379 lines
14 KiB
C++
379 lines
14 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/HighSpeedTest.h>
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#include <Jolt/Physics/Collision/RayCast.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaledShape.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/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Physics/PhysicsScene.h>
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#include <Jolt/ObjectStream/ObjectStreamIn.h>
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#include <Application/DebugUI.h>
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#include <Utils/Log.h>
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#include <Utils/AssetStream.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(HighSpeedTest)
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{
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JPH_ADD_BASE_CLASS(HighSpeedTest, Test)
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}
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const char *HighSpeedTest::sScenes[] =
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{
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"Simple",
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"Convex Hull On Large Triangles",
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"Convex Hull On Terrain1",
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};
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int HighSpeedTest::sSelectedScene = 0;
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void HighSpeedTest::CreateDominoBlocks(RVec3Arg inOffset, int inNumWalls, float inDensity, float inRadius)
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{
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BodyCreationSettings box_settings;
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Ref<BoxShape> box_shape = new BoxShape(Vec3(0.9f, 1.0f, 0.1f));
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box_shape->SetDensity(inDensity); // Make box more heavy so the bouncing ball keeps a higher velocity
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box_settings.SetShape(box_shape);
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box_settings.mObjectLayer = Layers::MOVING;
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// U shaped set of thin boxes
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for (int i = 0; i < inNumWalls; ++i)
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{
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box_settings.mPosition = inOffset + Vec3(2.0f * i, 1, -1.1f - inRadius);
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mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
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box_settings.mPosition = inOffset + Vec3(2.0f * i, 1, +1.1f + inRadius);
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mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
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}
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box_settings.mPosition = inOffset + Vec3(-1.1f - inRadius, 1, 0);
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box_settings.mRotation = Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI);
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mBodyInterface->CreateAndAddBody(box_settings, EActivation::DontActivate);
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}
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void HighSpeedTest::CreateDynamicObject(RVec3Arg inPosition, Vec3Arg inVelocity, Shape *inShape, EMotionQuality inMotionQuality)
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{
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BodyCreationSettings creation_settings;
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creation_settings.SetShape(inShape);
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creation_settings.mFriction = 0.0f;
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creation_settings.mRestitution = 1.0f;
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creation_settings.mLinearDamping = 0.0f;
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creation_settings.mAngularDamping = 0.0f;
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creation_settings.mMotionQuality = inMotionQuality;
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creation_settings.mObjectLayer = Layers::MOVING;
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creation_settings.mPosition = inPosition;
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Body &body = *mBodyInterface->CreateBody(creation_settings);
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body.SetLinearVelocity(inVelocity);
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mBodyInterface->AddBody(body.GetID(), inVelocity.IsNearZero()? EActivation::DontActivate : EActivation::Activate);
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}
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void HighSpeedTest::CreateSimpleScene()
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{
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// Floor
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CreateFloor();
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const float radius = 0.1f;
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const int num_walls = 5;
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const float density = 2000.0f;
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const float speed = 240.0f;
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RVec3 offset(0, 0, -30);
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{
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// U shaped set of thin walls
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TriangleList triangles;
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for (int i = 0; i < num_walls; ++i)
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{
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triangles.push_back(Triangle(Float3(2.0f*i-1,0,-1-radius), Float3(2.0f*i+1,0,-1-radius), Float3(2.0f*i,2,-1-radius)));
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triangles.push_back(Triangle(Float3(2.0f*i-1,0,1+radius), Float3(2.0f*i,2,1+radius), Float3(2.0f*i+1,0,1+radius)));
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}
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triangles.push_back(Triangle(Float3(-1-radius,0,-1), Float3(-1-radius,2,0), Float3(-1-radius,0,1)));
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Body &walls = *mBodyInterface->CreateBody(BodyCreationSettings(new MeshShapeSettings(triangles), offset, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
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walls.SetRestitution(1.0f);
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walls.SetFriction(0.0f);
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mBodyInterface->AddBody(walls.GetID(), EActivation::DontActivate);
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// Fast moving sphere against mesh
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CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new SphereShape(radius));
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}
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offset += Vec3(0, 0, 5);
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{
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// Create wall of domino blocks
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CreateDominoBlocks(offset, num_walls, density, radius);
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// Fast moving sphere against domino blocks
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CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new SphereShape(radius));
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}
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offset += Vec3(0, 0, 5);
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{
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// Create wall of domino blocks
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CreateDominoBlocks(offset, num_walls, density, radius);
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// Fast moving scaled box against domino blocks
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CreateDynamicObject(offset + Vec3(2.0f * num_walls - 1, 1, 0), Vec3(-speed, 0, -speed), new ScaledShape(new BoxShape(Vec3::sReplicate(0.5f * radius), 0.01f), Vec3::sReplicate(2.0f)));
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}
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offset += Vec3(0, 0, 5);
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{
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// Fast moving box stuck in ground moving, one moving up, one moving down
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CreateDynamicObject(offset + Vec3(-1, 0, 0), Vec3(0, speed, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(1, 0, 0), Vec3(0, -speed, 0), new BoxShape(Vec3::sReplicate(radius)));
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}
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offset += Vec3(0, 0, 5);
