block a user