Removed experimental code
This commit is contained in:
Irlan
parent
f2c7eb64ed
commit
d89e658313
@ -54,7 +54,6 @@
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#include <testbed/tests/pyramids.h>
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#include <testbed/tests/ray_cast.h>
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#include <testbed/tests/sensor_test.h>
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#include <testbed/tests/character_test.h>
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#include <testbed/tests/body_types.h>
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#include <testbed/tests/varying_friction.h>
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#include <testbed/tests/varying_restitution.h>
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@ -64,7 +63,7 @@
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#include <testbed/tests/pinned_cloth.h>
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#include <testbed/tests/particle_types.h>
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#include <testbed/tests/tension_mapping.h>
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#include <testbed/tests/self_collision.h>
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#include <testbed/tests/cloth_capsule.h>
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#include <testbed/tests/rope_test.h>
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#include <testbed/tests/beam.h>
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#include <testbed/tests/pinned_softbody.h>
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@ -107,7 +106,6 @@ TestEntry g_tests[] =
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{ "Box Pyramid Rows", &Pyramids::Create },
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{ "Ray Cast", &RayCast::Create },
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{ "Sensor Test", &SensorTest::Create },
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{ "Character", &CharacterTest::Create },
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{ "Body Types", &BodyTypes::Create },
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{ "Varying Friction", &VaryingFriction::Create },
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{ "Varying Restitution", &VaryingRestitution::Create },
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@ -118,7 +116,7 @@ TestEntry g_tests[] =
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{ "Pinned Cloth", &PinnedCloth::Create },
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{ "Particle Types", &ParticleTypes::Create },
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{ "Tension Mapping", &TensionMapping::Create },
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{ "Self-Collision", &SelfCollision::Create },
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{ "Cloth and Capsule", &ClothCapsule::Create },
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{ "Beam", &Beam::Create },
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{ "Pinned Soft Body", &PinnedSoftBody::Create },
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{ "Smash Soft Body", &SmashSoftBody::Create },
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@ -1,624 +0,0 @@
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/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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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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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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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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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CHARACTER_TEST_H
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#define CHARACTER_TEST_H
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struct Plane
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{
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b3Vec3 n;
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b3Vec3 p;
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};
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class CharacterController
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{
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public:
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CharacterController(b3SphereShape* shape)
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{
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m_characterShape = shape;
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m_characterBody = m_characterShape->GetBody();
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m_world = m_characterBody->GetWorld();
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m_translation.SetZero();
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m_isGrounded = false;
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UpdateGrounded();
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}
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~CharacterController()
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{
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}
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bool IsGrounded() const
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{
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return m_isGrounded;
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}
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void Move(const b3Vec3& translation)
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{
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m_translation += translation;
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}
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void Step()
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{
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Solve();
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UpdateGrounded();
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}
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private:
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b3Sphere GetCharacterSphere() const
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{
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b3Sphere sphere;
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sphere.vertex = m_characterBody->GetWorldPoint(m_characterShape->m_center);
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sphere.radius = m_characterShape->m_radius;
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return sphere;
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}
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void UpdateGrounded()
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{
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b3StackArray<b3Shape*, 32> shapes;
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CollectStaticShapes(shapes);
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b3StackArray<Plane, 32> planes;
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CollectOverlapPlanes(planes, shapes);
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m_isGrounded = false;
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for (u32 i = 0; i < planes.Count(); ++i)
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{
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Plane plane = planes[i];
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float32 cosine = b3Dot(b3Vec3_y, plane.n);
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// ~80 degrees
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const float32 kTol = 0.17f;
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if (cosine > kTol)
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{
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m_isGrounded = true;
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break;
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}
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}
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}
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void CollectStaticShapes(b3Array<b3Shape*>& shapes) const
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{
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for (b3Body* b = m_world->GetBodyList().m_head; b; b = b->GetNext())
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{
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if (b == m_characterBody)
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{
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continue;
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}
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if (b->GetType() != e_staticBody)
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{
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continue;
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}
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for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