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{
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// Single shape that has 4 walls to surround fast moving sphere
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BodyCreationSettings enclosing_settings;
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Ref<BoxShapeSettings> box_shape = new BoxShapeSettings(Vec3(1.0f, 1.0f, 0.1f));
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Ref<StaticCompoundShapeSettings> enclosing_shape = new StaticCompoundShapeSettings();
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enclosing_shape->AddShape(Vec3(0, 0, 1), Quat::sIdentity(), box_shape);
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enclosing_shape->AddShape(Vec3(0, 0, -1), Quat::sIdentity(), box_shape);
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enclosing_shape->AddShape(Vec3(1, 0, 0), Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI), box_shape);
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enclosing_shape->AddShape(Vec3(-1, 0, 0), Quat::sRotation(Vec3::sAxisY(), 0.5f * JPH_PI), box_shape);
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enclosing_settings.SetShapeSettings(enclosing_shape);
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enclosing_settings.mMotionType = EMotionType::Kinematic;
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enclosing_settings.mObjectLayer = Layers::MOVING;
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enclosing_settings.mPosition = offset + Vec3(0, 1, 0);
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mBodyInterface->CreateAndAddBody(enclosing_settings, EActivation::Activate);
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// Fast moving sphere in box
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CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3(-speed, 0, -0.5f * speed), new SphereShape(radius));
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}
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offset += Vec3(0, 0, 5);
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{
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// Two boxes on a collision course
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CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(-1, 0.5f, 0), Vec3(speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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}
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offset += Vec3(0, 0, 5);
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{
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// Two boxes on a collision course, off center
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CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(-1, 0.5f, radius), Vec3(speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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}
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offset += Vec3(0, 0, 5);
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{
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// Two boxes on a collision course, one discrete
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CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(-1, 0.5f, 0), Vec3(60.0f, 0, 0), new BoxShape(Vec3::sReplicate(radius)), EMotionQuality::Discrete);
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}
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offset += Vec3(0, 0, 5);
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{
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// Two boxes on a collision course, one inactive
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CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3::sZero(), new BoxShape(Vec3::sReplicate(radius)));
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}
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offset += Vec3(0, 0, 5);
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{
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// Two boxes on a collision course, one inactive and discrete
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CreateDynamicObject(offset + Vec3(1, 0.5f, 0), Vec3(-speed, 0, 0), new BoxShape(Vec3::sReplicate(radius)));
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CreateDynamicObject(offset + Vec3(0, 0.5f, 0), Vec3::sZero(), new BoxShape(Vec3::sReplicate(radius)), EMotionQuality::Discrete);
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}
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offset += Vec3(0, 0, 5);
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{
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// Create long thin shape
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BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
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box_settings.SetEmbedded();
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BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
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body_settings.mMotionQuality = EMotionQuality::LinearCast;
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body_settings.mRestitution = 0.0f;
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body_settings.mFriction = 1.0f;
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Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
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body.SetLinearVelocity(Vec3(0, -100.0f, 0));
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mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
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}
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offset += Vec3(0, 0, 5);
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{
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// Create long thin shape under 45 degrees
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BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
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box_settings.SetEmbedded();
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BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
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body_settings.mMotionQuality = EMotionQuality::LinearCast;
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body_settings.mRestitution = 0.0f;
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body_settings.mFriction = 1.0f;
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Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
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body.SetLinearVelocity(Vec3(0, -100.0f, 0));
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mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
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}
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offset += Vec3(0, 0, 5);
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{
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// Create long thin shape with restitution
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BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
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box_settings.SetEmbedded();
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BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
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body_settings.mMotionQuality = EMotionQuality::LinearCast;
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body_settings.mRestitution = 1.0f;
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body_settings.mFriction = 1.0f;
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Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
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body.SetLinearVelocity(Vec3(0, -100.0f, 0));
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mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
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}
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offset += Vec3(0, 0, 5);
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{
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// Create long thin shape under 45 degrees with restitution
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BoxShapeSettings box_settings(Vec3(0.05f, 0.8f, 0.03f), 0.015f);
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box_settings.SetEmbedded();
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BodyCreationSettings body_settings(&box_settings, offset + Vec3(0, 1, 0), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
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body_settings.mMotionQuality = EMotionQuality::LinearCast;
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body_settings.mRestitution = 1.0f;
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body_settings.mFriction = 1.0f;
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Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
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body.SetLinearVelocity(Vec3(0, -100.0f, 0));
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mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
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}
