511 lines
16 KiB
C++
Executable File
511 lines
16 KiB
C++
Executable File
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_COLLISION_WORLD_H
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#define TEST_COLLISION_WORLD_H
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// Libraries
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#include "reactphysics3d.h"
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#include "Test.h"
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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// Enumeration for categories
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enum CollisionCategory {
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CATEGORY_1 = 0x0001,
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CATEGORY_2 = 0x0002,
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CATEGORY_3 = 0x0004
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};
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// Contact point collision data
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struct CollisionPointData {
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Vector3 localPointBody1;
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Vector3 localPointBody2;
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decimal penetrationDepth;
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CollisionPointData(const Vector3& point1, const Vector3& point2, decimal penDepth) {
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localPointBody1 = point1;
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localPointBody2 = point2;
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penetrationDepth = penDepth;
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}
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bool isContactPointSimilarTo(const Vector3& pointBody1, const Vector3& pointBody2, decimal penDepth, decimal epsilon = 0.001) {
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return approxEqual(pointBody1, localPointBody1, epsilon) &&
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approxEqual(pointBody2, localPointBody2, epsilon) &&
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approxEqual(penetrationDepth, penDepth, epsilon);
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}
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};
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// Contact manifold collision data
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struct CollisionManifoldData {
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std::vector<CollisionPointData> contactPoints;
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int getNbContactPoints() const {
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return contactPoints.size();
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}
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bool hasContactPointSimilarTo(const Vector3& localPointBody1, const Vector3& localPointBody2, decimal penetrationDepth, decimal epsilon = 0.001) {
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std::vector<CollisionPointData>::iterator it;
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for (it = contactPoints.begin(); it != contactPoints.end(); ++it) {
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if (it->isContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth)) {
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return true;
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}
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}
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return false;
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}
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};
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// Collision data between two proxy shapes
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struct CollisionData {
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std::pair<const ProxyShape*, const ProxyShape*> proxyShapes;
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std::pair<CollisionBody*, CollisionBody*> bodies;
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std::vector<CollisionManifoldData> contactManifolds;
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int getNbContactManifolds() const {
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return contactManifolds.size();
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}
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int getTotalNbContactPoints() const {
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int nbPoints = 0;
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std::vector<CollisionManifoldData>::const_iterator it;
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for (it = contactManifolds.begin(); it != contactManifolds.end(); ++it) {
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nbPoints += it->getNbContactPoints();
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}
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return nbPoints;
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}
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bool hasContactPointSimilarTo(const Vector3& localPointBody1, const Vector3& localPointBody2, decimal penetrationDepth, decimal epsilon = 0.001) {
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std::vector<CollisionManifoldData>::iterator it;
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for (it = contactManifolds.begin(); it != contactManifolds.end(); ++it) {
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if (it->hasContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth)) {
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return true;
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}
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}
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return false;
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}
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};
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// Class
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class WorldCollisionCallback : public CollisionCallback
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{
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private:
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std::vector<std::pair<const ProxyShape*, const ProxyShape*>> mCollisionData;
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std::pair<const ProxyShape*, const ProxyShape*> getCollisionKeyPair(std::pair<const ProxyShape*, const ProxyShape*> pair) const {
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if (pair.first > pair.second) {
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return std::make_pair(pair.second, pair.first);
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}
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return pair;
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}
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public:
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WorldCollisionCallback()
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{
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reset();
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}
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void reset()
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{
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mCollisionData.clear();
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}
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bool hasContacts() const {
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return mCollisionData.size() > 0;
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}
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bool areProxyShapesColliding(const ProxyShape* proxyShape1, const ProxyShape* proxyShape2) {
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return std::find(mCollisionData.begin(), mCollisionData.end(), getCollisionKeyPair(std::make_pair(proxyShape1, proxyShape2))) != mCollisionData.end();
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}
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// This method will be called for each contact
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virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override {
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CollisionData collisionData;
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collisionData.bodies = std::make_pair(collisionCallbackInfo.body1, collisionCallbackInfo.body2);
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collisionData.proxyShapes = std::make_pair(collisionCallbackInfo.proxyShape1, collisionCallbackInfo.proxyShape2);
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ContactManifoldListElement* element = collisionCallbackInfo.contactManifoldElements;
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while (element != nullptr) {
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ContactManifold* contactManifold = element->getContactManifold();
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CollisionManifoldData collisionManifold;
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ContactPoint* contactPoint = contactManifold->getContactPoints();
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while (contactPoint != nullptr) {
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CollisionPointData collisionPoint(contactPoint->getLocalPointOnShape1(), contactPoint->getLocalPointOnShape2(), contactPoint->getPenetrationDepth());
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collisionManifold.contactPoints.push_back(collisionPoint);
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contactPoint = contactPoint->getNext();
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}
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collisionData.contactManifolds.push_back(collisionManifold);
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element = element->getNext();
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}
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}
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};
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/// Overlap callback
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class WorldOverlapCallback : public OverlapCallback {
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private:
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CollisionBody* mOverlapBody;
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public:
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/// Destructor
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virtual ~WorldOverlapCallback() {
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reset();
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}
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/// This method will be called for each reported overlapping bodies
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virtual void notifyOverlap(CollisionBody* collisionBody) override {
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}
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void reset() {
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mOverlapBody = nullptr;
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}
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bool hasOverlap() const {
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return mOverlapBody != nullptr;
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}
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CollisionBody* getOverlapBody() {
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return mOverlapBody;
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}
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};
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// Class TestCollisionWorld
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/**
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* Unit test for the CollisionWorld class.
