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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lib/All/JoltPhysics/UnitTests/Geometry/GJKTests.cpp
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248
lib/All/JoltPhysics/UnitTests/Geometry/GJKTests.cpp
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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 <Jolt/Geometry/ConvexSupport.h>
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#include <Jolt/Geometry/GJKClosestPoint.h>
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#include <Jolt/Geometry/AABox.h>
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#include <Jolt/Geometry/Sphere.h>
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#include <Jolt/Geometry/RayTriangle.h>
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#include <Jolt/Geometry/RaySphere.h>
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#include <Jolt/Geometry/RayAABox.h>
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#include <Jolt/Geometry/RayCapsule.h>
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#include <Jolt/Geometry/RayCylinder.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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#include <random>
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TEST_SUITE("GJKTests")
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{
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TEST_CASE("TestGJKIntersectSphere")
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{
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GJKClosestPoint gjk;
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// Sphere 1 is centered around the origin
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Sphere s1(Vec3::sZero(), 1.0f);
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// Shere 2 is far away from s1
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Vec3 c2(10.0f, 10.0f, 10.0f);
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Sphere s2(c2, 1.0f);
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// Sphere 3 is exactly 2 away from s1
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float l = 2.0f / sqrt(3.0f);
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Vec3 c3(l, l, l);
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Sphere s3(c3, 1.0f);
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{
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// Test sphere s1 and s2, they should not collide
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Vec3 v = Vec3::sZero();
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CHECK_FALSE(gjk.Intersects(s1, s2, 1.0e-4f, v));
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}
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{
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// Test sphere s1 and s3, they should touch exactly
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Vec3 v = Vec3::sZero();
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CHECK(gjk.Intersects(s1, s3, 1.0e-4f, v));
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}
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{
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// Test sphere s1 and s2, they should not collide, verify their closest points
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Vec3 pa, pb, v = Vec3::sZero();
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float d = sqrt(gjk.GetClosestPoints(s1, s2, 1.0e-4f, cLargeFloat, v, pa, pb));
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CHECK_APPROX_EQUAL(c2.Length() - 2.0f, d, 1.0e-4f);
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CHECK_APPROX_EQUAL(c2.Normalized(), pa, 1.0e-4f);
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CHECK_APPROX_EQUAL(c2 - c2.Normalized(), pb, 1.0e-4f);
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}
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{
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// Test sphere s1 and s3, they should touch exactly, verify their closest points
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Vec3 pa, pb, v = Vec3::sZero();
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float d = sqrt(gjk.GetClosestPoints(s1, s3, 1.0e-4f, cLargeFloat, v, pa, pb));
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CHECK_APPROX_EQUAL(0.0f, d, 1.0e-4f);
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CHECK_APPROX_EQUAL(c2.Normalized(), pa, 1.0e-4f);
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CHECK_APPROX_EQUAL(c2.Normalized(), pb, 1.0e-4f);
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}
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}
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template <typename A, typename B>
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static void TestIntersect(
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A (*inCreateFuncA)(UnitTestRandom &),
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B (*inCreateFuncB)(UnitTestRandom &),
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bool (*inCompareFunc)(const A &inA, const B &inB, bool inIsIntersecting, float inTolerance))
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{
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UnitTestRandom random(12345);
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const int count = 10000;
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int hits = 0;
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GJKClosestPoint gjk;
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for (int i = 0; i < count; ++i)
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{
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A shape1 = inCreateFuncA(random);
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B shape2 = inCreateFuncB(random);
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// Use GJK to test for intersection
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Vec3 v = Vec3::sZero();
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const float cTolerance = 1.0e-4f;
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bool result_gjk = gjk.Intersects(shape1, shape2, cTolerance, v);
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// Compare with reference function and increase tolerance a bit to account for floating point imprecision
