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CosmicEngine/lib/All/JoltPhysics/Samples/SamplesApp.cpp

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#include <TestFramework.h>
#include <SamplesApp.h>
#include <Application/EntryPoint.h>
#include <Jolt/Core/JobSystemThreadPool.h>
#include <Jolt/Core/JobSystemSingleThreaded.h>
#include <Jolt/Core/TempAllocator.h>
#include <Jolt/Core/StreamWrapper.h>
#include <Jolt/Core/StringTools.h>
#include <Jolt/Geometry/OrientedBox.h>
#include <Jolt/Physics/PhysicsSystem.h>
#include <Jolt/Physics/StateRecorderImpl.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
#include <Jolt/Physics/PhysicsScene.h>
#include <Jolt/Physics/Collision/RayCast.h>
#include <Jolt/Physics/Collision/ShapeCast.h>
#include <Jolt/Physics/Collision/CastResult.h>
#include <Jolt/Physics/Collision/CollidePointResult.h>
#include <Jolt/Physics/Collision/AABoxCast.h>
#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
#include <Jolt/Physics/Collision/Shape/MeshShape.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/Physics/Collision/Shape/TaperedCapsuleShape.h>
#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/TaperedCylinderShape.h>
#include <Jolt/Physics/Collision/Shape/TriangleShape.h>
#include <Jolt/Physics/Collision/Shape/PlaneShape.h>
#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
#include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
#include <Jolt/Physics/Collision/NarrowPhaseStats.h>
#include <Jolt/Physics/Collision/CollideSoftBodyVertexIterator.h>
#include <Jolt/Physics/Constraints/DistanceConstraint.h>
#include <Jolt/Physics/Constraints/PulleyConstraint.h>
#include <Jolt/Physics/Character/CharacterVirtual.h>
#include <Utils/Log.h>
#include <Utils/ShapeCreator.h>
#include <Utils/CustomMemoryHook.h>
#include <Utils/SoftBodyCreator.h>
#include <Renderer/DebugRendererImp.h>
JPH_SUPPRESS_WARNINGS_STD_BEGIN
#include <fstream>
JPH_SUPPRESS_WARNINGS_STD_END
JPH_GCC_SUPPRESS_WARNING("-Wswitch")
//-----------------------------------------------------------------------------
// RTTI definitions
//-----------------------------------------------------------------------------
struct TestNameAndRTTI
{
const char * mName;
const RTTI * mRTTI;
};
struct TestCategory
{
const char * mName;
TestNameAndRTTI * mTests;
size_t mNumTests;
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SimpleTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, StackTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, WallTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PyramidTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, IslandTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, FunnelTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, FrictionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, FrictionPerTriangleTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConveyorBeltTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, GravityFactorTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RestitutionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DampingTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, KinematicTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ContactManifoldTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ManifoldReductionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CenterOfMassTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, HeavyOnLightTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, HighSpeedTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ChangeMotionQualityTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ChangeMotionTypeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ChangeShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ChangeObjectLayerTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadSaveBinaryTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BigVsSmallTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ActiveEdgesTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, EnhancedInternalEdgeRemovalTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, MultithreadedTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ContactListenerTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ModifyMassTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ActivateDuringUpdateTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SensorTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SimCollideBodyVsBodyTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DynamicMeshTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, TwoDFunnelTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, AllowedDOFsTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ShapeFilterTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SimShapeFilterTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, GyroscopicForceTest)
#ifdef JPH_OBJECT_STREAM
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadSaveSceneTest)
#endif // JPH_OBJECT_STREAM
static TestNameAndRTTI sGeneralTests[] =
{
{ "Simple", JPH_RTTI(SimpleTest) },
{ "Stack", JPH_RTTI(StackTest) },
{ "Wall", JPH_RTTI(WallTest) },
{ "Pyramid", JPH_RTTI(PyramidTest) },
{ "Island", JPH_RTTI(IslandTest) },
{ "Funnel", JPH_RTTI(FunnelTest) },
{ "2D Funnel", JPH_RTTI(TwoDFunnelTest) },
{ "Friction", JPH_RTTI(FrictionTest) },
{ "Friction (Per Triangle)", JPH_RTTI(FrictionPerTriangleTest) },
{ "Conveyor Belt", JPH_RTTI(ConveyorBeltTest) },
{ "Gravity Factor", JPH_RTTI(GravityFactorTest) },
{ "Restitution", JPH_RTTI(RestitutionTest) },
{ "Damping", JPH_RTTI(DampingTest) },
{ "Kinematic", JPH_RTTI(KinematicTest) },
{ "Contact Manifold", JPH_RTTI(ContactManifoldTest) },
{ "Manifold Reduction", JPH_RTTI(ManifoldReductionTest) },
{ "Center Of Mass", JPH_RTTI(CenterOfMassTest) },
{ "Heavy On Light", JPH_RTTI(HeavyOnLightTest) },
{ "High Speed", JPH_RTTI(HighSpeedTest) },
{ "Change Motion Quality", JPH_RTTI(ChangeMotionQualityTest) },
{ "Change Motion Type", JPH_RTTI(ChangeMotionTypeTest) },
{ "Change Shape", JPH_RTTI(ChangeShapeTest) },
{ "Change Object Layer", JPH_RTTI(ChangeObjectLayerTest) },
#ifdef JPH_OBJECT_STREAM
{ "Load/Save Scene", JPH_RTTI(LoadSaveSceneTest) },
#endif // JPH_OBJECT_STREAM
{ "Load/Save Binary", JPH_RTTI(LoadSaveBinaryTest) },
{ "Big vs Small", JPH_RTTI(BigVsSmallTest) },
{ "Active Edges", JPH_RTTI(ActiveEdgesTest) },
{ "Enhanced Internal Edge Removal", JPH_RTTI(EnhancedInternalEdgeRemovalTest) },
{ "Multithreaded", JPH_RTTI(MultithreadedTest) },
{ "Contact Listener", JPH_RTTI(ContactListenerTest) },
{ "Modify Mass", JPH_RTTI(ModifyMassTest) },
{ "Activate During Update", JPH_RTTI(ActivateDuringUpdateTest) },
{ "Sensor", JPH_RTTI(SensorTest) },
{ "Override Body Vs Body Collision", JPH_RTTI(SimCollideBodyVsBodyTest) },
{ "Dynamic Mesh", JPH_RTTI(DynamicMeshTest) },
{ "Allowed Degrees of Freedom", JPH_RTTI(AllowedDOFsTest) },
{ "Shape Filter (Collision Detection)", JPH_RTTI(ShapeFilterTest) },
{ "Shape Filter (Simulation)", JPH_RTTI(SimShapeFilterTest) },
{ "Gyroscopic Force", JPH_RTTI(GyroscopicForceTest) },
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DistanceConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, FixedConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConeConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SwingTwistConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SixDOFConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, HingeConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PoweredHingeConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PointConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SliderConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PoweredSliderConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SpringTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConstraintSingularityTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConstraintPriorityTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PoweredSwingTwistConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SwingTwistConstraintFrictionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PathConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RackAndPinionConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, GearConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PulleyConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConstraintVsCOMChangeTest)
static TestNameAndRTTI sConstraintTests[] =
{
{ "Point Constraint", JPH_RTTI(PointConstraintTest) },
{ "Distance Constraint", JPH_RTTI(DistanceConstraintTest) },
{ "Hinge Constraint", JPH_RTTI(HingeConstraintTest) },
{ "Powered Hinge Constraint", JPH_RTTI(PoweredHingeConstraintTest) },
{ "Slider Constraint", JPH_RTTI(SliderConstraintTest) },
{ "Powered Slider Constraint", JPH_RTTI(PoweredSliderConstraintTest) },
{ "Fixed Constraint", JPH_RTTI(FixedConstraintTest) },
{ "Cone Constraint", JPH_RTTI(ConeConstraintTest) },
{ "Swing Twist Constraint", JPH_RTTI(SwingTwistConstraintTest) },
{ "Powered Swing Twist Constraint", JPH_RTTI(PoweredSwingTwistConstraintTest) },
{ "Swing Twist Constraint Friction", JPH_RTTI(SwingTwistConstraintFrictionTest) },
{ "Six DOF Constraint", JPH_RTTI(SixDOFConstraintTest) },
{ "Path Constraint", JPH_RTTI(PathConstraintTest) },
{ "Rack And Pinion Constraint", JPH_RTTI(RackAndPinionConstraintTest) },
{ "Gear Constraint", JPH_RTTI(GearConstraintTest) },
{ "Pulley Constraint", JPH_RTTI(PulleyConstraintTest) },
{ "Spring", JPH_RTTI(SpringTest) },
{ "Constraint Singularity", JPH_RTTI(ConstraintSingularityTest) },
{ "Constraint vs Center Of Mass Change",JPH_RTTI(ConstraintVsCOMChangeTest) },
{ "Constraint Priority", JPH_RTTI(ConstraintPriorityTest) },
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BoxShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SphereShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, TaperedCapsuleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CapsuleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CylinderShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, TaperedCylinderShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, StaticCompoundShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, MutableCompoundShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, TriangleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PlaneShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConvexHullShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, MeshShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, MeshShapeUserDataTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, HeightFieldShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DeformedHeightFieldShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RotatedTranslatedShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, OffsetCenterOfMassShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, EmptyShapeTest)
static TestNameAndRTTI sShapeTests[] =
{
{ "Sphere Shape", JPH_RTTI(SphereShapeTest) },
{ "Box Shape", JPH_RTTI(BoxShapeTest) },
{ "Capsule Shape", JPH_RTTI(CapsuleShapeTest) },
{ "Tapered Capsule Shape", JPH_RTTI(TaperedCapsuleShapeTest) },
{ "Cylinder Shape", JPH_RTTI(CylinderShapeTest) },
{ "Tapered Cylinder Shape", JPH_RTTI(TaperedCylinderShapeTest) },
{ "Convex Hull Shape", JPH_RTTI(ConvexHullShapeTest) },
{ "Mesh Shape", JPH_RTTI(MeshShapeTest) },
{ "Mesh Shape Per Triangle User Data", JPH_RTTI(MeshShapeUserDataTest) },
{ "Height Field Shape", JPH_RTTI(HeightFieldShapeTest) },
{ "Deformed Height Field Shape", JPH_RTTI(DeformedHeightFieldShapeTest) },
{ "Static Compound Shape", JPH_RTTI(StaticCompoundShapeTest) },
{ "Mutable Compound Shape", JPH_RTTI(MutableCompoundShapeTest) },
{ "Triangle Shape", JPH_RTTI(TriangleShapeTest) },
{ "Plane Shape", JPH_RTTI(PlaneShapeTest) },
{ "Rotated Translated Shape", JPH_RTTI(RotatedTranslatedShapeTest) },
{ "Offset Center Of Mass Shape", JPH_RTTI(OffsetCenterOfMassShapeTest) },
{ "Empty Shape", JPH_RTTI(EmptyShapeTest) }
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledSphereShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledBoxShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledCapsuleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledTaperedCapsuleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledCylinderShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledTaperedCylinderShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledConvexHullShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledMeshShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledHeightFieldShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledStaticCompoundShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledMutableCompoundShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledTriangleShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledPlaneShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledOffsetCenterOfMassShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DynamicScaledShape)
static TestNameAndRTTI sScaledShapeTests[] =
{
{ "Sphere Shape", JPH_RTTI(ScaledSphereShapeTest) },
{ "Box Shape", JPH_RTTI(ScaledBoxShapeTest) },
{ "Capsule Shape", JPH_RTTI(ScaledCapsuleShapeTest) },
{ "Tapered Capsule Shape", JPH_RTTI(ScaledTaperedCapsuleShapeTest) },
{ "Cylinder Shape", JPH_RTTI(ScaledCylinderShapeTest) },
{ "Tapered Cylinder Shape", JPH_RTTI(ScaledTaperedCylinderShapeTest) },
{ "Convex Hull Shape", JPH_RTTI(ScaledConvexHullShapeTest) },
{ "Mesh Shape", JPH_RTTI(ScaledMeshShapeTest) },
{ "Height Field Shape", JPH_RTTI(ScaledHeightFieldShapeTest) },
{ "Static Compound Shape", JPH_RTTI(ScaledStaticCompoundShapeTest) },
{ "Mutable Compound Shape", JPH_RTTI(ScaledMutableCompoundShapeTest) },
{ "Triangle Shape", JPH_RTTI(ScaledTriangleShapeTest) },
{ "Plane Shape", JPH_RTTI(ScaledPlaneShapeTest) },
{ "Offset Center Of Mass Shape", JPH_RTTI(ScaledOffsetCenterOfMassShapeTest) },
{ "Dynamic Scaled Shape", JPH_RTTI(DynamicScaledShape) }
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CreateRigTest)
#ifdef JPH_OBJECT_STREAM
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, KinematicRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftKeyframedRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, PoweredRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RigPileTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadSaveRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadSaveBinaryRigTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SkeletonMapperTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BigWorldTest)
#endif // JPH_OBJECT_STREAM
static TestNameAndRTTI sRigTests[] =
{
{ "Create Rig", JPH_RTTI(CreateRigTest) },
#ifdef JPH_OBJECT_STREAM
