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

lib/All/JoltPhysics/UnitTests/Physics/TaperedCylinderShapeTests.cpp

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+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include "UnitTestFramework.h"
+#include "PhysicsTestContext.h"
+#include <Jolt/Physics/Collision/Shape/TaperedCylinderShape.h>
+#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
+#include <Jolt/Physics/Collision/CollidePointResult.h>
+
+TEST_SUITE("TaperedCylinderShapeTests")
+{
+	TEST_CASE("TestMassAndInertia")
+	{
+		const float cDensity = 3.0f;
+		const float cRadius = 5.0f;
+		const float cHeight = 7.0f;
+
+		TaperedCylinderShapeSettings settings1(0.5f * cHeight, cRadius, 0.0f, 0.0f);
+		settings1.SetDensity(cDensity);
+
+		TaperedCylinderShapeSettings settings2(0.5f * cHeight, 0.0f, cRadius, 0.0f);
+		settings2.SetDensity(cDensity);
+
+		RefConst<TaperedCylinderShape> cylinder1 = StaticCast<TaperedCylinderShape>(settings1.Create().Get());
+		RefConst<TaperedCylinderShape> cylinder2 = StaticCast<TaperedCylinderShape>(settings2.Create().Get());
+
+		// Check accessors
+		CHECK(cylinder1->GetTopRadius() == cRadius);
+		CHECK(cylinder1->GetBottomRadius() == 0.0f);
+		CHECK(cylinder1->GetConvexRadius() == 0.0f);
+		CHECK_APPROX_EQUAL(cylinder1->GetHalfHeight(), 0.5f * cHeight);
+
+		MassProperties m1 = cylinder1->GetMassProperties();
+		MassProperties m2 = cylinder2->GetMassProperties();
+
+		// Mass/inertia is the same for both shapes because they are mirrored versions (inertia is calculated from COM)
+		CHECK_APPROX_EQUAL(m1.mMass, m2.mMass);
+		CHECK_APPROX_EQUAL(m1.mInertia, m2.mInertia);
+
+		// Center of mass for a cone is at 1/4 h (if cone runs from -h/2 to h/2)
+		// See: https://www.miniphysics.com/uy1-centre-of-mass-of-a-cone.html
+		Vec3 expected_com1(0, cHeight / 4.0f, 0);
+		Vec3 expected_com2 = -expected_com1;
+		CHECK_APPROX_EQUAL(cylinder1->GetCenterOfMass(), expected_com1);
+		CHECK_APPROX_EQUAL(cylinder2->GetCenterOfMass(), expected_com2);
+
+		// Mass of cone
+		float expected_mass = cDensity * JPH_PI * Square(cRadius) * cHeight / 3.0f;
+		CHECK_APPROX_EQUAL(expected_mass, m1.mMass);
+
+		// Inertia of cone (according to https://en.wikipedia.org/wiki/List_of_moments_of_inertia)
+		float expected_inertia_xx = expected_mass * (3.0f / 20.0f * Square(cRadius) + 3.0f / 80.0f * Square(cHeight));
+		float expected_inertia_yy = expected_mass * (3.0f / 10.0f * Square(cRadius));
+		CHECK_APPROX_EQUAL(expected_inertia_xx, m1.mInertia(0, 0), 1.0e-3f);
+		CHECK_APPROX_EQUAL(expected_inertia_yy, m1.mInertia(1, 1), 1.0e-3f);
+		CHECK_APPROX_EQUAL(expected_inertia_xx, m1.mInertia(2, 2), 1.0e-3f);
+	}
+
+	TEST_CASE("TestCollidePoint")
+	{
+		const float cTopRadius = 3.0f;
+		const float cBottomRadius = 5.0f;
+		const float cHalfHeight = 3.5f;
+
+		RefConst<Shape> shape = TaperedCylinderShapeSettings(cHalfHeight, cTopRadius, cBottomRadius).Create().Get();
+
+		auto test_inside = [shape](Vec3Arg inPoint)
+		{
+			AllHitCollisionCollector<CollidePointCollector> collector;
+			shape->CollidePoint(inPoint - shape->GetCenterOfMass(), SubShapeIDCreator(), collector);
+			CHECK(collector.mHits.size() == 1);
+		};
+
+		auto test_outside = [shape](Vec3Arg inPoint)
+		{
+			AllHitCollisionCollector<CollidePointCollector> collector;
+			shape->CollidePoint(inPoint - shape->GetCenterOfMass(), SubShapeIDCreator(), collector);
+			CHECK(collector.mHits.size() == 0);
+		};
+
+		constexpr float cEpsilon = 1.0e-3f;
+
+		test_inside(Vec3::sZero());
+
+		// Top plane
+		test_inside(Vec3(0, cHalfHeight - cEpsilon, 0));
+		test_outside(Vec3(0, cHalfHeight + cEpsilon, 0));
+
+		// Bottom plane
+		test_inside(Vec3(0, -cHalfHeight + cEpsilon, 0));
+		test_outside(Vec3(0, -cHalfHeight - cEpsilon, 0));
+
+		// COM plane
+		test_inside(Vec3(0.5f * (cTopRadius + cBottomRadius) - cEpsilon, 0, 0));
+		test_outside(Vec3(0.5f * (cTopRadius + cBottomRadius) + cEpsilon, 0, 0));
+
+		// At quarter h above COM plane
+		float h = 0.5f * cHalfHeight;
+		float r = cBottomRadius + (cTopRadius - cBottomRadius) * (h + cHalfHeight) / (2.0f * cHalfHeight);
+		test_inside(Vec3(0, h, r - cEpsilon));
+		test_outside(Vec3(0, h, r + cEpsilon));
+	}
+}