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CHECK(inCompareFunc(shape1, shape2, result_gjk, 2.0f * cTolerance));
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if (result_gjk)
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++hits;
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}
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// Check that there were enough hits so that the test is representative
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float hit_rate = 100.0f * hits / count;
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CHECK(hit_rate > 30.0f);
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CHECK(hit_rate < 70.0f);
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}
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TEST_CASE("TestGJKSphereVsSphereIntersect")
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{
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auto sphere_creator = [](UnitTestRandom &inRandom) {
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uniform_real_distribution<float> pos(-2.0f, 2.0f);
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uniform_real_distribution<float> rad(0.5f, 2.0f);
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return Sphere(Vec3(pos(inRandom), pos(inRandom), pos(inRandom)), rad(inRandom));
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};
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TestIntersect<Sphere, Sphere>(
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sphere_creator,
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sphere_creator,
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[](const Sphere &inSphereA, const Sphere &inSphereB, bool inIsIntersecting, float inTolerance) {
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// Test without and with tolerance if the results are equal
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return inSphereA.Overlaps(inSphereB) == inIsIntersecting
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|| Sphere(inSphereA.GetCenter(), inSphereA.GetRadius() + inTolerance).Overlaps(inSphereB) == inIsIntersecting;
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});
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}
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TEST_CASE("TestGJKSphereVsBoxIntersect")
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{
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auto sphere_creator = [](UnitTestRandom &inRandom) {
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uniform_real_distribution<float> pos(-2.0f, 2.0f);
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uniform_real_distribution<float> rad(0.5f, 2.0f);
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return Sphere(Vec3(pos(inRandom), pos(inRandom), pos(inRandom)), rad(inRandom));
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};
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auto box_creator = [](UnitTestRandom &inRandom) {
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uniform_real_distribution<float> pos(-2.0f, 2.0f);
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Vec3 p1 = Vec3(pos(inRandom), pos(inRandom), pos(inRandom));
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Vec3 p2 = Vec3(pos(inRandom), pos(inRandom), pos(inRandom));
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return AABox::sFromTwoPoints(p1, p2);
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};
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TestIntersect<Sphere, AABox>(
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sphere_creator,
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box_creator,
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[](const Sphere &inSphereA, const AABox &inBoxB, bool inIsIntersecting, float inTolerance) {
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// Test without and with tolerance if the results are equal
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return inSphereA.Overlaps(inBoxB) == inIsIntersecting
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|| Sphere(inSphereA.GetCenter(), inSphereA.GetRadius() + inTolerance).Overlaps(inBoxB) == inIsIntersecting;
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});
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}
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template <typename A, typename Context>
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static void TestRay(const A &inA, const Context &inContext, float (*inCompareFunc)(const Context &inContext, Vec3Arg inRayOrigin, Vec3Arg inRayDirection))
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{
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UnitTestRandom random(12345);
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uniform_real_distribution<float> random_scale(-2.0f, 2.0f);
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const int count = 1000;
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for (int i = 0; i < count; ++i)
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{
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Vec3 from(random_scale(random), random_scale(random), random_scale(random));
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Vec3 to(random_scale(random), random_scale(random), random_scale(random));
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Vec3 direction = to - from;
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// Use GJK to cast a ray
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float fraction1 = 1.0f + FLT_EPSILON;
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GJKClosestPoint gjk;
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if (!gjk.CastRay(from, direction, 1.0e-4f, inA, fraction1))
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fraction1 = FLT_MAX;
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// Use the comparison function
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float fraction2 = inCompareFunc(inContext, from, direction);
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// The comparison functions work with infinite rays, so a fraction > 1 means a miss
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if (fraction2 > 1.0f)
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fraction2 = FLT_MAX;
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CHECK_APPROX_EQUAL(fraction1, fraction2, 0.01f);
