123 lines
3.9 KiB
C++
123 lines
3.9 KiB
C++
// 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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#pragma once
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// Jolt includes
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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// Local includes
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#include "PerformanceTestScene.h"
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#include "Layers.h"
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// A scene that drops a number of convex shapes on a sloping terrain made out of a mesh shape
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class ConvexVsMeshScene : public PerformanceTestScene
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{
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public:
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virtual const char * GetName() const override
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{
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return "ConvexVsMesh";
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}
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virtual bool Load(const String &inAssetPath) override
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{
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const int n = 100;
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const float cell_size = 3.0f;
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const float max_height = 5.0f;
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float center = n * cell_size / 2;
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// Create vertices
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const int num_vertices = (n + 1) * (n + 1);
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VertexList vertices;
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vertices.resize(num_vertices);
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for (int x = 0; x <= n; ++x)
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for (int z = 0; z <= n; ++z)
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{
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float height = Sin(float(x) * 50.0f / n) * Cos(float(z) * 50.0f / n);
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vertices[z * (n + 1) + x] = Float3(cell_size * x, max_height * height, cell_size * z);
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}
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// Create regular grid of triangles
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const int num_triangles = n * n * 2;
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IndexedTriangleList indices;
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indices.resize(num_triangles);
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IndexedTriangle *next = indices.data();
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for (int x = 0; x < n; ++x)
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for (int z = 0; z < n; ++z)
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{
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int start = (n + 1) * z + x;
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next->mIdx[0] = start;
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next->mIdx[1] = start + n + 1;
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next->mIdx[2] = start + 1;
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next++;
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next->mIdx[0] = start + 1;
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next->mIdx[1] = start + n + 1;
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next->mIdx[2] = start + n + 2;
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next++;
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}
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// Create mesh shape settings
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Ref<MeshShapeSettings> mesh_shape_settings = new MeshShapeSettings(vertices, indices);
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mesh_shape_settings->mMaxTrianglesPerLeaf = 4;
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// Create mesh shape creation settings
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mMeshSettings.mMotionType = EMotionType::Static;
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mMeshSettings.mObjectLayer = Layers::NON_MOVING;
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mMeshSettings.mPosition = RVec3(Real(-center), Real(max_height), Real(-center));
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mMeshSettings.mFriction = 0.5f;
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mMeshSettings.mRestitution = 0.6f;
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mMeshSettings.SetShapeSettings(mesh_shape_settings);
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// Create other shapes
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mShapes = {
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new BoxShape(Vec3(0.5f, 0.75f, 1.0f)),
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new SphereShape(0.5f),
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new CapsuleShape(0.75f, 0.5f),
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ConvexHullShapeSettings({ Vec3(0, 1, 0), Vec3(1, 0, 0), Vec3(-1, 0, 0), Vec3(0, 0, 1), Vec3(0, 0, -1) }).Create().Get(),
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};
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return true;
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}
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virtual void StartTest(PhysicsSystem &inPhysicsSystem, EMotionQuality inMotionQuality) override
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{
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// Reduce the solver iteration count, the scene doesn't have any constraints so we don't need the default amount of iterations
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PhysicsSettings settings = inPhysicsSystem.GetPhysicsSettings();
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settings.mNumVelocitySteps = 4;
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settings.mNumPositionSteps = 1;
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inPhysicsSystem.SetPhysicsSettings(settings);
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// Create background
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BodyInterface &bi = inPhysicsSystem.GetBodyInterface();
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bi.CreateAndAddBody(mMeshSettings, EActivation::DontActivate);
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// Construct bodies
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for (int x = -10; x <= 10; ++x)
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for (int y = 0; y < (int)mShapes.size(); ++y)
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for (int z = -10; z <= 10; ++z)
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{
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BodyCreationSettings creation_settings;
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creation_settings.mMotionType = EMotionType::Dynamic;
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creation_settings.mMotionQuality = inMotionQuality;
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creation_settings.mObjectLayer = Layers::MOVING;
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creation_settings.mPosition = RVec3(7.5_r * x, 15.0_r + 2.0_r * y, 7.5_r * z);
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creation_settings.mFriction = 0.5f;
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creation_settings.mRestitution = 0.6f;
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creation_settings.SetShape(mShapes[y]);
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bi.CreateAndAddBody(creation_settings, EActivation::Activate);
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}
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}
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private:
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BodyCreationSettings mMeshSettings;
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Array<Ref<Shape>> mShapes;
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};
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