{ "Load Rig", JPH_RTTI(LoadRigTest) },
{ "Load / Save Rig", JPH_RTTI(LoadSaveRigTest) },
{ "Load / Save Binary Rig", JPH_RTTI(LoadSaveBinaryRigTest) },
{ "Kinematic Rig", JPH_RTTI(KinematicRigTest) },
{ "Soft Keyframed Rig", JPH_RTTI(SoftKeyframedRigTest) },
{ "Powered Rig", JPH_RTTI(PoweredRigTest) },
{ "Skeleton Mapper", JPH_RTTI(SkeletonMapperTest) },
{ "Rig Pile", JPH_RTTI(RigPileTest) },
{ "Big World", JPH_RTTI(BigWorldTest) }
#endif // JPH_OBJECT_STREAM
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CharacterTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CharacterVirtualTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CharacterSpaceShipTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CharacterPlanetTest)
static TestNameAndRTTI sCharacterTests[] =
{
{ "Character", JPH_RTTI(CharacterTest) },
{ "Character Virtual", JPH_RTTI(CharacterVirtualTest) },
{ "Character Virtual vs Space Ship", JPH_RTTI(CharacterSpaceShipTest) },
{ "Character Virtual vs Planet", JPH_RTTI(CharacterPlanetTest) },
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, WaterShapeTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BoatTest)
static TestNameAndRTTI sWaterTests[] =
{
{ "Shapes", JPH_RTTI(WaterShapeTest) },
{ "Boat", JPH_RTTI(BoatTest) },
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, VehicleSixDOFTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, VehicleConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, MotorcycleTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, TankTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, VehicleStressTest)
static TestNameAndRTTI sVehicleTests[] =
{
{ "Car (VehicleConstraint)", JPH_RTTI(VehicleConstraintTest) },
{ "Motorcycle (VehicleConstraint)", JPH_RTTI(MotorcycleTest) },
{ "Tank (VehicleConstraint)", JPH_RTTI(TankTest) },
{ "Car (SixDOFConstraint)", JPH_RTTI(VehicleSixDOFTest) },
{ "Vehicle Stress Test", JPH_RTTI(VehicleStressTest) },
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyShapesTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyFrictionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyRestitutionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyPressureTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyGravityFactorTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyForceTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyKinematicTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyUpdatePositionTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyStressTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyVsFastMovingTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyVertexRadiusTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyContactListenerTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyCustomUpdateTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyLRAConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyBendConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodySkinnedConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodyCosseratRodConstraintTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, SoftBodySensorTest)
static TestNameAndRTTI sSoftBodyTests[] =
{
{ "Soft Body vs Shapes", JPH_RTTI(SoftBodyShapesTest) },
{ "Soft Body vs Fast Moving", JPH_RTTI(SoftBodyVsFastMovingTest) },
{ "Soft Body Friction", JPH_RTTI(SoftBodyFrictionTest) },
{ "Soft Body Restitution", JPH_RTTI(SoftBodyRestitutionTest) },
{ "Soft Body Pressure", JPH_RTTI(SoftBodyPressureTest) },
{ "Soft Body Gravity Factor", JPH_RTTI(SoftBodyGravityFactorTest) },
{ "Soft Body Force", JPH_RTTI(SoftBodyForceTest) },
{ "Soft Body Kinematic", JPH_RTTI(SoftBodyKinematicTest) },
{ "Soft Body Update Position", JPH_RTTI(SoftBodyUpdatePositionTest) },
{ "Soft Body Stress Test", JPH_RTTI(SoftBodyStressTest) },
{ "Soft Body Vertex Radius Test", JPH_RTTI(SoftBodyVertexRadiusTest) },
{ "Soft Body Contact Listener", JPH_RTTI(SoftBodyContactListenerTest) },
{ "Soft Body Custom Update", JPH_RTTI(SoftBodyCustomUpdateTest) },
{ "Soft Body LRA Constraint", JPH_RTTI(SoftBodyLRAConstraintTest) },
{ "Soft Body Bend Constraint", JPH_RTTI(SoftBodyBendConstraintTest) },
{ "Soft Body Skinned Constraint", JPH_RTTI(SoftBodySkinnedConstraintTest) },
{ "Soft Body Cosserat Rod Constraint", JPH_RTTI(SoftBodyCosseratRodConstraintTest) },
{ "Soft Body vs Sensor", JPH_RTTI(SoftBodySensorTest) }
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BroadPhaseCastRayTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, BroadPhaseInsertionTest)
static TestNameAndRTTI sBroadPhaseTests[] =
{
{ "Cast Ray", JPH_RTTI(BroadPhaseCastRayTest) },
{ "Insertion", JPH_RTTI(BroadPhaseInsertionTest) }
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, InteractivePairsTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, EPATest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ClosestPointTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConvexHullTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ConvexHullShrinkTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RandomRayTest)
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, CapsuleVsBoxTest)
static TestNameAndRTTI sConvexCollisionTests[] =
{
{ "Interactive Pairs", JPH_RTTI(InteractivePairsTest) },
{ "EPA Test", JPH_RTTI(EPATest) },
{ "Closest Point", JPH_RTTI(ClosestPointTest) },
{ "Convex Hull", JPH_RTTI(ConvexHullTest) },
{ "Convex Hull Shrink", JPH_RTTI(ConvexHullShrinkTest) },
{ "Random Ray", JPH_RTTI(RandomRayTest) },
{ "Capsule Vs Box", JPH_RTTI(CapsuleVsBoxTest) }
};
JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, LoadSnapshotTest)
static TestNameAndRTTI sTools[] =
{
{ "Load Snapshot", JPH_RTTI(LoadSnapshotTest) },
};
static TestCategory sAllCategories[] =
{
{ "General", sGeneralTests, size(sGeneralTests) },
{ "Shapes", sShapeTests, size(sShapeTests) },
{ "Scaled Shapes", sScaledShapeTests, size(sScaledShapeTests) },
{ "Constraints", sConstraintTests, size(sConstraintTests) },
{ "Rig", sRigTests, size(sRigTests) },
{ "Character", sCharacterTests, size(sCharacterTests) },
{ "Water", sWaterTests, size(sWaterTests) },
{ "Vehicle", sVehicleTests, size(sVehicleTests) },
{ "Soft Body", sSoftBodyTests, size(sSoftBodyTests) },
{ "Broad Phase", sBroadPhaseTests, size(sBroadPhaseTests) },
{ "Convex Collision", sConvexCollisionTests, size(sConvexCollisionTests) },
{ "Tools", sTools, size(sTools) }
};
//-----------------------------------------------------------------------------
// Configuration
//-----------------------------------------------------------------------------
static constexpr uint cNumBodies = 10240;
static constexpr uint cNumBodyMutexes = 0; // Autodetect
static constexpr uint cMaxBodyPairs = 65536;
static constexpr uint cMaxContactConstraints = 20480;
SamplesApp::SamplesApp(const String &inCommandLine) :
Application("Jolt Physics Samples", inCommandLine)
{
// Limit the render frequency to our simulation frequency so we don't play back the simulation too fast
// Note that if the simulation frequency > vsync frequency the simulation will slow down as we want
// to visualize every simulation step. When the simulation frequency is lower than the vsync frequency
// we will not render a new frame every frame as we want to show the result of the sim and not an interpolated version.
SetRenderFrequency(mUpdateFrequency);
// Allocate temp memory
#ifdef JPH_DISABLE_TEMP_ALLOCATOR
mTempAllocator = new TempAllocatorMalloc();
#else
mTempAllocator = new TempAllocatorImpl(32 * 1024 * 1024);
#endif
// Create job system
mJobSystem = new JobSystemThreadPool(cMaxPhysicsJobs, cMaxPhysicsBarriers, mMaxConcurrentJobs - 1);
// Create single threaded job system for validating
mJobSystemValidating = new JobSystemSingleThreaded(cMaxPhysicsJobs);
{
// Disable allocation checking
DisableCustomMemoryHook dcmh;
// Create UI
UIElement *main_menu = mDebugUI->CreateMenu();
mDebugUI->CreateTextButton(main_menu, "Select Test", [this]() {
UIElement *tests = mDebugUI->CreateMenu();
for (TestCategory &c : sAllCategories)
{
mDebugUI->CreateTextButton(tests, c.mName, [this, &c]() {
UIElement *category = mDebugUI->CreateMenu();
for (uint j = 0; j < c.mNumTests; ++j)
mDebugUI->CreateTextButton(category, c.mTests[j].mName, [this, &c, j]() { StartTest(c.mTests[j].mRTTI); });
mDebugUI->ShowMenu(category);
});
}
mDebugUI->ShowMenu(tests);
});
mTestSettingsButton = mDebugUI->CreateTextButton(main_menu, "Test Settings", [this](){
UIElement *test_settings = mDebugUI->CreateMenu();
mTest->CreateSettingsMenu(mDebugUI, test_settings);
mDebugUI->ShowMenu(test_settings);
});
mDebugUI->CreateTextButton(main_menu, "Restart Test (R)", [this]() { StartTest(mTestClass); });
mDebugUI->CreateTextButton(main_menu, "Run All Tests", [this]() { RunAllTests(); });
mDebugUI->CreateTextButton(main_menu, "Next Test (N)", [this]() { NextTest(); });
mDebugUI->CreateTextButton(main_menu, "Take Snapshot", [this]() { TakeSnapshot(); });
mDebugUI->CreateTextButton(main_menu, "Take And Reload Snapshot", [this]() { TakeAndReloadSnapshot(); });
mDebugUI->CreateTextButton(main_menu, "Physics Settings", [this]() {
UIElement *phys_settings = mDebugUI->CreateMenu();
mDebugUI->CreateSlider(phys_settings, "Max Concurrent Jobs", float(mMaxConcurrentJobs), 1, float(thread::hardware_concurrency()), 1, [this](float inValue) { mMaxConcurrentJobs = (int)inValue; });
mDebugUI->CreateSlider(phys_settings, "Gravity (m/s^2)", -mPhysicsSystem->GetGravity().GetY(), 0.0f, 20.0f, 1.0f, [this](float inValue) { mPhysicsSystem->SetGravity(Vec3(0, -inValue, 0)); });
mDebugUI->CreateSlider(phys_settings, "Update Frequency (Hz)", mUpdateFrequency, 7.5f, 300.0f, 2.5f, [this](float inValue) { mUpdateFrequency = inValue; SetRenderFrequency(mUpdateFrequency); });
mDebugUI->CreateSlider(phys_settings, "Num Collision Steps", float(mCollisionSteps), 1.0f, 4.0f, 1.0f, [this](float inValue) { mCollisionSteps = int(inValue); });
mDebugUI->CreateSlider(phys_settings, "Num Velocity Steps", float(mPhysicsSettings.mNumVelocitySteps), 0, 30, 1, [this](float inValue) { mPhysicsSettings.mNumVelocitySteps = int(round(inValue)); mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateSlider(phys_settings, "Num Position Steps", float(mPhysicsSettings.mNumPositionSteps), 0, 30, 1, [this](float inValue) { mPhysicsSettings.mNumPositionSteps = int(round(inValue)); mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateSlider(phys_settings, "Baumgarte Stabilization Factor", mPhysicsSettings.mBaumgarte, 0.01f, 1.0f, 0.05f, [this](float inValue) { mPhysicsSettings.mBaumgarte = inValue; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateSlider(phys_settings, "Speculative Contact Distance (m)", mPhysicsSettings.mSpeculativeContactDistance, 0.0f, 0.1f, 0.005f, [this](float inValue) { mPhysicsSettings.mSpeculativeContactDistance = inValue; });
mDebugUI->CreateSlider(phys_settings, "Penetration Slop (m)", mPhysicsSettings.mPenetrationSlop, 0.0f, 0.1f, 0.005f, [this](float inValue) { mPhysicsSettings.mPenetrationSlop = inValue; });
mDebugUI->CreateSlider(phys_settings, "Linear Cast Threshold", mPhysicsSettings.mLinearCastThreshold, 0.0f, 1.0f, 0.05f, [this](float inValue) { mPhysicsSettings.mLinearCastThreshold = inValue; });
mDebugUI->CreateSlider(phys_settings, "Min Velocity For Restitution (m/s)", mPhysicsSettings.mMinVelocityForRestitution, 0.0f, 10.0f, 0.1f, [this](float inValue) { mPhysicsSettings.mMinVelocityForRestitution = inValue; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateSlider(phys_settings, "Time Before Sleep (s)", mPhysicsSettings.mTimeBeforeSleep, 0.1f, 1.0f, 0.1f, [this](float inValue) { mPhysicsSettings.mTimeBeforeSleep = inValue; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateSlider(phys_settings, "Point Velocity Sleep Threshold (m/s)", mPhysicsSettings.mPointVelocitySleepThreshold, 0.01f, 1.0f, 0.01f, [this](float inValue) { mPhysicsSettings.mPointVelocitySleepThreshold = inValue; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
#ifdef JPH_CUSTOM_MEMORY_HOOK_ENABLED
mDebugUI->CreateCheckBox(phys_settings, "Enable Checking Memory Hook", IsCustomMemoryHookEnabled(), [](UICheckBox::EState inState) { EnableCustomMemoryHook(inState == UICheckBox::STATE_CHECKED); });
#endif
mDebugUI->CreateCheckBox(phys_settings, "Deterministic Simulation", mPhysicsSettings.mDeterministicSimulation, [this](UICheckBox::EState inState) { mPhysicsSettings.mDeterministicSimulation = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Constraint Warm Starting", mPhysicsSettings.mConstraintWarmStart, [this](UICheckBox::EState inState) { mPhysicsSettings.mConstraintWarmStart = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Use Body Pair Contact Cache", mPhysicsSettings.mUseBodyPairContactCache, [this](UICheckBox::EState inState) { mPhysicsSettings.mUseBodyPairContactCache = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Contact Manifold Reduction", mPhysicsSettings.mUseManifoldReduction, [this](UICheckBox::EState inState) { mPhysicsSettings.mUseManifoldReduction = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Use Large Island Splitter", mPhysicsSettings.mUseLargeIslandSplitter, [this](UICheckBox::EState inState) { mPhysicsSettings.mUseLargeIslandSplitter = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Allow Sleeping", mPhysicsSettings.mAllowSleeping, [this](UICheckBox::EState inState) { mPhysicsSettings.mAllowSleeping = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Check Active Triangle Edges", mPhysicsSettings.mCheckActiveEdges, [this](UICheckBox::EState inState) { mPhysicsSettings.mCheckActiveEdges = inState == UICheckBox::STATE_CHECKED; mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings); });
mDebugUI->CreateCheckBox(phys_settings, "Record State For Playback", mRecordState, [this](UICheckBox::EState inState) { mRecordState = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(phys_settings, "Check Determinism", mCheckDeterminism, [this](UICheckBox::EState inState) { mCheckDeterminism = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(phys_settings, "Install Contact Listener", mInstallContactListener, [this](UICheckBox::EState inState) { mInstallContactListener = inState == UICheckBox::STATE_CHECKED; StartTest(mTestClass); });
mDebugUI->ShowMenu(phys_settings);
});
#ifdef JPH_DEBUG_RENDERER
mDebugUI->CreateTextButton(main_menu, "Drawing Options", [this]() {
UIElement *drawing_options = mDebugUI->CreateMenu();
mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes (H)", mBodyDrawSettings.mDrawShape, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawShape = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes Wireframe (Alt+W)", mBodyDrawSettings.mDrawShapeWireframe, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawShapeWireframe = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateComboBox(drawing_options, "Draw Shape Color", { "Instance", "Shape Type", "Motion Type", "Sleep", "Island", "Material" }, (int)mBodyDrawSettings.mDrawShapeColor, [this](int inItem) { mBodyDrawSettings.mDrawShapeColor = (BodyManager::EShapeColor)inItem; });
mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupport + Cvx Radius (Shift+H)", mBodyDrawSettings.mDrawGetSupportFunction, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawGetSupportFunction = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes Using GetTrianglesStart/Next (Alt+H)", mDrawGetTriangles, [this](UICheckBox::EState inState) { mDrawGetTriangles = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupport Direction", mBodyDrawSettings.mDrawSupportDirection, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSupportDirection = inState == UICheckBox::STATE_CHECKED; mBodyDrawSettings.mDrawGetSupportFunction |= mBodyDrawSettings.mDrawSupportDirection; });
mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupportingFace (Shift+F)", mBodyDrawSettings.mDrawGetSupportingFace, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawGetSupportingFace = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Constraints (C)", mDrawConstraints, [this](UICheckBox::EState inState) { mDrawConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Constraint Limits (L)", mDrawConstraintLimits, [this](UICheckBox::EState inState) { mDrawConstraintLimits = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Constraint Reference Frame", mDrawConstraintReferenceFrame, [this](UICheckBox::EState inState) { mDrawConstraintReferenceFrame = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Point (1)", ContactConstraintManager::sDrawContactPoint, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactPoint = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Supporting Faces (2)", ContactConstraintManager::sDrawSupportingFaces, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawSupportingFaces = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Point Reduction (3)", ContactConstraintManager::sDrawContactPointReduction, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactPointReduction = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Manifolds (M)", ContactConstraintManager::sDrawContactManifolds, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactManifolds = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Motion Quality Linear Cast", PhysicsSystem::sDrawMotionQualityLinearCast, [](UICheckBox::EState inState) { PhysicsSystem::sDrawMotionQualityLinearCast = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Bounding Boxes", mBodyDrawSettings.mDrawBoundingBox, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawBoundingBox = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Broadphase Bounds", mDrawBroadPhaseBounds, [this](UICheckBox::EState inState) { mDrawBroadPhaseBounds = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Center of Mass Transforms", mBodyDrawSettings.mDrawCenterOfMassTransform, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawCenterOfMassTransform = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw World Transforms", mBodyDrawSettings.mDrawWorldTransform, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawWorldTransform = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Velocity", mBodyDrawSettings.mDrawVelocity, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawVelocity = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Sleep Stats", mBodyDrawSettings.mDrawSleepStats, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSleepStats = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Mass and Inertia (I)", mBodyDrawSettings.mDrawMassAndInertia, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawMassAndInertia = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Joints", mPoseDrawSettings.mDrawJoints, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJoints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Joint Orientations", mPoseDrawSettings.mDrawJointOrientations, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJointOrientations = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Joint Names", mPoseDrawSettings.mDrawJointNames, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJointNames = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Convex Hull Shape Face Outlines", ConvexHullShape::sDrawFaceOutlines, [](UICheckBox::EState inState) { ConvexHullShape::sDrawFaceOutlines = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Mesh Shape Triangle Groups", MeshShape::sDrawTriangleGroups, [](UICheckBox::EState inState) { MeshShape::sDrawTriangleGroups = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Mesh Shape Triangle Outlines", MeshShape::sDrawTriangleOutlines, [](UICheckBox::EState inState) { MeshShape::sDrawTriangleOutlines = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Height Field Shape Triangle Outlines", HeightFieldShape::sDrawTriangleOutlines, [](UICheckBox::EState inState) { HeightFieldShape::sDrawTriangleOutlines = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(drawing_options, "Draw Submerged Volumes", Shape::sDrawSubmergedVolumes, [](UICheckBox::EState inState) { Shape::sDrawSubmergedVolumes = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateTextButton(drawing_options, "Draw Character Virtual", [this](){
UIElement *draw_character = mDebugUI->CreateMenu();
mDebugUI->CreateCheckBox(draw_character, "Draw Character Virtual Constraints", CharacterVirtual::sDrawConstraints, [](UICheckBox::EState inState) { CharacterVirtual::sDrawConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_character, "Draw Character Virtual Walk Stairs", CharacterVirtual::sDrawWalkStairs, [](UICheckBox::EState inState) { CharacterVirtual::sDrawWalkStairs = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_character, "Draw Character Virtual Stick To Floor", CharacterVirtual::sDrawStickToFloor, [](UICheckBox::EState inState) { CharacterVirtual::sDrawStickToFloor = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->ShowMenu(draw_character);
});
mDebugUI->CreateTextButton(drawing_options, "Draw Soft Body", [this](){
UIElement *draw_soft_body = mDebugUI->CreateMenu();
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Vertices", mBodyDrawSettings.mDrawSoftBodyVertices, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVertices = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Vertex Velocities", mBodyDrawSettings.mDrawSoftBodyVertexVelocities, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVertexVelocities = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Edge Constraints", mBodyDrawSettings.mDrawSoftBodyEdgeConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyEdgeConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Bend Constraints", mBodyDrawSettings.mDrawSoftBodyBendConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyBendConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Volume Constraints", mBodyDrawSettings.mDrawSoftBodyVolumeConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVolumeConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Skin Constraints", mBodyDrawSettings.mDrawSoftBodySkinConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodySkinConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw LRA Constraints", mBodyDrawSettings.mDrawSoftBodyLRAConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyLRAConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Rods", mBodyDrawSettings.mDrawSoftBodyRods, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyRods = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Rod States", mBodyDrawSettings.mDrawSoftBodyRodStates, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyRodStates = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Rod Bend Twist Constraints", mBodyDrawSettings.mDrawSoftBodyRodBendTwistConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyRodBendTwistConstraints = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(draw_soft_body, "Draw Predicted Bounds", mBodyDrawSettings.mDrawSoftBodyPredictedBounds, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyPredictedBounds = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateComboBox(draw_soft_body, "Draw Constraint Color", { "Constraint Type", "Constraint Group", "Constraint Order" }, (int)mBodyDrawSettings.mDrawSoftBodyConstraintColor, [this](int inItem) { mBodyDrawSettings.mDrawSoftBodyConstraintColor = (ESoftBodyConstraintColor)inItem; });
mDebugUI->ShowMenu(draw_soft_body);
});
mDebugUI->ShowMenu(drawing_options);
});
#endif // JPH_DEBUG_RENDERER
mDebugUI->CreateTextButton(main_menu, "Mouse Probe", [this]() {
UIElement *probe_options = mDebugUI->CreateMenu();
mDebugUI->CreateComboBox(probe_options, "Mode", { "Pick", "Ray", "RayCollector", "CollidePoint", "CollideShape", "CollideShapeEdgRem", "CastShape", "CollideSoftBody", "TransfShape", "GetTriangles", "BP Ray", "BP Box", "BP Sphere", "BP Point", "BP OBox", "BP Cast Box" }, (int)mProbeMode, [this](int inItem) { mProbeMode = (EProbeMode)inItem; });
mDebugUI->CreateComboBox(probe_options, "Shape", { "Sphere", "Box", "ConvexHull", "Capsule", "TaperedCapsule", "Cylinder", "Triangle", "RotatedTranslated", "StaticCompound", "StaticCompound2", "MutableCompound", "Mesh" }, (int)mProbeShape, [this](int inItem) { mProbeShape = (EProbeShape)inItem; });
mDebugUI->CreateCheckBox(probe_options, "Scale Shape", mScaleShape, [this](UICheckBox::EState inState) { mScaleShape = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateSlider(probe_options, "Scale X", mShapeScale.GetX(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShapeScale.SetX(inValue); });
mDebugUI->CreateSlider(probe_options, "Scale Y", mShapeScale.GetY(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShapeScale.SetY(inValue); });
mDebugUI->CreateSlider(probe_options, "Scale Z", mShapeScale.GetZ(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShapeScale.SetZ(inValue); });
mDebugUI->CreateComboBox(probe_options, "Back Face Cull Triangles", { "On", "Off" }, (int)mBackFaceModeTriangles, [this](int inItem) { mBackFaceModeTriangles = (EBackFaceMode)inItem; });
mDebugUI->CreateComboBox(probe_options, "Back Face Cull Convex", { "On", "Off" }, (int)mBackFaceModeConvex, [this](int inItem) { mBackFaceModeConvex = (EBackFaceMode)inItem; });
mDebugUI->CreateComboBox(probe_options, "Active Edge Mode", { "Only Active", "All" }, (int)mActiveEdgeMode, [this](int inItem) { mActiveEdgeMode = (EActiveEdgeMode)inItem; });
mDebugUI->CreateComboBox(probe_options, "Collect Faces Mode", { "Collect Faces", "No Faces" }, (int)mCollectFacesMode, [this](int inItem) { mCollectFacesMode = (ECollectFacesMode)inItem; });
mDebugUI->CreateSlider(probe_options, "Max Separation Distance", mMaxSeparationDistance, 0.0f, 5.0f, 0.1f, [this](float inValue) { mMaxSeparationDistance = inValue; });
mDebugUI->CreateCheckBox(probe_options, "Treat Convex As Solid", mTreatConvexAsSolid, [this](UICheckBox::EState inState) { mTreatConvexAsSolid = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(probe_options, "Return Deepest Point", mReturnDeepestPoint, [this](UICheckBox::EState inState) { mReturnDeepestPoint = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(probe_options, "Shrunken Shape + Convex Radius", mUseShrunkenShapeAndConvexRadius, [this](UICheckBox::EState inState) { mUseShrunkenShapeAndConvexRadius = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateCheckBox(probe_options, "Draw Supporting Face", mDrawSupportingFace, [this](UICheckBox::EState inState) { mDrawSupportingFace = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateSlider(probe_options, "Max Hits", float(mMaxHits), 0, 10, 1, [this](float inValue) { mMaxHits = (int)inValue; });
mDebugUI->CreateCheckBox(probe_options, "Closest Hit Per Body", mClosestHitPerBody, [this](UICheckBox::EState inState) { mClosestHitPerBody = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->ShowMenu(probe_options);
});
mDebugUI->CreateTextButton(main_menu, "Shoot Object", [this]() {
UIElement *shoot_options = mDebugUI->CreateMenu();
mDebugUI->CreateTextButton(shoot_options, "Shoot Object (B)", [this]() { ShootObject(); });
mDebugUI->CreateSlider(shoot_options, "Initial Velocity", mShootObjectVelocity, 0.0f, 500.0f, 10.0f, [this](float inValue) { mShootObjectVelocity = inValue; });
mDebugUI->CreateComboBox(shoot_options, "Shape", { "Sphere", "ConvexHull", "Thin Bar", "Soft Body Cube" }, (int)mShootObjectShape, [this](int inItem) { mShootObjectShape = (EShootObjectShape)inItem; });
mDebugUI->CreateComboBox(shoot_options, "Motion Quality", { "Discrete", "LinearCast" }, (int)mShootObjectMotionQuality, [this](int inItem) { mShootObjectMotionQuality = (EMotionQuality)inItem; });
mDebugUI->CreateSlider(shoot_options, "Friction", mShootObjectFriction, 0.0f, 1.0f, 0.05f, [this](float inValue) { mShootObjectFriction = inValue; });
mDebugUI->CreateSlider(shoot_options, "Restitution", mShootObjectRestitution, 0.0f, 1.0f, 0.05f, [this](float inValue) { mShootObjectRestitution = inValue; });
mDebugUI->CreateCheckBox(shoot_options, "Scale Shape", mShootObjectScaleShape, [this](UICheckBox::EState inState) { mShootObjectScaleShape = inState == UICheckBox::STATE_CHECKED; });
mDebugUI->CreateSlider(shoot_options, "Scale X", mShootObjectShapeScale.GetX(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShootObjectShapeScale.SetX(inValue); });
mDebugUI->CreateSlider(shoot_options, "Scale Y", mShootObjectShapeScale.GetY(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShootObjectShapeScale.SetY(inValue); });
mDebugUI->CreateSlider(shoot_options, "Scale Z", mShootObjectShapeScale.GetZ(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShootObjectShapeScale.SetZ(inValue); });
mDebugUI->ShowMenu(shoot_options);
});
mDebugUI->CreateTextButton(main_menu, "Help", [this](){
UIElement *help = mDebugUI->CreateMenu();
mDebugUI->CreateStaticText(help,
"ESC: Back to previous menu.\n"
"WASD + Mouse: Fly around. Hold Shift to speed up, Ctrl to slow down.\n"
"Space: Hold to pick up and drag a physics object under the crosshair.\n"
"P: Pause / unpause simulation.\n"
"O: Single step the simulation.\n"
",: Step back (only when Physics Settings / Record State for Playback is on).\n"
".: Step forward (only when Physics Settings / Record State for Playback is on).\n"
"Shift + ,: Play reverse (only when Physics Settings / Record State for Playback is on).\n"
"Shift + .: Replay forward (only when Physics Settings / Record State for Playback is on).\n"
"T: Dump frame timing information to profile_*.html (when JPH_PROFILE_ENABLED defined)."