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}
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void HighSpeedTest::CreateFastSmallConvexObjects()
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{
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// Create small convex hull
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Array<Vec3> vertices = {
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Vec3(-0.044661f, 0.001230f, 0.003877f),
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Vec3(-0.024743f, -0.042562f, 0.003877f),
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Vec3(-0.012336f, -0.021073f, 0.048484f),
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Vec3(0.016066f, 0.028121f, -0.049904f),
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Vec3(-0.023734f, 0.043275f, -0.024153f),
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Vec3(0.020812f, 0.036341f, -0.019530f),
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Vec3(0.012495f, 0.021936f, 0.045288f),
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Vec3(0.026750f, 0.001230f, 0.049273f),
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Vec3(0.045495f, 0.001230f, -0.022077f),
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Vec3(0.022193f, -0.036274f, -0.021126f),
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Vec3(0.022781f, -0.037291f, 0.029558f),
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Vec3(0.014691f, -0.023280f, 0.052897f),
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Vec3(-0.012187f, -0.020815f, -0.040214f),
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Vec3(0.000541f, 0.001230f, -0.056224f),
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Vec3(-0.039882f, 0.001230f, -0.019461f),
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Vec3(0.000541f, 0.001230f, 0.056022f),
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Vec3(-0.020614f, -0.035411f, -0.020551f),
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Vec3(-0.019485f, 0.035916f, 0.027001f),
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Vec3(-0.023968f, 0.043680f, 0.003877f),
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Vec3(-0.020051f, 0.001230f, 0.039543f),
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Vec3(0.026213f, 0.001230f, -0.040589f),
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Vec3(-0.010797f, 0.020868f, 0.043152f),
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Vec3(-0.012378f, 0.023607f, -0.040876f)
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};
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ConvexHullShapeSettings convex_settings(vertices);
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convex_settings.SetEmbedded();
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BodyCreationSettings body_settings(&convex_settings, RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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body_settings.mMotionQuality = EMotionQuality::LinearCast;
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// Create many instances with high velocity
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default_random_engine rnd;
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uniform_real_distribution<float> restitution_distrib(0.0f, 0.1f);
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uniform_real_distribution<float> velocity_distrib(-10.0f, 10.0f);
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for (int x = -25; x < 25; ++x)
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for (int y = -25 ; y < 25; ++y)
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{
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// Cast a ray to find the terrain
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RVec3 origin(Real(x), 100.0_r, Real(y));
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Vec3 direction(0, -100.0f, 0);
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RRayCast ray { origin, direction };
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RayCastResult hit;
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if (mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, hit, SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers::NON_MOVING), SpecifiedObjectLayerFilter(Layers::NON_MOVING)))
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{
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// Place 10m above terrain
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body_settings.mPosition = ray.GetPointOnRay(hit.mFraction) + RVec3(0, 10, 0);
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body_settings.mRotation = Quat::sRandom(rnd);
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body_settings.mRestitution = restitution_distrib(rnd);
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Body &body = *mPhysicsSystem->GetBodyInterface().CreateBody(body_settings);
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body.SetLinearVelocity(Vec3(velocity_distrib(rnd), -100.0f, velocity_distrib(rnd)));
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mPhysicsSystem->GetBodyInterface().AddBody(body.GetID(), EActivation::Activate);
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}
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}
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}
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void HighSpeedTest::CreateConvexOnLargeTriangles()
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{
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// Create floor
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CreateLargeTriangleFloor();
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CreateFastSmallConvexObjects();
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}
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void HighSpeedTest::CreateConvexOnTerrain1()
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{
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#ifdef JPH_OBJECT_STREAM
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// Load scene
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Ref<PhysicsScene> scene;
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AssetStream stream("terrain1.bof", std::ios::in | std::ios::binary);
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if (!ObjectStreamIn::sReadObject(stream.Get(), scene))
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FatalError("Failed to load scene");
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for (BodyCreationSettings &body : scene->GetBodies())
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body.mObjectLayer = Layers::NON_MOVING;
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scene->FixInvalidScales();
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scene->CreateBodies(mPhysicsSystem);
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#else
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CreateFloor();
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#endif // JPH_OBJECT_STREAM
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CreateFastSmallConvexObjects();
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}
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void HighSpeedTest::Initialize()
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{
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switch (sSelectedScene)
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{
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case 0:
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CreateSimpleScene();
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break;
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case 1:
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CreateConvexOnLargeTriangles();
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break;
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case 2:
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CreateConvexOnTerrain1();
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break;
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default:
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JPH_ASSERT(false);
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break;
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}
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}
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void HighSpeedTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
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{
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inUI->CreateTextButton(inSubMenu, "Select Scene", [this, inUI]() {
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UIElement *scene_name = inUI->CreateMenu();
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for (uint i = 0; i < size(sScenes); ++i)
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inUI->CreateTextButton(scene_name, sScenes[i], [this, i]() { sSelectedScene = i; RestartTest(); });
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inUI->ShowMenu(scene_name);
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});
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}
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