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}
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}
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TEST_CASE("TestGJKRaySphere")
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{
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Sphere sphere(Vec3(0.1f, 0.2f, 0.3f), 1.1f);
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TestRay<Sphere, Sphere>(sphere, sphere, [](const Sphere &inSphere, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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return RaySphere(inRayOrigin, inRayDirection, inSphere.GetCenter(), inSphere.GetRadius());
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});
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}
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TEST_CASE("TestGJKRaySphereShape")
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{
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SphereShape sphere_shape(1.1f);
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ConvexShape::SupportBuffer buffer;
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const ConvexShape::Support *support = sphere_shape.GetSupportFunction(ConvexShape::ESupportMode::IncludeConvexRadius, buffer, Vec3::sOne());
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TestRay<ConvexShape::Support, SphereShape>(*support, sphere_shape, [](const SphereShape &inSphere, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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return RaySphere(inRayOrigin, inRayDirection, Vec3::sZero(), inSphere.GetRadius());
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});
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}
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TEST_CASE("TestGJKRayBox")
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{
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AABox box(Vec3(-0.9f, -1.0f, -1.1f), Vec3(0.8f, 0.9f, 1.0f));
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TestRay<AABox, AABox>(box, box, [](const AABox &inBox, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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float fraction = RayAABox(inRayOrigin, RayInvDirection(inRayDirection), inBox.mMin, inBox.mMax);
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return max(fraction, 0.0f);
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});
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}
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TEST_CASE("TestGJKRayBoxShape")
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{
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BoxShape box_shape(Vec3(0.9f, 1.0f, 1.1f), 0.0f);
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ConvexShape::SupportBuffer buffer;
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const ConvexShape::Support *support = box_shape.GetSupportFunction(ConvexShape::ESupportMode::IncludeConvexRadius, buffer, Vec3::sOne());
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TestRay<ConvexShape::Support, BoxShape>(*support, box_shape, [](const BoxShape &inBox, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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float fraction = RayAABox(inRayOrigin, RayInvDirection(inRayDirection), -inBox.GetHalfExtent(), inBox.GetHalfExtent());
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return max(fraction, 0.0f);
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});
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}
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TEST_CASE("TestGJKRayCapsuleShape")
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{
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CapsuleShape capsule_shape(1.1f, 0.6f);
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ConvexShape::SupportBuffer buffer;
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const ConvexShape::Support *support = capsule_shape.GetSupportFunction(ConvexShape::ESupportMode::IncludeConvexRadius, buffer, Vec3::sOne());
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TestRay<ConvexShape::Support, CapsuleShape>(*support, capsule_shape, [](const CapsuleShape &inCapsule, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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return RayCapsule(inRayOrigin, inRayDirection, inCapsule.GetHalfHeightOfCylinder(), inCapsule.GetRadius());
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});
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}
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TEST_CASE("TestGJKRayCylinderShape")
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{
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CylinderShape cylinder_shape(1.5f, 0.6f, 0.0f);
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ConvexShape::SupportBuffer buffer;
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const ConvexShape::Support *support = cylinder_shape.GetSupportFunction(ConvexShape::ESupportMode::IncludeConvexRadius, buffer, Vec3::sOne());
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TestRay<ConvexShape::Support, CylinderShape>(*support, cylinder_shape, [](const CylinderShape &inCylinder, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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return RayCylinder(inRayOrigin, inRayDirection, inCylinder.GetHalfHeight(), inCylinder.GetRadius());
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});
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}
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TEST_CASE("TestGJKRayTriangle")
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{
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TriangleConvexSupport triangle(Vec3(0.1f, 0.9f, 0.3f), Vec3(-0.9f, -0.5f, 0.2f), Vec3(0.7f, -0.3f, -0.1f));
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TestRay<TriangleConvexSupport, TriangleConvexSupport>(triangle, triangle, [](const TriangleConvexSupport &inTriangle, Vec3Arg inRayOrigin, Vec3Arg inRayDirection) {
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return RayTriangle(inRayOrigin, inRayDirection, inTriangle.mV1, inTriangle.mV2, inTriangle.mV3);
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});
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}
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}
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