);
mDebugUI->ShowMenu(help);
});
mDebugUI->ShowMenu(main_menu);
}
// Get test name from command line
String cmd_line = ToLower(inCommandLine);
Array<String> args;
StringToVector(cmd_line, args, " ");
if (args.size() == 2)
{
String cmd = args[1];
if (cmd == "alltests")
{
// Run all tests
mCheckDeterminism = true;
mExitAfterRunningTests = true;
RunAllTests();
}
else
{
// Search for the test
const RTTI *test = JPH_RTTI(CreateRigTest);
for (TestCategory &c : sAllCategories)
for (uint i = 0; i < c.mNumTests; ++i)
{
TestNameAndRTTI &t = c.mTests[i];
String test_name = ToLower(t.mRTTI->GetName());
if (test_name == cmd)
{
test = t.mRTTI;
break;
}
}
// Construct test
StartTest(test);
}
}
else
{
// Otherwise start default test
StartTest(JPH_RTTI(CreateRigTest));
}
}
SamplesApp::~SamplesApp()
{
// Clean up
delete mTest;
delete mContactListener;
delete mPhysicsSystem;
delete mJobSystemValidating;
delete mJobSystem;
delete mTempAllocator;
}
void SamplesApp::StartTest(const RTTI *inRTTI)
{
// Clear anything that is being rendered right now to avoid showing the previous test while initializing the new one
ClearDebugRenderer();
// Pop active menus, we might be in the settings menu for the test which will be dangling after restarting the test
mDebugUI->BackToMain();
// Store old gravity
Vec3 old_gravity = mPhysicsSystem != nullptr? mPhysicsSystem->GetGravity() : Vec3(0, -9.81f, 0);
// Discard old test
delete mTest;
delete mContactListener;
delete mPhysicsSystem;
// Create physics system
mPhysicsSystem = new PhysicsSystem();
mPhysicsSystem->Init(cNumBodies, cNumBodyMutexes, cMaxBodyPairs, cMaxContactConstraints, mBroadPhaseLayerInterface, mObjectVsBroadPhaseLayerFilter, mObjectVsObjectLayerFilter);
mPhysicsSystem->SetPhysicsSettings(mPhysicsSettings);
// Restore gravity
mPhysicsSystem->SetGravity(old_gravity);
// Reset dragging
mDragAnchor = nullptr;
mDragBody = BodyID();
mDragConstraint = nullptr;
mDragVertexIndex = ~uint(0);
mDragVertexPreviousInvMass = 0.0f;
mDragFraction = 0.0f;
// Reset playback state
mPlaybackFrames.clear();
mPlaybackMode = EPlaybackMode::Play;
mCurrentPlaybackFrame = -1;
// Set new test
mTestClass = inRTTI;
mTest = static_cast<Test *>(inRTTI->CreateObject());
mTest->SetPhysicsSystem(mPhysicsSystem);
mTest->SetJobSystem(mJobSystem);
mTest->SetDebugRenderer(mDebugRenderer);
mTest->SetTempAllocator(mTempAllocator);
if (mInstallContactListener)
{
mContactListener = new ContactListenerImpl;
mContactListener->SetNextListener(mTest->GetContactListener());
mPhysicsSystem->SetContactListener(mContactListener);
}
else
{
mContactListener = nullptr;
mPhysicsSystem->SetContactListener(mTest->GetContactListener());
}
mTest->Initialize();
// Optimize the broadphase to make the first update fast
mPhysicsSystem->OptimizeBroadPhase();
// Make the world render relative to offset specified by test
mRenderer->SetBaseOffset(mTest->GetDrawOffset());
// Reset the camera to the original position
ResetCamera();
if (mIsRunningAllTests)
{
// Unpause and start the count down
Pause(false);
mTestTimeLeft = 10.0f;
}
else
{
// Start paused
Pause(true);
SingleStep();
}
// Check if test has settings menu
mTestSettingsButton->SetDisabled(!mTest->HasSettingsMenu());
// We're immediately doing a step, we want to display the description for the first 2 steps
mShowDescription = 2;
}
void SamplesApp::RunAllTests()
{
mIsRunningAllTests = true;
StartTest(sAllCategories[0].mTests[0].mRTTI);
}
bool SamplesApp::NextTest()
{
// Find the next test to run based on the RTTI of the current test
const RTTI *next_test = nullptr;
bool cur_test_found = false;
for (const TestCategory &c : sAllCategories)
{
for (uint j = 0; j < c.mNumTests; ++j)
{
const TestNameAndRTTI &test = c.mTests[j];
if (cur_test_found)
{
// We already found the current test so this test is the next test to run
next_test = test.mRTTI;
break;
}
else if (test.mRTTI == mTestClass)
{
// RTTI matches, the next test we encounter is the next test to run
cur_test_found = true;
}
}
if (next_test != nullptr)
break;
}
if (next_test == nullptr)
{
mIsRunningAllTests = false;
mTestTimeLeft = -1.0f;
if (mExitAfterRunningTests)
return false; // Exit the application now
else
Alert("Test run complete!");
}
else
{
// Start next test
StartTest(next_test);
}
return true;
}
bool SamplesApp::CheckNextTest()
{
if (mTestTimeLeft >= 0.0f)
{
// Update status string
if (!mStatusString.empty())
mStatusString += "\n";
mStatusString += StringFormat("%s: Next test in %.1fs", mTestClass->GetName(), (double)mTestTimeLeft);
// Use physics time
mTestTimeLeft -= 1.0f / mUpdateFrequency;
// If time's up then go to the next test
if (mTestTimeLeft < 0.0f)
return NextTest();
}
return true;
}
void SamplesApp::TakeSnapshot()
{
// Convert physics system to scene
Ref<PhysicsScene> scene = new PhysicsScene();
scene->FromPhysicsSystem(mPhysicsSystem);
// Save scene
ofstream stream("snapshot.bin", ofstream::out | ofstream::trunc | ofstream::binary);
StreamOutWrapper wrapper(stream);
if (stream.is_open())
scene->SaveBinaryState(wrapper, true, true);
}
void SamplesApp::TakeAndReloadSnapshot()
{
TakeSnapshot();
StartTest(JPH_RTTI(LoadSnapshotTest));
}
RefConst<Shape> SamplesApp::CreateProbeShape()
{
RefConst<Shape> shape;
switch (mProbeShape)
{
case EProbeShape::Sphere:
shape = new SphereShape(0.2f);
break;
case EProbeShape::Box:
shape = new BoxShape(Vec3(0.1f, 0.2f, 0.3f));
break;
case EProbeShape::ConvexHull:
{
// Create tetrahedron
Array<Vec3> tetrahedron;
tetrahedron.push_back(Vec3::sZero());
tetrahedron.push_back(Vec3(0.2f, 0, 0.4f));
tetrahedron.push_back(Vec3(0.4f, 0, 0));
tetrahedron.push_back(Vec3(0.2f, -0.2f, 1.0f));
shape = ConvexHullShapeSettings(tetrahedron, 0.01f).Create().Get();
}
break;
case EProbeShape::Capsule:
shape = new CapsuleShape(0.2f, 0.1f);
break;
case EProbeShape::TaperedCapsule:
shape = TaperedCapsuleShapeSettings(0.2f, 0.1f, 0.2f).Create().Get();
break;
case EProbeShape::Cylinder:
shape = new CylinderShape(0.2f, 0.1f);
break;
case EProbeShape::Triangle:
shape = new TriangleShape(Vec3(0.1f, 0.9f, 0.3f), Vec3(-0.9f, -0.5f, 0.2f), Vec3(0.7f, -0.3f, -0.1f));
break;
case EProbeShape::RotatedTranslated:
shape = new RotatedTranslatedShape(Vec3(0.1f, 0.2f, 0.3f), Quat::sRotation(Vec3::sAxisY(), 0.25f * JPH_PI), new BoxShape(Vec3(0.1f, 0.2f, 0.3f)));
break;
case EProbeShape::StaticCompound:
{
Array<Vec3> tetrahedron;
tetrahedron.push_back(Vec3::sZero());
tetrahedron.push_back(Vec3(-0.2f, 0, 0.4f));
tetrahedron.push_back(Vec3(0, 0.2f, 0));
tetrahedron.push_back(Vec3(0.2f, 0, 0.4f));
RefConst<Shape> convex = ConvexHullShapeSettings(tetrahedron, 0.01f).Create().Get();
StaticCompoundShapeSettings compound_settings;
compound_settings.AddShape(Vec3(-0.5f, 0, 0), Quat::sIdentity(), convex);
compound_settings.AddShape(Vec3(0.5f, 0, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), convex);
shape = compound_settings.Create().Get();
}
break;
case EProbeShape::StaticCompound2:
{
Ref<StaticCompoundShapeSettings> compound = new StaticCompoundShapeSettings();
compound->AddShape(Vec3(0, 0.5f, 0), Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI), new BoxShape(Vec3(0.5f, 0.15f, 0.1f)));
compound->AddShape(Vec3(0.5f, 0, 0), Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI), new CylinderShape(0.5f, 0.1f));
compound->AddShape(Vec3(0, 0, 0.5f), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), new TaperedCapsuleShapeSettings(0.5f, 0.15f, 0.1f));
StaticCompoundShapeSettings compound2;
compound2.AddShape(Vec3(0, 0, 0), Quat::sRotation(Vec3::sAxisX(), -0.25f * JPH_PI) * Quat::sRotation(Vec3::sAxisZ(), 0.25f * JPH_PI), compound);
compound2.AddShape(Vec3(0, -0.4f, 0), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI) * Quat::sRotation(Vec3::sAxisZ(), -0.75f * JPH_PI), compound);
shape = compound2.Create().Get();
}
break;
case EProbeShape::MutableCompound:
{
Array<Vec3> tetrahedron;
tetrahedron.push_back(Vec3::sZero());
tetrahedron.push_back(Vec3(-0.2f, 0, 0.4f));
tetrahedron.push_back(Vec3(0, 0.2f, 0));
tetrahedron.push_back(Vec3(0.2f, 0, 0.4f));
RefConst<Shape> convex = ConvexHullShapeSettings(tetrahedron, 0.01f).Create().Get();
MutableCompoundShapeSettings compound_settings;
compound_settings.AddShape(Vec3(-0.5f, 0, 0), Quat::sIdentity(), convex);
compound_settings.AddShape(Vec3(0.5f, 0, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), convex);
shape = compound_settings.Create().Get();
}
break;
case EProbeShape::Mesh:
shape = ShapeCreator::CreateTorusMesh(2.0f, 0.25f);
break;
}
JPH_ASSERT(shape != nullptr);
// Scale the shape
Vec3 scale = mScaleShape? shape->MakeScaleValid(mShapeScale) : Vec3::sOne();
JPH_ASSERT(shape->IsValidScale(scale)); // Double check the MakeScaleValid function
if (!ScaleHelpers::IsNotScaled(scale))
shape = new ScaledShape(shape, scale);
return shape;
}
RefConst<Shape> SamplesApp::CreateShootObjectShape()
{
// Get the scale
Vec3 scale = mShootObjectScaleShape? mShootObjectShapeScale : Vec3::sOne();
// Make it minimally -0.1 or 0.1 depending on the sign
Vec3 clamped_value = Vec3::sSelect(Vec3::sReplicate(-0.1f), Vec3::sReplicate(0.1f), Vec3::sGreaterOrEqual(scale, Vec3::sZero()));
scale = Vec3::sSelect(scale, clamped_value, Vec3::sLess(scale.Abs(), Vec3::sReplicate(0.1f)));
RefConst<Shape> shape;
switch (mShootObjectShape)
{
case EShootObjectShape::Sphere:
scale = scale.Swizzle<SWIZZLE_X, SWIZZLE_X, SWIZZLE_X>(); // Only uniform scale supported
shape = new SphereShape(GetWorldScale());
break;
case EShootObjectShape::ConvexHull:
{
Array<Vec3> vertices = {
Vec3(-0.044661f, 0.001230f, 0.003877f),
Vec3(-0.024743f, -0.042562f, 0.003877f),
Vec3(-0.012336f, -0.021073f, 0.048484f),
Vec3(0.016066f, 0.028121f, -0.049904f),
Vec3(-0.023734f, 0.043275f, -0.024153f),
Vec3(0.020812f, 0.036341f, -0.019530f),
Vec3(0.012495f, 0.021936f, 0.045288f),
Vec3(0.026750f, 0.001230f, 0.049273f),
Vec3(0.045495f, 0.001230f, -0.022077f),
Vec3(0.022193f, -0.036274f, -0.021126f),
Vec3(0.022781f, -0.037291f, 0.029558f),
Vec3(0.014691f, -0.023280f, 0.052897f),
Vec3(-0.012187f, -0.020815f, -0.040214f),
Vec3(0.000541f, 0.001230f, -0.056224f),
Vec3(-0.039882f, 0.001230f, -0.019461f),
Vec3(0.000541f, 0.001230f, 0.056022f),
Vec3(-0.020614f, -0.035411f, -0.020551f),
Vec3(-0.019485f, 0.035916f, 0.027001f),
Vec3(-0.023968f, 0.043680f, 0.003877f),
Vec3(-0.020051f, 0.001230f, 0.039543f),
Vec3(0.026213f, 0.001230f, -0.040589f),
Vec3(-0.010797f, 0.020868f, 0.043152f),
Vec3(-0.012378f, 0.023607f, -0.040876f)
};
// This shape was created at 0.2 world scale, rescale it to the current world scale
float vert_scale = GetWorldScale() / 0.2f;
for (Vec3 &v : vertices)
v *= vert_scale;
shape = ConvexHullShapeSettings(vertices).Create().Get();
}
break;
case EShootObjectShape::ThinBar:
shape = BoxShapeSettings(Vec3(0.05f, 0.8f, 0.03f), 0.015f).Create().Get();
break;
case EShootObjectShape::SoftBodyCube:
JPH_ASSERT(false);
break;
}
// Scale shape if needed
if (scale != Vec3::sOne())
shape = new ScaledShape(shape, scale);
return shape;
}
void SamplesApp::ShootObject()
{
if (mShootObjectShape != EShootObjectShape::SoftBodyCube)
{
// Configure body
BodyCreationSettings creation_settings(CreateShootObjectShape(), GetCamera().mPos, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
creation_settings.mMotionQuality = mShootObjectMotionQuality;
creation_settings.mFriction = mShootObjectFriction;