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*/
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class TestCollisionWorld : public Test {
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private :
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// ---------- Atributes ---------- //
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// Physics world
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CollisionWorld* mWorld;
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// Bodies
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CollisionBody* mBoxBody1;
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CollisionBody* mBoxBody2;
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CollisionBody* mSphereBody1;
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CollisionBody* mSphereBody2;
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// Collision shapes
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BoxShape* mBoxShape1;
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BoxShape* mBoxShape2;
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SphereShape* mSphereShape1;
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SphereShape* mSphereShape2;
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// Proxy shapes
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ProxyShape* mBoxProxyShape1;
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ProxyShape* mBoxProxyShape2;
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ProxyShape* mSphereProxyShape1;
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ProxyShape* mSphereProxyShape2;
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// Collision callback
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WorldCollisionCallback mCollisionCallback;
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// Overlap callback
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WorldOverlapCallback mOverlapCallback;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestCollisionWorld(const std::string& name) : Test(name) {
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// Create the collision world
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mWorld = new CollisionWorld();
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// ---------- Boxes ---------- //
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Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity());
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mBoxBody1 = mWorld->createCollisionBody(boxTransform1);
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mBoxShape1 = new BoxShape(Vector3(3, 3, 3));
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mBoxProxyShape1 = mBoxBody1->addCollisionShape(mBoxShape1, Transform::identity());
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Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity());
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mBoxBody2 = mWorld->createCollisionBody(boxTransform2);
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mBoxShape2 = new BoxShape(Vector3(2, 2, 2));
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mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape1, Transform::identity());
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// ---------- Spheres ---------- //
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mSphereShape1 = new SphereShape(3.0);
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Transform sphereTransform1(Vector3(10, 20, 0), Quaternion::identity());
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mSphereBody1 = mWorld->createCollisionBody(sphereTransform1);
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mSphereProxyShape1 = mSphereBody1->addCollisionShape(mSphereShape1, Transform::identity());
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mSphereShape2 = new SphereShape(5.0);
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Transform sphereTransform2(Vector3(20, 20, 0), Quaternion::identity());
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mSphereBody2 = mWorld->createCollisionBody(sphereTransform2);
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mSphereProxyShape2 = mSphereBody2->addCollisionShape(mSphereShape2, Transform::identity());
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}
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/// Destructor
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virtual ~TestCollisionWorld() {
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delete mBoxShape1;
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delete mBoxShape2;
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delete mSphereShape1;
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delete mSphereShape2;
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delete mWorld;
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}
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/// Run the tests
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void run() {
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testNoCollisions();
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testNoOverlap();
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testNoAABBOverlap();
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testAABBOverlap();
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testSphereVsSphereCollision();
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testSphereVsBoxCollision();
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testMultipleCollisions();
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}
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void testNoCollisions() {
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// All the shapes of the world are not touching when they are created.
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// Here we test that at the beginning, there is no collision at all.
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// ---------- Global test ---------- //
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mCollisionCallback.reset();
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mWorld->testCollision(&mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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// ---------- Single body test ---------- //
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mSphereBody1, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mSphereBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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// Two bodies test
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mSphereBody1, mSphereBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, mSphereBody1, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody1, mSphereBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody2, mSphereBody1, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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mCollisionCallback.reset();
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mWorld->testCollision(mBoxBody2, mSphereBody2, &mCollisionCallback);
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test(!mCollisionCallback.hasContacts());
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}
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void testNoOverlap() {
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// All the shapes of the world are not touching when they are created.
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// Here we test that at the beginning, there is no overlap at all.
