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

2026-03-22 00:28:03 +01:00
parent 6695d46bcd
commit 48348936a8
1147 changed files with 214331 additions and 353 deletions
--- a/lib/All/JoltPhysics/UnitTests/Physics/EstimateCollisionResponseTest.cpp
+++ b/lib/All/JoltPhysics/UnitTests/Physics/EstimateCollisionResponseTest.cpp
@@ -0,0 +1,77 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include "UnitTestFramework.h"
+#include <Jolt/Physics/Collision/EstimateCollisionResponse.h>
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
+#include "PhysicsTestContext.h"
+#include "Layers.h"
+
+TEST_SUITE("EstimateCollisionResponseTests")
+{
+	// Test CastShape ordering according to penetration depth
+	TEST_CASE("TestEstimateCollisionResponse")
+	{
+		PhysicsTestContext c;
+		c.ZeroGravity();
+
+		const Vec3 cBox1HalfExtents(0.1f, 1, 2);
+		const Vec3 cBox2HalfExtents(0.2f, 3, 4);
+
+		// Test different motion types, restitution, positions and angular velocities
+		for (EMotionType mt : { EMotionType::Static, EMotionType::Kinematic, EMotionType::Dynamic })
+			for (float restitution : { 0.0f, 0.3f, 1.0f })
+				for (float friction : { 0.0f, 0.3f, 1.0f })
+					for (float y : { 0.0f, 0.5f, cBox2HalfExtents.GetY() })
+						for (float z : { 0.0f, 0.5f, cBox2HalfExtents.GetZ() })
+							for (float w : { 0.0f, -1.0f, 1.0f })
+							{
+								// Install a listener that predicts the collision response
+								class MyListener : public ContactListener
+								{
+								public:
+									virtual void	OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
+									{
+										EstimateCollisionResponse(inBody1, inBody2, inManifold, mResult, ioSettings.mCombinedFriction, ioSettings.mCombinedRestitution);
+									}
+
+									CollisionEstimationResult mResult;
+								};
+
+								MyListener listener;
+								c.GetSystem()->SetContactListener(&listener);
+
+								const RVec3 cBaseOffset(1, 2, 3);
+								const Real cEpsilon = 0.0001_r;
+
+								Body &box1 = c.CreateBox(cBaseOffset, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, cBox1HalfExtents);
+								box1.SetFriction(friction);
+								box1.SetRestitution(restitution);
+								box1.SetLinearVelocity(Vec3(1, 1, 0));
+								box1.SetAngularVelocity(Vec3(0, w, 0));
+
+								Body &box2 = c.CreateBox(cBaseOffset + RVec3(cBox1HalfExtents.GetX() + cBox2HalfExtents.GetX() - cEpsilon, y, z), Quat::sIdentity(), mt, EMotionQuality::Discrete, mt == EMotionType::Static? Layers::NON_MOVING : Layers::MOVING, cBox2HalfExtents);
+								box2.SetFriction(friction);
+								box2.SetRestitution(restitution);
+								if (mt != EMotionType::Static)
+									box2.SetLinearVelocity(Vec3(-1, 0, 0));
+
+								// Step the simulation
+								c.SimulateSingleStep();
+
+								// Check that the predicted velocities are correct
+								CHECK_APPROX_EQUAL(listener.mResult.mLinearVelocity1, box1.GetLinearVelocity());
+								CHECK_APPROX_EQUAL(listener.mResult.mAngularVelocity1, box1.GetAngularVelocity());
+								CHECK_APPROX_EQUAL(listener.mResult.mLinearVelocity2, box2.GetLinearVelocity());
+								CHECK_APPROX_EQUAL(listener.mResult.mAngularVelocity2, box2.GetAngularVelocity());
+
+								// Remove the bodies in reverse order
+								BodyInterface &bi = c.GetBodyInterface();
+								bi.RemoveBody(box2.GetID());
+								bi.RemoveBody(box1.GetID());
+								bi.DestroyBody(box2.GetID());
+								bi.DestroyBody(box1.GetID());
+							}
+	}
+}