creation_settings.mRestitution = mShootObjectRestitution;
creation_settings.mLinearVelocity = mShootObjectVelocity * GetCamera().mForward;
// Create body
mPhysicsSystem->GetBodyInterface().CreateAndAddBody(creation_settings, EActivation::Activate);
}
else
{
Ref<SoftBodySharedSettings> shared_settings = SoftBodySharedSettings::sCreateCube(5, 0.5f * GetWorldScale());
for (SoftBodySharedSettings::Vertex &v : shared_settings->mVertices)
{
v.mInvMass = 0.025f;
(mShootObjectVelocity * GetCamera().mForward).StoreFloat3(&v.mVelocity);
}
// Confgure soft body
SoftBodyCreationSettings creation_settings(shared_settings, GetCamera().mPos, Quat::sIdentity(), Layers::MOVING);
creation_settings.mFriction = mShootObjectFriction;
creation_settings.mRestitution = mShootObjectRestitution;
// Create body
mPhysicsSystem->GetBodyInterface().CreateAndAddSoftBody(creation_settings, EActivation::Activate);
}
}
bool SamplesApp::CastProbe(float inProbeLength, float &outFraction, RVec3 &outPosition, BodyID &outID)
{
// Determine start and direction of the probe
const CameraState &camera = GetCamera();
RVec3 start = camera.mPos;
Vec3 direction = inProbeLength * camera.mForward;
// Define a base offset that is halfway the probe to test getting the collision results relative to some offset.
// Note that this is not necessarily the best choice for a base offset, but we want something that's not zero
// and not the start of the collision test either to ensure that we'll see errors in the algorithm.
RVec3 base_offset = start + 0.5f * direction;
// Clear output
outPosition = start + direction;
outFraction = 1.0f;
outID = BodyID();
bool had_hit = false;
switch (mProbeMode)
{
case EProbeMode::Pick:
{
// Create ray
RRayCast ray { start, direction };
// Cast ray
RayCastResult hit;
had_hit = mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, hit, SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers::MOVING), SpecifiedObjectLayerFilter(Layers::MOVING));
// Fill in results
outPosition = ray.GetPointOnRay(hit.mFraction);
outFraction = hit.mFraction;
outID = hit.mBodyID;
if (had_hit)
mDebugRenderer->DrawMarker(outPosition, Color::sYellow, 0.1f);
else
mDebugRenderer->DrawMarker(camera.mPos + 0.1f * camera.mForward, Color::sRed, 0.001f);
}
break;
case EProbeMode::Ray:
{
// Create ray
RRayCast ray { start, direction };
// Cast ray
RayCastResult hit;
had_hit = mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, hit);
// Fill in results
outPosition = ray.GetPointOnRay(hit.mFraction);
outFraction = hit.mFraction;
outID = hit.mBodyID;
// Draw results
if (had_hit)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw hit
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawLine(start, outPosition, color);
mDebugRenderer->DrawLine(outPosition, start + direction, Color::sRed);
// Draw material
const PhysicsMaterial *material2 = hit_body.GetShape()->GetMaterial(hit.mSubShapeID2);
mDebugRenderer->DrawText3D(outPosition, material2->GetDebugName());
// Draw normal
Vec3 normal = hit_body.GetWorldSpaceSurfaceNormal(hit.mSubShapeID2, outPosition);
mDebugRenderer->DrawArrow(outPosition, outPosition + normal, color, 0.01f);
// Draw perpendicular axis to indicate hit position
Vec3 perp1 = normal.GetNormalizedPerpendicular();
Vec3 perp2 = normal.Cross(perp1);
mDebugRenderer->DrawLine(outPosition - 0.1f * perp1, outPosition + 0.1f * perp1, color);
mDebugRenderer->DrawLine(outPosition - 0.1f * perp2, outPosition + 0.1f * perp2, color);
// Get and draw the result of GetSupportingFace
if (mDrawSupportingFace)
{
Shape::SupportingFace face;
hit_body.GetTransformedShape().GetSupportingFace(hit.mSubShapeID2, -normal, base_offset, face);
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), face, Color::sWhite, 0.01f);
}
}
}
else
{
mDebugRenderer->DrawMarker(outPosition, Color::sRed, 0.1f);
}
}
break;
case EProbeMode::RayCollector:
{
// Create ray
RRayCast ray { start, direction };
// Create settings
RayCastSettings settings;
settings.mBackFaceModeTriangles = mBackFaceModeTriangles;
settings.mBackFaceModeConvex = mBackFaceModeConvex;
settings.mTreatConvexAsSolid = mTreatConvexAsSolid;
// Cast ray
Array<RayCastResult> hits;
if (mMaxHits == 0)
{
AnyHitCollisionCollector<CastRayCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, settings, collector);
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mMaxHits == 1)
{
ClosestHitCollisionCollector<CastRayCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, settings, collector);
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mClosestHitPerBody)
{
ClosestHitPerBodyCollisionCollector<CastRayCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, settings, collector);
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
else
{
AllHitCollisionCollector<CastRayCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, settings, collector);
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
had_hit = !hits.empty();
if (had_hit)
{
// Fill in results
RayCastResult &first_hit = hits.front();
outPosition = ray.GetPointOnRay(first_hit.mFraction);
outFraction = first_hit.mFraction;
outID = first_hit.mBodyID;
// Draw results
RVec3 prev_position = start;
bool c = false;
for (const RayCastResult &hit : hits)
{
// Draw line
RVec3 position = ray.GetPointOnRay(hit.mFraction);
mDebugRenderer->DrawLine(prev_position, position, c? Color::sGrey : Color::sWhite);
c = !c;
prev_position = position;
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw material
const PhysicsMaterial *material2 = hit_body.GetShape()->GetMaterial(hit.mSubShapeID2);
mDebugRenderer->DrawText3D(position, material2->GetDebugName());
// Draw normal
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
Vec3 normal = hit_body.GetWorldSpaceSurfaceNormal(hit.mSubShapeID2, position);
mDebugRenderer->DrawArrow(position, position + normal, color, 0.01f);
// Draw perpendicular axis to indicate hit position
Vec3 perp1 = normal.GetNormalizedPerpendicular();
Vec3 perp2 = normal.Cross(perp1);
mDebugRenderer->DrawLine(position - 0.1f * perp1, position + 0.1f * perp1, color);
mDebugRenderer->DrawLine(position - 0.1f * perp2, position + 0.1f * perp2, color);
// Get and draw the result of GetSupportingFace
if (mDrawSupportingFace)
{
Shape::SupportingFace face;
hit_body.GetTransformedShape().GetSupportingFace(hit.mSubShapeID2, -normal, base_offset, face);
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), face, Color::sWhite, 0.01f);
}
}
}
// Draw remainder of line
mDebugRenderer->DrawLine(ray.GetPointOnRay(hits.back().mFraction), start + direction, Color::sRed);
}
else
{
// Draw 'miss'
mDebugRenderer->DrawLine(start, start + direction, Color::sRed);
mDebugRenderer->DrawMarker(start + direction, Color::sRed, 0.1f);
}
}
break;
case EProbeMode::CollidePoint:
{
// Create point
const float fraction = 0.1f;
RVec3 point = start + fraction * direction;
// Collide point
AllHitCollisionCollector<CollidePointCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CollidePoint(point, collector);
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
for (const CollidePointResult &hit : collector.mHits)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
}
// Draw test location
mDebugRenderer->DrawMarker(point, had_hit? Color::sGreen : Color::sRed, 0.1f);
}
break;
case EProbeMode::CollideShape:
case EProbeMode::CollideShapeWithInternalEdgeRemoval:
{
// Create shape cast
RefConst<Shape> shape = CreateProbeShape();
Mat44 rotation = Mat44::sRotation(Vec3::sAxisX(), 0.1f * JPH_PI) * Mat44::sRotation(Vec3::sAxisY(), 0.2f * JPH_PI);
Mat44 com = Mat44::sTranslation(shape->GetCenterOfMass());
RMat44 shape_transform(RMat44::sTranslation(start + 5.0f * camera.mForward) * rotation * com);
// Create settings
CollideShapeSettings settings;
settings.mActiveEdgeMode = mActiveEdgeMode;
settings.mBackFaceMode = mBackFaceModeTriangles;
settings.mCollectFacesMode = mCollectFacesMode;
settings.mMaxSeparationDistance = mMaxSeparationDistance;
// Select the right function
auto collide_shape_function = mProbeMode == EProbeMode::CollideShape? &NarrowPhaseQuery::CollideShape : &NarrowPhaseQuery::CollideShapeWithInternalEdgeRemoval;
Array<CollideShapeResult> hits;
if (mMaxHits == 0)
{
AnyHitCollisionCollector<CollideShapeCollector> collector;
(mPhysicsSystem->GetNarrowPhaseQuery().*collide_shape_function)(shape, Vec3::sOne(), shape_transform, settings, base_offset, collector, { }, { }, { }, { });
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mMaxHits == 1)
{
ClosestHitCollisionCollector<CollideShapeCollector> collector;
(mPhysicsSystem->GetNarrowPhaseQuery().*collide_shape_function)(shape, Vec3::sOne(), shape_transform, settings, base_offset, collector, { }, { }, { }, { });
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mClosestHitPerBody)
{
ClosestHitPerBodyCollisionCollector<CollideShapeCollector> collector;
(mPhysicsSystem->GetNarrowPhaseQuery().*collide_shape_function)(shape, Vec3::sOne(), shape_transform, settings, base_offset, collector, { }, { }, { }, { });
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
else
{
AllHitCollisionCollector<CollideShapeCollector> collector;
(mPhysicsSystem->GetNarrowPhaseQuery().*collide_shape_function)(shape, Vec3::sOne(), shape_transform, settings, base_offset, collector, { }, { }, { }, { });
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
had_hit = !hits.empty();
if (had_hit)
{
// Draw results
for (const CollideShapeResult &hit : hits)
{
// Draw 'hit'
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID2);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw contact
RVec3 contact_position1 = base_offset + hit.mContactPointOn1;
RVec3 contact_position2 = base_offset + hit.mContactPointOn2;
mDebugRenderer->DrawMarker(contact_position1, Color::sGreen, 0.1f);
mDebugRenderer->DrawMarker(contact_position2, Color::sRed, 0.1f);
Vec3 pen_axis = hit.mPenetrationAxis;
float pen_axis_len = pen_axis.Length();
if (pen_axis_len > 0.0f)
{
pen_axis /= pen_axis_len;
// Draw penetration axis with length of the penetration
mDebugRenderer->DrawArrow(contact_position2, contact_position2 + pen_axis * hit.mPenetrationDepth, Color::sYellow, 0.01f);
// Draw normal (flipped so it points towards body 1)
mDebugRenderer->DrawArrow(contact_position2, contact_position2 - pen_axis, Color::sOrange, 0.01f);
}
// Draw material
const PhysicsMaterial *material2 = hit_body.GetShape()->GetMaterial(hit.mSubShapeID2);
mDebugRenderer->DrawText3D(contact_position2, material2->GetDebugName());
// Draw faces
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), hit.mShape1Face, Color::sYellow, 0.01f);
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), hit.mShape2Face, Color::sRed, 0.01f);
}
}
}
#ifdef JPH_DEBUG_RENDERER
// Draw shape
shape->Draw(mDebugRenderer, shape_transform, Vec3::sOne(), had_hit? Color::sGreen : Color::sGrey, false, false);
#endif // JPH_DEBUG_RENDERER
}
break;
case EProbeMode::CastShape:
{
// Create shape cast
RefConst<Shape> shape = CreateProbeShape();
Mat44 rotation = Mat44::sRotation(Vec3::sAxisX(), 0.1f * JPH_PI) * Mat44::sRotation(Vec3::sAxisY(), 0.2f * JPH_PI);
RShapeCast shape_cast = RShapeCast::sFromWorldTransform(shape, Vec3::sOne(), RMat44::sTranslation(start) * rotation, direction);
// Settings
ShapeCastSettings settings;