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// ---------- Single body test ---------- //
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mOverlapCallback.reset();
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mWorld->testOverlap(mBoxBody1, &mOverlapCallback);
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test(!mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mBoxBody2, &mOverlapCallback);
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test(!mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mSphereBody1, &mOverlapCallback);
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test(!mOverlapCallback.hasOverlap());
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mOverlapCallback.reset();
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mWorld->testOverlap(mSphereBody2, &mOverlapCallback);
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test(!mOverlapCallback.hasOverlap());
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// Two bodies test
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test(!mWorld->testOverlap(mBoxBody1, mBoxBody2));
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test(!mWorld->testOverlap(mSphereBody1, mSphereBody2));
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test(!mWorld->testOverlap(mBoxBody1, mSphereBody1));
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test(!mWorld->testOverlap(mBoxBody1, mSphereBody2));
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test(!mWorld->testOverlap(mBoxBody2, mSphereBody1));
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test(!mWorld->testOverlap(mBoxBody2, mSphereBody2));
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}
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void testNoAABBOverlap() {
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// All the shapes of the world are not touching when they are created.
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// Here we test that at the beginning, there is no AABB overlap at all.
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// Two bodies test
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test(!mWorld->testAABBOverlap(mBoxBody1, mBoxBody2));
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test(!mWorld->testAABBOverlap(mSphereBody1, mSphereBody2));
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test(!mWorld->testAABBOverlap(mBoxBody1, mSphereBody1));
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test(!mWorld->testAABBOverlap(mBoxBody1, mSphereBody2));
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test(!mWorld->testAABBOverlap(mBoxBody2, mSphereBody1));
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test(!mWorld->testAABBOverlap(mBoxBody2, mSphereBody2));
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}
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void testAABBOverlap() {
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// TODO : Test the CollisionWorld::testAABBOverlap() method here
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}
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void testSphereVsSphereCollision() {
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// Move sphere 1 to collide with sphere 2
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mSphereBody1->setTransform(Transform(Vector3(30, 15, 10), Quaternion::identity()));
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}
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void testSphereVsBoxCollision() {
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// Move sphere 1 to collide with box
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mSphereBody1->setTransform(Transform(Vector3(10, 5, 0), Quaternion::identity()));
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// --------- Test collision with inactive bodies --------- //
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mCollisionCallback.reset();
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mBoxBody1->setIsActive(false);
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mSphereBody1->setIsActive(false);
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mSphereBody2->setIsActive(false);
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mWorld->testCollision(&mCollisionCallback);
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mBoxBody1->setIsActive(true);
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mSphereBody1->setIsActive(true);
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mSphereBody2->setIsActive(true);
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// --------- Test collision with collision filtering -------- //
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//mBoxProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_3);
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//mSphere1ProxyShape->setCollideWithMaskBits(CATEGORY_1 | CATEGORY_2);
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//mSphere2ProxyShape->setCollideWithMaskBits(CATEGORY_1);
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//mCollisionCallback.reset();
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//mWorld->testCollision(&mCollisionCallback);
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//test(mCollisionCallback.boxCollideWithSphere1);
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//test(!mCollisionCallback.sphere1CollideWithSphere2);
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//// Move sphere 1 to collide with sphere 2
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//mSphere1Body->setTransform(Transform(Vector3(30, 15, 10), Quaternion::identity()));
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//mCollisionCallback.reset();
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//mWorld->testCollision(&mCollisionCallback);
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//test(!mCollisionCallback.boxCollideWithSphere1);
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//test(mCollisionCallback.sphere1CollideWithSphere2);
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//mBoxProxyShape->setCollideWithMaskBits(CATEGORY_2);
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//mSphere1ProxyShape->setCollideWithMaskBits(CATEGORY_2);
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//mSphere2ProxyShape->setCollideWithMaskBits(CATEGORY_3);
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//mCollisionCallback.reset();
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//mWorld->testCollision(&mCollisionCallback);
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//test(!mCollisionCallback.boxCollideWithSphere1);
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//test(!mCollisionCallback.sphere1CollideWithSphere2);
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//// Move sphere 1 to collide with box
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//mSphere1Body->setTransform(Transform(Vector3(10, 5, 0), Quaternion::identity()));
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//mBoxProxyShape->setCollideWithMaskBits(0xFFFF);
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//mSphere1ProxyShape->setCollideWithMaskBits(0xFFFF);
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//mSphere2ProxyShape->setCollideWithMaskBits(0xFFFF);
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}
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void testMultipleCollisions() {
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// TODO : Test collisions without categories set
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// TODO : Test colliisons with categories set
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// Assign collision categories to proxy shapes
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//mBoxProxyShape->setCollisionCategoryBits(CATEGORY_1);
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//mSphere1ProxyShape->setCollisionCategoryBits(CATEGORY_1);
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//mSphere2ProxyShape->setCollisionCategoryBits(CATEGORY_2);
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}
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};
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}
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#endif
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