99 lines
3.3 KiB
C++
99 lines
3.3 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/General/ActiveEdgesTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Geometry/Triangle.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(ActiveEdgesTest)
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{
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JPH_ADD_BASE_CLASS(ActiveEdgesTest, Test)
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}
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void ActiveEdgesTest::Initialize()
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{
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const float cWidth = 5.0f;
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const float cLength = 10.0f;
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// Settings for a frictionless box
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Ref<BoxShape> box_shape = new BoxShape(Vec3(1.0f, 1.0f, 1.0f), cDefaultConvexRadius);
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BodyCreationSettings box_settings(box_shape, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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box_settings.mFriction = 0.0f;
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box_settings.mLinearDamping = 0.0f;
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box_settings.mAllowSleeping = false;
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// Create various triangle strips
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TriangleList triangles;
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for (int angle = -90; angle <= 90; angle++)
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{
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// Under which normal we want to place the block
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Vec3 desired_normal = angle < 0? Vec3(0, 1, -1).Normalized() : Vec3(0, 1, 0);
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float best_dot = -FLT_MAX;
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// Place segments
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float x = cWidth * angle;
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Vec3 v1(x, 0.0f, -0.5f * cLength);
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Vec3 v2(x + cWidth, 0.0f, -0.5f * cLength);
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for (int total_angle = 0, cur_segment = 0; abs(total_angle) <= 90 && cur_segment < 90; total_angle += angle, ++cur_segment)
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{
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// Determine positions of end of this segment
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float total_angle_rad = DegreesToRadians(float(total_angle));
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Quat rotation = Quat::sRotation(Vec3::sAxisX(), total_angle_rad);
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Vec3 delta = cLength * rotation.RotateAxisZ();
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Vec3 v3 = v1 + delta;
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Vec3 v4 = v2 + delta;
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// Check if this segment is the best segment to place the dynamic block on
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Vec3 normal = (v3 - v1).Cross(v2 - v1).Normalized();
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float dot = normal.Dot(desired_normal);
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if (dot > best_dot)
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{
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best_dot = dot;
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box_settings.mPosition = RVec3((v1 + v2 + v3 + v4) / 4 + normal);
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box_settings.mRotation = rotation;
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}
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// Add segment
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triangles.push_back(Triangle(v1, v3, v4));
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triangles.push_back(Triangle(v1, v4, v2));
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// Add segment mirrored in Z axis
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if (cur_segment != 0)
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{
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Vec3 flip(1, 1, -1);
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triangles.push_back(Triangle(flip * v1, flip * v4, flip * v3));
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triangles.push_back(Triangle(flip * v1, flip * v2, flip * v4));
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}
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// The end of the segment will be the start for the next iteration
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v1 = v3;
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v2 = v4;
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}
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// Place box on best segment
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Body &body = *mBodyInterface->CreateBody(box_settings);
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mBodyInterface->AddBody(body.GetID(), EActivation::Activate);
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// For convex segments give the block a push
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if (angle >= 0)
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body.SetLinearVelocity(Vec3(0, 0, 2.0f));
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}
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// Mesh shape
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MeshShapeSettings mesh_shape(triangles);
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mesh_shape.SetEmbedded();
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mesh_shape.mActiveEdgeCosThresholdAngle = Cos(DegreesToRadians(50.0f));
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// Mesh
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BodyCreationSettings mesh_settings(&mesh_shape, RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
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// Instead of setting mActiveEdgeCosThresholdAngle you can also set: mesh_settings.mEnhancedInternalEdgeRemoval = true
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mesh_settings.mFriction = 0.0f;
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mBodyInterface->CreateAndAddBody(mesh_settings, EActivation::DontActivate);
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}
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