settings.mUseShrunkenShapeAndConvexRadius = mUseShrunkenShapeAndConvexRadius;
settings.mActiveEdgeMode = mActiveEdgeMode;
settings.mBackFaceModeTriangles = mBackFaceModeTriangles;
settings.mBackFaceModeConvex = mBackFaceModeConvex;
settings.mReturnDeepestPoint = mReturnDeepestPoint;
settings.mCollectFacesMode = mCollectFacesMode;
// Cast shape
Array<ShapeCastResult> hits;
if (mMaxHits == 0)
{
AnyHitCollisionCollector<CastShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, base_offset, collector);
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mMaxHits == 1)
{
ClosestHitCollisionCollector<CastShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, base_offset, collector);
if (collector.HadHit())
hits.push_back(collector.mHit);
}
else if (mClosestHitPerBody)
{
ClosestHitPerBodyCollisionCollector<CastShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, base_offset, collector);
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
else
{
AllHitCollisionCollector<CastShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, base_offset, collector);
collector.Sort();
hits.insert(hits.end(), collector.mHits.begin(), collector.mHits.end());
if ((int)hits.size() > mMaxHits)
hits.resize(mMaxHits);
}
had_hit = !hits.empty();
if (had_hit)
{
// Fill in results
ShapeCastResult &first_hit = hits.front();
outPosition = shape_cast.GetPointOnRay(first_hit.mFraction);
outFraction = first_hit.mFraction;
outID = first_hit.mBodyID2;
// Draw results
RVec3 prev_position = start;
bool c = false;
for (const ShapeCastResult &hit : hits)
{
// Draw line
RVec3 position = shape_cast.GetPointOnRay(hit.mFraction);
mDebugRenderer->DrawLine(prev_position, position, c? Color::sGrey : Color::sWhite);
c = !c;
prev_position = position;
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID2);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw shape
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
#ifdef JPH_DEBUG_RENDERER
shape_cast.mShape->Draw(mDebugRenderer, shape_cast.mCenterOfMassStart.PostTranslated(hit.mFraction * shape_cast.mDirection), Vec3::sOne(), color, false, false);
#endif // JPH_DEBUG_RENDERER
// Draw normal
RVec3 contact_position1 = base_offset + hit.mContactPointOn1;
RVec3 contact_position2 = base_offset + hit.mContactPointOn2;
Vec3 normal = hit.mPenetrationAxis.Normalized();
mDebugRenderer->DrawArrow(contact_position2, contact_position2 - normal, color, 0.01f); // Flip to make it point towards the cast body
// Contact position 1
mDebugRenderer->DrawMarker(contact_position1, Color::sGreen, 0.1f);
// Draw perpendicular axis to indicate contact position 2
Vec3 perp1 = normal.GetNormalizedPerpendicular();
Vec3 perp2 = normal.Cross(perp1);
mDebugRenderer->DrawLine(contact_position2 - 0.1f * perp1, contact_position2 + 0.1f * perp1, color);
mDebugRenderer->DrawLine(contact_position2 - 0.1f * perp2, contact_position2 + 0.1f * perp2, color);
// Draw material
const PhysicsMaterial *material2 = hit_body.GetShape()->GetMaterial(hit.mSubShapeID2);
mDebugRenderer->DrawText3D(position, material2->GetDebugName());
// Draw faces
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), hit.mShape1Face, Color::sYellow, 0.01f);
mDebugRenderer->DrawWirePolygon(RMat44::sTranslation(base_offset), hit.mShape2Face, Color::sRed, 0.01f);
}
}
// Draw remainder of line
mDebugRenderer->DrawLine(shape_cast.GetPointOnRay(hits.back().mFraction), start + direction, Color::sRed);
}
else
{
// Draw 'miss'
mDebugRenderer->DrawLine(start, start + direction, Color::sRed);
#ifdef JPH_DEBUG_RENDERER
shape_cast.mShape->Draw(mDebugRenderer, shape_cast.mCenterOfMassStart.PostTranslated(shape_cast.mDirection), Vec3::sOne(), Color::sRed, false, false);
#endif // JPH_DEBUG_RENDERER
}
}
break;
case EProbeMode::CollideSoftBody:
{
const float fraction = 0.2f;
const float max_distance = 10.0f;
// Create a soft body vertex iterator
const float inv_mass = 1.0f;
const Vec3 position = fraction * direction;
Plane largest_penetration_collision_plane;
float largest_penetration = -FLT_MAX;
int largest_penetration_colliding_shape_idx = -1;
CollideSoftBodyVertexIterator vertex_iterator(&position, &inv_mass, &largest_penetration_collision_plane, &largest_penetration, &largest_penetration_colliding_shape_idx);
// Get shapes in a large radius around the start position
AABox box(Vec3(start + position), max_distance);
AllHitCollisionCollector<TransformedShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CollectTransformedShapes(box, collector);
// Closest point found using CollideShape, position relative to 'start'
Vec3 closest_point = position;
float closest_point_penetration = 0;
// Test against each shape
for (const TransformedShape &ts : collector.mHits)
{
int colliding_shape_index = int(&ts - collector.mHits.data());
ts.mShape->CollideSoftBodyVertices((RMat44::sTranslation(-start) * ts.GetCenterOfMassTransform()).ToMat44(), ts.GetShapeScale(), vertex_iterator, 1, colliding_shape_index);
if (largest_penetration_colliding_shape_idx == colliding_shape_index)
{
// To draw a plane, we need a point but CollideSoftBodyVertices doesn't provide one, so we use CollideShape with a tiny sphere to get the closest point and then project that onto the plane to draw the plane
SphereShape point_sphere(1.0e-6f);
point_sphere.SetEmbedded();
CollideShapeSettings settings;
settings.mMaxSeparationDistance = sqrt(3.0f) * max_distance; // Box is extended in all directions by max_distance
ClosestHitCollisionCollector<CollideShapeCollector> collide_shape_collector;
ts.CollideShape(&point_sphere, Vec3::sOne(), RMat44::sTranslation(start + position), settings, start, collide_shape_collector);
if (collide_shape_collector.HadHit())
{
closest_point = collide_shape_collector.mHit.mContactPointOn2;
closest_point_penetration = collide_shape_collector.mHit.mPenetrationDepth;
}
}
}
// Draw test point
mDebugRenderer->DrawMarker(start + position, Color::sYellow, 0.1f);
mDebugRenderer->DrawMarker(start + closest_point, Color::sRed, 0.1f);
// Draw collision plane
if (largest_penetration_colliding_shape_idx != -1)
{
RVec3 plane_point = start + position - largest_penetration_collision_plane.GetNormal() * largest_penetration_collision_plane.SignedDistance(position);
mDebugRenderer->DrawPlane(plane_point, largest_penetration_collision_plane.GetNormal(), Color::sGreen, 2.0f);
if (abs(closest_point_penetration - largest_penetration) > 0.001f)
mDebugRenderer->DrawText3D(plane_point, StringFormat("Pen %f (exp %f)", (double)largest_penetration, (double)closest_point_penetration));
else
mDebugRenderer->DrawText3D(plane_point, StringFormat("Pen %f", (double)largest_penetration));
}
}
break;
case EProbeMode::TransformedShape:
{
// Create box
const float fraction = 0.2f;
RVec3 center = start + fraction * direction;
Vec3 half_extent = 0.5f * mShapeScale;
AABox box(center - half_extent, center + half_extent);
// Get shapes
AllHitCollisionCollector<TransformedShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CollectTransformedShapes(box, collector);
// Draw results
for (const TransformedShape &ts : collector.mHits)
mDebugRenderer->DrawWireBox(RMat44::sRotationTranslation(ts.mShapeRotation, ts.mShapePositionCOM) * Mat44::sScale(ts.GetShapeScale()), ts.mShape->GetLocalBounds(), Color::sYellow);
// Draw test location
mDebugRenderer->DrawWireBox(box, !collector.mHits.empty()? Color::sGreen : Color::sRed);
}
break;
case EProbeMode::GetTriangles:
{
// Create box
const float fraction = 0.2f;
RVec3 center = start + fraction * direction;
Vec3 half_extent = 2.0f * mShapeScale;
AABox box(center - half_extent, center + half_extent);
// Get shapes
AllHitCollisionCollector<TransformedShapeCollector> collector;
mPhysicsSystem->GetNarrowPhaseQuery().CollectTransformedShapes(box, collector);
// Loop over shapes
had_hit = false;
for (const TransformedShape &ts : collector.mHits)
{
const int cMaxTriangles = 32;
Float3 vertices[cMaxTriangles * 3];
const PhysicsMaterial *materials[cMaxTriangles];
// Start iterating triangles
Shape::GetTrianglesContext ctx;
ts.GetTrianglesStart(ctx, box, base_offset);
for (;;)
{
// Fetch next triangles
int count = ts.GetTrianglesNext(ctx, cMaxTriangles, vertices, materials);
if (count == 0)
break;
// Draw triangles
const PhysicsMaterial **m = materials;
for (Float3 *v = vertices, *v_end = vertices + 3 * count; v < v_end; v += 3, ++m)
{
RVec3 v1 = base_offset + Vec3(v[0]), v2 = base_offset + Vec3(v[1]), v3 = base_offset + Vec3(v[2]);
RVec3 triangle_center = (v1 + v2 + v3) / 3.0f;
Vec3 triangle_normal = Vec3(v2 - v1).Cross(Vec3(v3 - v1)).Normalized();
mDebugRenderer->DrawWireTriangle(v1, v2, v3, (*m)->GetDebugColor());
mDebugRenderer->DrawArrow(triangle_center, triangle_center + triangle_normal, Color::sGreen, 0.01f);
}
had_hit = true;
}
}
// Draw test location
mDebugRenderer->DrawWireBox(box, had_hit? Color::sGreen : Color::sRed);
}
break;
case EProbeMode::BroadPhaseRay:
{
// Create ray
RayCast ray { Vec3(start), direction };
// Cast ray
AllHitCollisionCollector<RayCastBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CastRay(ray, collector);
collector.Sort();
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
RVec3 prev_position = start;
bool c = false;
for (const BroadPhaseCastResult &hit : collector.mHits)
{
// Draw line
RVec3 position = start + hit.mFraction * direction;
Color cast_color = c? Color::sGrey : Color::sWhite;
mDebugRenderer->DrawLine(prev_position, position, cast_color);
mDebugRenderer->DrawMarker(position, cast_color, 0.1f);
c = !c;
prev_position = position;
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
// Draw remainder of line
mDebugRenderer->DrawLine(start + collector.mHits.back().mFraction * direction, start + direction, Color::sRed);
}
else
{
// Draw 'miss'
mDebugRenderer->DrawLine(start, start + direction, Color::sRed);
mDebugRenderer->DrawMarker(start + direction, Color::sRed, 0.1f);
}
}
break;
case EProbeMode::BroadPhaseBox:
{
// Create box
const float fraction = 0.2f;
RVec3 center = start + fraction * direction;
Vec3 half_extent = 2.0f * mShapeScale;
AABox box(center - half_extent, center + half_extent);
// Collide box
AllHitCollisionCollector<CollideShapeBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CollideAABox(box, collector);
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
for (const BodyID &hit : collector.mHits)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
}
// Draw test location
mDebugRenderer->DrawWireBox(box, had_hit? Color::sGreen : Color::sRed);
}
break;
case EProbeMode::BroadPhaseSphere:
{
// Create sphere
const float fraction = 0.2f;
const float radius = mShapeScale.Length() * 2.0f;
Vec3 point(start + fraction * direction);
// Collide sphere
AllHitCollisionCollector<CollideShapeBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CollideSphere(point, radius, collector);
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
for (const BodyID &hit : collector.mHits)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
}
// Draw test location
mDebugRenderer->DrawWireSphere(RVec3(point), radius, had_hit? Color::sGreen : Color::sRed);
}
break;
case EProbeMode::BroadPhasePoint:
{
// Create point
const float fraction = 0.1f;
Vec3 point(start + fraction * direction);
// Collide point
AllHitCollisionCollector<CollideShapeBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CollidePoint(point, collector);
