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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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lib/All/JoltPhysics/UnitTests/Physics/OffsetCenterOfMassShapeTests.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 "UnitTestFramework.h"
#include "PhysicsTestContext.h"
#include "Layers.h"
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
TEST_SUITE("OffsetCenterOfMassShapeTests")
{
TEST_CASE("TestAddAngularImpulseCOMZero")
{
PhysicsTestContext c;
c.ZeroGravity();
// Create box
const Vec3 cHalfExtent = Vec3(0.5f, 1.0f, 1.5f);
BoxShapeSettings box(cHalfExtent);
box.SetEmbedded();
// Create body with COM offset 0
OffsetCenterOfMassShapeSettings com(Vec3::sZero(), &box);
com.SetEmbedded();
Body &body = c.CreateBody(&com, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, EActivation::DontActivate);
// Check mass and inertia calculated correctly
float mass = (8.0f * cHalfExtent.GetX() * cHalfExtent.GetY() * cHalfExtent.GetZ()) * box.mDensity;
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseMass(), 1.0f / mass);
float inertia_y = mass / 12.0f * (Square(2.0f * cHalfExtent.GetX()) + Square(2.0f * cHalfExtent.GetZ())); // See: https://en.wikipedia.org/wiki/List_of_moments_of_inertia
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseInertiaForRotation(Mat44::sIdentity())(1, 1), 1.0f / inertia_y);
// Add impulse
Vec3 cImpulse(0, 10000, 0);
CHECK(!body.IsActive());
c.GetBodyInterface().AddAngularImpulse(body.GetID(), cImpulse);
CHECK(body.IsActive());
// Check resulting velocity change
// dv = I^-1 * L
float delta_v = (1.0f / inertia_y) * cImpulse.GetY();
CHECK_APPROX_EQUAL(body.GetLinearVelocity(), Vec3::sZero());
CHECK_APPROX_EQUAL(body.GetAngularVelocity(), Vec3(0, delta_v, 0));
}
TEST_CASE("TestAddAngularImpulseCOMOffset")
{
PhysicsTestContext c;
c.ZeroGravity();
// Create box
const Vec3 cHalfExtent = Vec3(0.5f, 1.0f, 1.5f);
BoxShapeSettings box(cHalfExtent);
box.SetEmbedded();
// Create body with COM offset
const Vec3 cCOMOffset(5.0f, 0, 0);
OffsetCenterOfMassShapeSettings com(cCOMOffset, &box);
com.SetEmbedded();
Body &body = c.CreateBody(&com, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, EActivation::DontActivate);
// Check mass and inertia calculated correctly
float mass = (8.0f * cHalfExtent.GetX() * cHalfExtent.GetY() * cHalfExtent.GetZ()) * box.mDensity;
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseMass(), 1.0f / mass);
float inertia_y = mass / 12.0f * (Square(2.0f * cHalfExtent.GetX()) + Square(2.0f * cHalfExtent.GetZ())) + mass * Square(cCOMOffset.GetX()); // See: https://en.wikipedia.org/wiki/List_of_moments_of_inertia & https://en.wikipedia.org/wiki/Parallel_axis_theorem
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseInertiaForRotation(Mat44::sIdentity())(1, 1), 1.0f / inertia_y);
// Add impulse
Vec3 cImpulse(0, 10000, 0);
CHECK(!body.IsActive());
c.GetBodyInterface().AddAngularImpulse(body.GetID(), cImpulse);
CHECK(body.IsActive());
// Check resulting velocity change
// dv = I^-1 * L
float delta_v = (1.0f / inertia_y) * cImpulse.GetY();
CHECK_APPROX_EQUAL(body.GetLinearVelocity(), Vec3::sZero());
CHECK_APPROX_EQUAL(body.GetAngularVelocity(), Vec3(0, delta_v, 0));
}
TEST_CASE("TestAddTorqueCOMZero")
{
PhysicsTestContext c;
c.ZeroGravity();
// Create box
const Vec3 cHalfExtent = Vec3(0.5f, 1.0f, 1.5f);
BoxShapeSettings box(cHalfExtent);
box.SetEmbedded();
// Create body with COM offset 0
OffsetCenterOfMassShapeSettings com(Vec3::sZero(), &box);
com.SetEmbedded();
Body &body = c.CreateBody(&com, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, EActivation::DontActivate);
// Check mass and inertia calculated correctly
float mass = (8.0f * cHalfExtent.GetX() * cHalfExtent.GetY() * cHalfExtent.GetZ()) * box.mDensity;
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseMass(), 1.0f / mass);
float inertia_y = mass / 12.0f * (Square(2.0f * cHalfExtent.GetX()) + Square(2.0f * cHalfExtent.GetZ())); // See: https://en.wikipedia.org/wiki/List_of_moments_of_inertia
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseInertiaForRotation(Mat44::sIdentity())(1, 1), 1.0f / inertia_y);
// Add torque
Vec3 cTorque(0, 100000, 0);
CHECK(!body.IsActive());
c.GetBodyInterface().AddTorque(body.GetID(), cTorque);
CHECK(body.IsActive());
CHECK(body.GetAngularVelocity() == Vec3::sZero()); // Angular velocity change should come after the next time step
c.SimulateSingleStep();
// Check resulting velocity change
// dv = I^-1 * T * dt
float delta_v = (1.0f / inertia_y) * cTorque.GetY() * c.GetDeltaTime();
CHECK_APPROX_EQUAL(body.GetLinearVelocity(), Vec3::sZero());
CHECK_APPROX_EQUAL(body.GetAngularVelocity(), Vec3(0, delta_v, 0));
}
TEST_CASE("TestAddTorqueCOMOffset")
{
PhysicsTestContext c;
c.ZeroGravity();
// Create box
const Vec3 cHalfExtent = Vec3(0.5f, 1.0f, 1.5f);
BoxShapeSettings box(cHalfExtent);
box.SetEmbedded();
// Create body with COM offset
const Vec3 cCOMOffset(5.0f, 0, 0);
OffsetCenterOfMassShapeSettings com(cCOMOffset, &box);
com.SetEmbedded();
Body &body = c.CreateBody(&com, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, EActivation::DontActivate);
// Check mass and inertia calculated correctly
float mass = (8.0f * cHalfExtent.GetX() * cHalfExtent.GetY() * cHalfExtent.GetZ()) * box.mDensity;
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseMass(), 1.0f / mass);
float inertia_y = mass / 12.0f * (Square(2.0f * cHalfExtent.GetX()) + Square(2.0f * cHalfExtent.GetZ())) + mass * Square(cCOMOffset.GetX()); // See: https://en.wikipedia.org/wiki/List_of_moments_of_inertia & https://en.wikipedia.org/wiki/Parallel_axis_theorem
CHECK_APPROX_EQUAL(body.GetMotionProperties()->GetInverseInertiaForRotation(Mat44::sIdentity())(1, 1), 1.0f / inertia_y);
// Add torque
Vec3 cTorque(0, 100000, 0);
CHECK(!body.IsActive());
c.GetBodyInterface().AddTorque(body.GetID(), cTorque);
CHECK(body.IsActive());
CHECK(body.GetAngularVelocity() == Vec3::sZero()); // Angular velocity change should come after the next time step
c.SimulateSingleStep();
// Check resulting velocity change
// dv = I^-1 * T * dt
float delta_v = (1.0f / inertia_y) * cTorque.GetY() * c.GetDeltaTime();
CHECK_APPROX_EQUAL(body.GetLinearVelocity(), Vec3::sZero());
CHECK_APPROX_EQUAL(body.GetAngularVelocity(), Vec3(0, delta_v, 0));
}
}