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
for (const BodyID &hit : collector.mHits)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
}
// Draw test location
mDebugRenderer->DrawMarker(RVec3(point), had_hit? Color::sGreen : Color::sRed, 0.1f);
}
break;
case EProbeMode::BroadPhaseOrientedBox:
{
// Create box
const float fraction = 0.2f;
Vec3 center(start + fraction * direction);
Vec3 half_extent = 2.0f * mShapeScale;
OrientedBox box(Mat44::sRotationTranslation(Quat::sRotation(Vec3::sAxisZ(), 0.2f * JPH_PI) * Quat::sRotation(Vec3::sAxisX(), 0.1f * JPH_PI), center), half_extent);
// Collide box
AllHitCollisionCollector<CollideShapeBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CollideOrientedBox(box, collector);
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
for (const BodyID &hit : collector.mHits)
{
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
}
// Draw test location
mDebugRenderer->DrawWireBox(box, had_hit? Color::sGreen : Color::sRed);
}
break;
case EProbeMode::BroadPhaseCastBox:
{
// Create box
Vec3 half_extent = 2.0f * mShapeScale;
AABox box(start - half_extent, start + half_extent);
AABoxCast box_cast { box, direction };
// Cast box
AllHitCollisionCollector<CastShapeBodyCollector> collector;
mPhysicsSystem->GetBroadPhaseQuery().CastAABox(box_cast, collector);
collector.Sort();
had_hit = !collector.mHits.empty();
if (had_hit)
{
// Draw results
RVec3 prev_position = start;
bool c = false;
for (const BroadPhaseCastResult &hit : collector.mHits)
{
// Draw line
RVec3 position = start + hit.mFraction * direction;
Color cast_color = c? Color::sGrey : Color::sWhite;
mDebugRenderer->DrawLine(prev_position, position, cast_color);
mDebugRenderer->DrawWireBox(RMat44::sTranslation(position), AABox(-half_extent, half_extent), cast_color);
c = !c;
prev_position = position;
BodyLockRead lock(mPhysicsSystem->GetBodyLockInterface(), hit.mBodyID);
if (lock.Succeeded())
{
const Body &hit_body = lock.GetBody();
// Draw bounding box
Color color = hit_body.IsDynamic()? Color::sYellow : Color::sOrange;
mDebugRenderer->DrawWireBox(hit_body.GetCenterOfMassTransform(), hit_body.GetShape()->GetLocalBounds(), color);
}
}
// Draw remainder of line
mDebugRenderer->DrawLine(start + collector.mHits.back().mFraction * direction, start + direction, Color::sRed);
}
else
{
// Draw 'miss'
mDebugRenderer->DrawLine(start, start + direction, Color::sRed);
mDebugRenderer->DrawWireBox(RMat44::sTranslation(start + direction), AABox(-half_extent, half_extent), Color::sRed);
}
}
break;
}
return had_hit;
}
void SamplesApp::UpdateDebug(float inDeltaTime)
{
JPH_PROFILE_FUNCTION();
const float cDragRayLength = 40.0f;
BodyInterface &bi = mPhysicsSystem->GetBodyInterface();
// Handle keyboard input for which simulation needs to be running
if (mKeyboard->IsKeyPressedAndTriggered(EKey::B, mWasShootKeyPressed))
ShootObject();
// Allow the user to drag rigid/soft bodies around
if (mDragConstraint == nullptr && mDragVertexIndex == ~uint(0))
{
// Not dragging yet
RVec3 hit_position;
if (CastProbe(cDragRayLength, mDragFraction, hit_position, mDragBody))
{
// If key is pressed create constraint to start dragging
if (mKeyboard->IsKeyPressed(EKey::Space))
{
// Target body must be dynamic
BodyLockWrite lock(mPhysicsSystem->GetBodyLockInterface(), mDragBody);
if (lock.Succeeded())
{
Body &drag_body = lock.GetBody();
if (drag_body.IsSoftBody())
{
SoftBodyMotionProperties *mp = static_cast<SoftBodyMotionProperties *>(drag_body.GetMotionProperties());
// Find closest vertex
Vec3 local_hit_position = Vec3(drag_body.GetInverseCenterOfMassTransform() * hit_position);
float closest_dist_sq = FLT_MAX;
for (SoftBodyVertex &v : mp->GetVertices())
{
float dist_sq = (v.mPosition - local_hit_position).LengthSq();
if (dist_sq < closest_dist_sq)
{
closest_dist_sq = dist_sq;
mDragVertexIndex = uint(&v - mp->GetVertices().data());
}
}
// Make the vertex kinematic
SoftBodyVertex &v = mp->GetVertex(mDragVertexIndex);
mDragVertexPreviousInvMass = v.mInvMass;
v.mInvMass = 0.0f;
}
else if (drag_body.IsDynamic())
{
// Create constraint to drag body
DistanceConstraintSettings settings;
settings.mPoint1 = settings.mPoint2 = hit_position;
settings.mLimitsSpringSettings.mFrequency = 2.0f / GetWorldScale();
settings.mLimitsSpringSettings.mDamping = 1.0f;
// Construct fixed body for the mouse constraint
// Note that we don't add it to the world since we don't want anything to collide with it, we just
// need an anchor for a constraint
Body *drag_anchor = bi.CreateBody(BodyCreationSettings(new SphereShape(0.01f), hit_position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
mDragAnchor = drag_anchor;
// Construct constraint that connects the drag anchor with the body that we want to drag
mDragConstraint = settings.Create(*drag_anchor, drag_body);
mPhysicsSystem->AddConstraint(mDragConstraint);
}
}
}
}
}
else
{
if (!mKeyboard->IsKeyPressed(EKey::Space))
{
// If key released, destroy constraint
if (mDragConstraint != nullptr)
{
mPhysicsSystem->RemoveConstraint(mDragConstraint);
mDragConstraint = nullptr;
}
// Destroy drag anchor
if (mDragAnchor != nullptr)
{
bi.DestroyBody(mDragAnchor->GetID());
mDragAnchor = nullptr;
}
// Release dragged vertex
if (mDragVertexIndex != ~uint(0))
{
// Restore vertex mass
BodyLockWrite lock(mPhysicsSystem->GetBodyLockInterface(), mDragBody);
if (lock.Succeeded())
{
Body &body = lock.GetBody();
JPH_ASSERT(body.IsSoftBody());
SoftBodyMotionProperties *mp = static_cast<SoftBodyMotionProperties *>(body.GetMotionProperties());
mp->GetVertex(mDragVertexIndex).mInvMass = mDragVertexPreviousInvMass;
}
mDragVertexIndex = ~uint(0);
mDragVertexPreviousInvMass = 0;
}
// Forget the drag body
mDragBody = BodyID();
}
else
{
// Else drag the body to the new position
RVec3 new_pos = GetCamera().mPos + cDragRayLength * mDragFraction * GetCamera().mForward;
switch (bi.GetBodyType(mDragBody))
{
case EBodyType::RigidBody:
bi.SetPositionAndRotation(mDragAnchor->GetID(), new_pos, Quat::sIdentity(), EActivation::DontActivate);
break;
case EBodyType::SoftBody:
{
BodyLockWrite lock(mPhysicsSystem->GetBodyLockInterface(), mDragBody);
if (lock.Succeeded())
{
Body &body = lock.GetBody();
SoftBodyMotionProperties *mp = static_cast<SoftBodyMotionProperties *>(body.GetMotionProperties());
SoftBodyVertex &v = mp->GetVertex(mDragVertexIndex);
v.mVelocity = body.GetRotation().Conjugated() * Vec3(new_pos - body.GetCenterOfMassTransform() * v.mPosition) / inDeltaTime;
}
}
break;
}
// Activate other body
bi.ActivateBody(mDragBody);
}
}
}
bool SamplesApp::UpdateFrame(float inDeltaTime)
{
// Reinitialize the job system if the concurrency setting changed
if (mMaxConcurrentJobs != mJobSystem->GetMaxConcurrency())
static_cast<JobSystemThreadPool *>(mJobSystem)->SetNumThreads(mMaxConcurrentJobs - 1);
// Decrement number of frames to show the description
if (inDeltaTime > 0.0f && mShowDescription > 0)
--mShowDescription;
// Restart the test if the test requests this
if (mTest->NeedsRestart())
{
StartTest(mTestClass);
return true;
}
// Get the status string
const char *description = mShowDescription > 0? mTest->GetDescription() : nullptr;
if (description != nullptr)
mStatusString = String(description) + "\n" + mTest->GetStatusString();
else
mStatusString = mTest->GetStatusString();
// Select the next test if automatic testing times out
if (!CheckNextTest())
return false;
// Handle keyboard input
bool shift = mKeyboard->IsKeyPressed(EKey::LShift) || mKeyboard->IsKeyPressed(EKey::RShift);
#ifdef JPH_DEBUG_RENDERER
bool alt = mKeyboard->IsKeyPressed(EKey::LAlt) || mKeyboard->IsKeyPressed(EKey::RAlt);
#endif // JPH_DEBUG_RENDERER
for (EKey key = mKeyboard->GetFirstKey(); key != EKey::Invalid; key = mKeyboard->GetNextKey())
switch (key)
{
case EKey::R:
StartTest(mTestClass);
return true;
case EKey::N:
NextTest();
return true;
#ifdef JPH_DEBUG_RENDERER
case EKey::H:
if (shift)
mBodyDrawSettings.mDrawGetSupportFunction = !mBodyDrawSettings.mDrawGetSupportFunction;
else if (alt)
mDrawGetTriangles = !mDrawGetTriangles;
else
mBodyDrawSettings.mDrawShape = !mBodyDrawSettings.mDrawShape;
break;
case EKey::F:
if (shift)
mBodyDrawSettings.mDrawGetSupportingFace = !mBodyDrawSettings.mDrawGetSupportingFace;
break;
case EKey::I:
mBodyDrawSettings.mDrawMassAndInertia = !mBodyDrawSettings.mDrawMassAndInertia;
break;
case EKey::Num1:
ContactConstraintManager::sDrawContactPoint = !ContactConstraintManager::sDrawContactPoint;
break;
case EKey::Num2:
ContactConstraintManager::sDrawSupportingFaces = !ContactConstraintManager::sDrawSupportingFaces;
break;
case EKey::Num3:
ContactConstraintManager::sDrawContactPointReduction = !ContactConstraintManager::sDrawContactPointReduction;
break;
case EKey::C:
mDrawConstraints = !mDrawConstraints;
break;
case EKey::L:
mDrawConstraintLimits = !mDrawConstraintLimits;
break;
case EKey::M:
ContactConstraintManager::sDrawContactManifolds = !ContactConstraintManager::sDrawContactManifolds;
break;
case EKey::W:
if (alt)
mBodyDrawSettings.mDrawShapeWireframe = !mBodyDrawSettings.mDrawShapeWireframe;
break;
#endif // JPH_DEBUG_RENDERER
case EKey::Comma:
// Back stepping
if (mPlaybackFrames.size() > 1)
{
if (mPlaybackMode == EPlaybackMode::Play)
{
JPH_ASSERT(mCurrentPlaybackFrame == -1);
mCurrentPlaybackFrame = (int)mPlaybackFrames.size() - 1;
}
mPlaybackMode = shift? EPlaybackMode::Rewind : EPlaybackMode::StepBack;
}
break;
case EKey::Period:
// Forward stepping
if (mPlaybackMode != EPlaybackMode::Play)
{
JPH_ASSERT(mCurrentPlaybackFrame >= 0);
mPlaybackMode = shift? EPlaybackMode::FastForward : EPlaybackMode::StepForward;
}
break;
#if defined(JPH_TRACK_SIMULATION_STATS) && defined(JPH_PROFILE_ENABLED)
case EKey::Y:
mPhysicsSystem->ReportSimulationStats();
break;
#endif
}
// Stop recording if record state is turned off
if (!mRecordState)
{
mPlaybackFrames.clear();
mPlaybackMode = EPlaybackMode::Play;
mCurrentPlaybackFrame = -1;
}
// Determine if we need to check deterministic simulation
bool check_determinism = mCheckDeterminism && mTest->IsDeterministic();
// Check if we've in replay mode
if (mPlaybackMode != EPlaybackMode::Play)
{
JPH_PROFILE("RestoreState");
// We're in replay mode
JPH_ASSERT(mCurrentPlaybackFrame >= 0);
// Ensure the simulation is paused
Pause(true);
// Always restore state when not paused, the debug drawing will be cleared
bool restore_state = inDeltaTime > 0.0f;
// Advance to the next frame when single stepping or unpausing
switch (mPlaybackMode)
{
case EPlaybackMode::StepBack:
mPlaybackMode = EPlaybackMode::Stop;
[[fallthrough]];
case EPlaybackMode::Rewind:
if (mCurrentPlaybackFrame > 0)
{
mCurrentPlaybackFrame--;
restore_state = true;
}
break;
case EPlaybackMode::StepForward:
mPlaybackMode = EPlaybackMode::Stop;
[[fallthrough]];
case EPlaybackMode::FastForward:
if (mCurrentPlaybackFrame < (int)mPlaybackFrames.size() - 1)
{
mCurrentPlaybackFrame++;
restore_state = true;
}
break;
case EPlaybackMode::Stop:
case EPlaybackMode::Play:
// Satisfy compiler
break;
}
// If the replay frame changed we need to update state
if (restore_state)
{
// Clear existing debug stuff so we can render this restored frame
// (if we're paused, we will otherwise not clear the debugging stuff)
ClearDebugRenderer();
// Restore state to what it was during that time
PlayBackFrame &frame = mPlaybackFrames[mCurrentPlaybackFrame];
RestoreState(frame.mState);
// Also restore input back to what it was at the time
frame.mInputState.Rewind();
mTest->RestoreInputState(frame.mInputState);
// Physics world is drawn using debug lines, when not paused
// Draw state prior to step so that debug lines are created from the same state
// (the constraints are solved on the current state and then the world is stepped)
DrawPhysics();
// Step the world (with fixed frequency)
StepPhysics(mJobSystem);
#ifdef JPH_DEBUG_RENDERER
// Draw any contacts that were collected through the contact listener
if (mContactListener)
mContactListener->DrawState();
#endif // JPH_DEBUG_RENDERER
// Validate that update result is the same as the previously recorded state
if (check_determinism && mCurrentPlaybackFrame < (int)mPlaybackFrames.size() - 1)
ValidateState(mPlaybackFrames[mCurrentPlaybackFrame + 1].mState);
}
// On the last frame go back to play mode
if (mCurrentPlaybackFrame >= (int)mPlaybackFrames.size() - 1)
{
mPlaybackMode = EPlaybackMode::Play;
mCurrentPlaybackFrame = -1;
}
// On the first frame go to stop mode
if (mCurrentPlaybackFrame == 0)
mPlaybackMode = EPlaybackMode::Stop;
}
else
{
// Normal update
JPH_ASSERT(mCurrentPlaybackFrame == -1);
if (inDeltaTime > 0.0f)
{
// Debugging functionality like shooting a ball and dragging objects
UpdateDebug(inDeltaTime);
{
// Process input, this is done once and before we save the state so that we can save the input state
JPH_PROFILE("ProcessInput");
Test::ProcessInputParams handle_input;
handle_input.mDeltaTime = 1.0f / mUpdateFrequency;
handle_input.mKeyboard = mKeyboard;
handle_input.mCameraState = GetCamera();
mTest->ProcessInput(handle_input);
}
if (mRecordState || check_determinism)
{
// Record the state prior to the step
mPlaybackFrames.push_back(PlayBackFrame());
SaveState(mPlaybackFrames.back().mState);
// Save input too
mTest->SaveInputState(mPlaybackFrames.back().mInputState);
}
// Physics world is drawn using debug lines, when not paused
// Draw state prior to step so that debug lines are created from the same state
// (the constraints are solved on the current state and then the world is stepped)
DrawPhysics();
// Update the physics world
StepPhysics(mJobSystem);
#ifdef JPH_DEBUG_RENDERER
// Draw any contacts that were collected through the contact listener
if (mContactListener)
mContactListener->DrawState();
#endif // JPH_DEBUG_RENDERER
if (check_determinism)
{
// Save the current state
StateRecorderImpl post_step_state;
SaveState(post_step_state);
// Restore to the previous state
PlayBackFrame &frame = mPlaybackFrames.back();
RestoreState(frame.mState);
// Also restore input back to what it was at the time
frame.mInputState.Rewind();
mTest->RestoreInputState(frame.mInputState);
// Step again
StepPhysics(mJobSystemValidating);
// Validate that the result is the same
ValidateState(post_step_state);
}
}
}
return true;
}
void SamplesApp::DrawPhysics()
{
#ifdef JPH_DEBUG_RENDERER
mPhysicsSystem->DrawBodies(mBodyDrawSettings, mDebugRenderer);
if (mDrawConstraints)
mPhysicsSystem->DrawConstraints(mDebugRenderer);
if (mDrawConstraintLimits)
mPhysicsSystem->DrawConstraintLimits(mDebugRenderer);
if (mDrawConstraintReferenceFrame)
mPhysicsSystem->DrawConstraintReferenceFrame(mDebugRenderer);
if (mDrawBroadPhaseBounds)
mDebugRenderer->DrawWireBox(mPhysicsSystem->GetBroadPhaseQuery().GetBounds(), Color::sGreen);
#endif // JPH_DEBUG_RENDERER
mTest->DrawBodyLabels();
// This map collects the shapes that we used this frame
ShapeToGeometryMap shape_to_geometry;
#ifdef JPH_DEBUG_RENDERER
if (mDrawGetTriangles)
#endif // JPH_DEBUG_RENDERER
{
JPH_PROFILE("DrawGetTriangles");
// Iterate through all active bodies
BodyIDVector bodies;
mPhysicsSystem->GetBodies(bodies);
const BodyLockInterface &bli = mPhysicsSystem->GetBodyLockInterface();
for (BodyID b : bodies)
{
// Get the body
BodyLockRead lock(bli, b);
if (lock.SucceededAndIsInBroadPhase())
{
// Collect all leaf shapes for the body and their transforms
const Body &body = lock.GetBody();
AllHitCollisionCollector<TransformedShapeCollector> collector;
body.GetTransformedShape().CollectTransformedShapes(body.GetWorldSpaceBounds(), collector);
// Draw all leaf shapes
for (const TransformedShape &transformed_shape : collector.mHits)
{
DebugRenderer::GeometryRef geometry;
// Find geometry from previous frame
ShapeToGeometryMap::iterator map_iterator = mShapeToGeometry.find(transformed_shape.mShape);
if (map_iterator != mShapeToGeometry.end())
geometry = map_iterator->second;
if (geometry == nullptr)
{
// Find geometry from this frame
map_iterator = shape_to_geometry.find(transformed_shape.mShape);
if (map_iterator != shape_to_geometry.end())
geometry = map_iterator->second;
}
if (geometry == nullptr)
{
// Geometry not cached
Array<DebugRenderer::Triangle> triangles;
// Start iterating all triangles of the shape
Shape::GetTrianglesContext context;
transformed_shape.mShape->GetTrianglesStart(context, AABox::sBiggest(), Vec3::sZero(), Quat::sIdentity(), Vec3::sOne());
for (;;)
{
// Get the next batch of vertices
constexpr int cMaxTriangles = 1000;
Float3 vertices[3 * cMaxTriangles];
int triangle_count = transformed_shape.mShape->GetTrianglesNext(context, cMaxTriangles, vertices);
if (triangle_count == 0)
break;
// Allocate space for triangles
size_t output_index = triangles.size();
triangles.resize(triangles.size() + triangle_count);
DebugRenderer::Triangle *triangle = &triangles[output_index];
// Convert to a renderable triangle
for (int vertex = 0, vertex_max = 3 * triangle_count; vertex < vertex_max; vertex += 3, ++triangle)
{
// Get the vertices
Vec3 v1(vertices[vertex + 0]);
Vec3 v2(vertices[vertex + 1]);
Vec3 v3(vertices[vertex + 2]);
// Calculate the normal
Float3 normal;
(v2 - v1).Cross(v3 - v1).NormalizedOr(Vec3::sZero()).StoreFloat3(&normal);
v1.StoreFloat3(&triangle->mV[0].mPosition);
triangle->mV[0].mNormal = normal;
triangle->mV[0].mColor = Color::sWhite;
triangle->mV[0].mUV = Float2(0, 0);
v2.StoreFloat3(&triangle->mV[1].mPosition);
triangle->mV[1].mNormal = normal;
triangle->mV[1].mColor = Color::sWhite;
triangle->mV[1].mUV = Float2(0, 0);
v3.StoreFloat3(&triangle->mV[2].mPosition);
triangle->mV[2].mNormal = normal;
triangle->mV[2].mColor = Color::sWhite;
triangle->mV[2].mUV = Float2(0, 0);
}
}
// Convert to geometry
geometry = new DebugRenderer::Geometry(mDebugRenderer->CreateTriangleBatch(triangles), transformed_shape.mShape->GetLocalBounds());
}
// Ensure that we cache the geometry for next frame
// Don't cache soft bodies as their shape changes every frame
if (!body.IsSoftBody())
shape_to_geometry[transformed_shape.mShape] = geometry;
// Determine color
Color color;
switch (body.GetMotionType())
{
case EMotionType::Static:
color = Color::sGrey;
break;
case EMotionType::Kinematic:
color = Color::sGreen;
break;
case EMotionType::Dynamic:
color = Color::sGetDistinctColor(body.GetID().GetIndex());
break;
default:
JPH_ASSERT(false);
color = Color::sBlack;
break;
}
// Draw the geometry
Vec3 scale = transformed_shape.GetShapeScale();
bool inside_out = ScaleHelpers::IsInsideOut(scale);
RMat44 matrix = transformed_shape.GetCenterOfMassTransform().PreScaled(scale);
mDebugRenderer->DrawGeometry(matrix, color, geometry, inside_out? DebugRenderer::ECullMode::CullFrontFace : DebugRenderer::ECullMode::CullBackFace, DebugRenderer::ECastShadow::On, body.IsSensor()? DebugRenderer::EDrawMode::Wireframe : DebugRenderer::EDrawMode::Solid);
}
}
}
}
// Replace the map with the newly created map so that shapes that we don't draw / were removed are released
mShapeToGeometry = std::move(shape_to_geometry);
}
void SamplesApp::StepPhysics(JobSystem *inJobSystem)
{
float delta_time = 1.0f / mUpdateFrequency;
{
// Pre update
JPH_PROFILE("PrePhysicsUpdate");
Test::PreUpdateParams pre_update;
pre_update.mDeltaTime = delta_time;
pre_update.mCameraState = GetCamera();
#ifdef JPH_DEBUG_RENDERER
pre_update.mPoseDrawSettings = &mPoseDrawSettings;
#endif // JPH_DEBUG_RENDERER
mTest->PrePhysicsUpdate(pre_update);
}
// Remember start time
chrono::high_resolution_clock::time_point clock_start = chrono::high_resolution_clock::now();
// Step the world (with fixed frequency)
mPhysicsSystem->Update(delta_time, mCollisionSteps, mTempAllocator, inJobSystem);
#ifndef JPH_DISABLE_TEMP_ALLOCATOR
JPH_ASSERT(static_cast<TempAllocatorImpl *>(mTempAllocator)->IsEmpty());
#endif // JPH_DISABLE_TEMP_ALLOCATOR
// Accumulate time
chrono::high_resolution_clock::time_point clock_end = chrono::high_resolution_clock::now();
chrono::microseconds duration = chrono::duration_cast<chrono::microseconds>(clock_end - clock_start);
mTotalTime += duration;
mStepNumber++;
// Print timing information
constexpr uint cNumSteps = 60;
if (mStepNumber % cNumSteps == 0)
{
Trace("Timing: %u, %llu", mStepNumber / cNumSteps, static_cast<unsigned long long>(mTotalTime.count()) / cNumSteps);
mTotalTime = chrono::microseconds(0);
}
#ifdef JPH_TRACK_BROADPHASE_STATS
if (mStepNumber % 600 == 0)
mPhysicsSystem->ReportBroadphaseStats();
#endif // JPH_TRACK_BROADPHASE_STATS
#ifdef JPH_TRACK_NARROWPHASE_STATS
if (mStepNumber % 600 == 0)
NarrowPhaseStat::sReportStats();
#endif // JPH_TRACK_NARROWPHASE_STATS
{
// Post update
JPH_PROFILE("PostPhysicsUpdate");
mTest->PostPhysicsUpdate(delta_time);
}
}
void SamplesApp::SaveState(StateRecorderImpl &inStream)
{
mTest->SaveState(inStream);
if (mContactListener)
mContactListener->SaveState(inStream);
mPhysicsSystem->SaveState(inStream);
}
void SamplesApp::RestoreState(StateRecorderImpl &inStream)
{
inStream.Rewind();
// Restore the state of the test first, this is needed because the test can make changes to
// the state of bodies that is not tracked by the PhysicsSystem::SaveState.
// E.g. in the ChangeShapeTest the shape is restored here, which needs to be done first
// because changing the shape changes Body::mPosition when the center of mass changes.
mTest->RestoreState(inStream);
if (mContactListener)
mContactListener->RestoreState(inStream);
if (!mPhysicsSystem->RestoreState(inStream))
FatalError("Failed to restore physics state");
}
void SamplesApp::ValidateState(StateRecorderImpl &inExpectedState)
{
// Save state
StateRecorderImpl current_state;
SaveState(current_state);
// Compare state with expected state
if (!current_state.IsEqual(inExpectedState))
{
// Mark this stream to break whenever it detects a memory change during reading
inExpectedState.SetValidating(true);
// Restore state. Anything that changes indicates a problem with the deterministic simulation.
RestoreState(inExpectedState);
// Turn change detection off again
inExpectedState.SetValidating(false);
}
}
void SamplesApp::GetInitialCamera(CameraState &ioState) const
{
// Default if the test doesn't override it
ioState.mPos = GetWorldScale() * RVec3(30, 10, 30);
ioState.mForward = -Vec3(ioState.mPos).Normalized();
mTest->GetInitialCamera(ioState);
}
RMat44 SamplesApp::GetCameraPivot(float inCameraHeading, float inCameraPitch) const
{
return mTest->GetCameraPivot(inCameraHeading, inCameraPitch);
}
float SamplesApp::GetWorldScale() const
{
return mTest != nullptr? mTest->GetWorldScale() : 1.0f;
}
ENTRY_POINT(SamplesApp, RegisterCustomMemoryHook)
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