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{
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shapes.PushBack(s);
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}
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}
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}
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void CollectOverlapPlanes(b3Array<Plane>& planes,
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const b3Array<b3Shape*>& shapes) const
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{
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b3Sphere sphere2 = GetCharacterSphere();
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for (u32 i = 0; i < shapes.Count(); ++i)
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{
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b3Shape* shape1 = shapes[i];
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b3Body* body1 = shape1->GetBody();
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b3Transform xf1 = body1->GetTransform();
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if (shape1->GetType() == e_meshShape)
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{
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b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
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const b3Mesh* mesh1 = meshShape1->m_mesh;
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for (u32 j = 0; j < mesh1->triangleCount; ++j)
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{
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b3TestSphereOutput output;
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bool overlap = meshShape1->TestSphere(&output, sphere2, xf1, j);
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if (overlap)
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{
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Plane plane;
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plane.n = output.normal;
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plane.p = output.point;
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planes.PushBack(plane);
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}
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}
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}
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else
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{
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b3TestSphereOutput output;
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bool overlap = shape1->TestSphere(&output, sphere2, xf1);
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if (overlap)
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{
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Plane plane;
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plane.n = output.normal;
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plane.p = output.point;
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planes.PushBack(plane);
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}
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}
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}
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}
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void CollectSweepPlanes(b3Array<Plane>& planes,
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const b3Array<b3Shape*>& shapes,
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const b3Vec3& translation2) const
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{
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if (b3LengthSquared(translation2) < B3_EPSILON * B3_EPSILON)
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{
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return;
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}
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b3Transform xf2 = m_characterBody->GetTransform();
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b3ShapeGJKProxy proxy2;
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proxy2.Set(m_characterShape, 0);
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for (u32 i = 0; i < shapes.Count(); ++i)
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{
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b3Shape* shape1 = shapes[i];
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b3Body* body1 = shape1->GetBody();
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b3Transform xf1 = body1->GetTransform();
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if (shape1->GetType() == e_meshShape)
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{
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b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
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const b3Mesh* mesh1 = meshShape1->m_mesh;
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for (u32 j = 0; j < mesh1->triangleCount; ++j)
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{
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b3ShapeGJKProxy proxy1;
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proxy1.Set(shape1, j);
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b3GJKShapeCastOutput output;
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bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
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if (hit)
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{
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Plane plane;
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plane.n = output.normal;
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plane.p = output.point;
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planes.PushBack(plane);
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}
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}
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}
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else
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{
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b3ShapeGJKProxy proxy1;
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proxy1.Set(shape1, 0);
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b3GJKShapeCastOutput output;
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bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
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if (hit)
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{
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Plane plane;
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plane.n = output.normal;
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plane.p = output.point;
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planes.PushBack(plane);
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}
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}
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}
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}
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b3Vec3 SolvePositionConstraints(const b3Array<Plane>& planes, const b3Vec3& position) const
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{
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b3Vec3 localCenter = m_characterBody->GetLocalCenter();
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b3Vec3 c = position;
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b3Quat q = m_characterBody->GetOrientation();
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const u32 kMaxPositionIterations = 10;
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for (u32 i = 0; i < kMaxPositionIterations; ++i)
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{
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for (u32 j = 0; j < planes.Count(); ++j)
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{
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Plane nc = planes[j];
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b3Plane plane(nc.n, nc.p);
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b3Transform xf;
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xf.rotation = b3QuatMat33(q);
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xf.position = c - b3Mul(xf.rotation, localCenter);
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b3Sphere sphere;
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sphere.vertex = b3Mul(xf, m_characterShape->m_center);
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sphere.radius = m_characterShape->m_radius;
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float32 separation = b3Distance(sphere.vertex, plane);
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if (separation > sphere.radius)
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{
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continue;
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}
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separation -= sphere.radius;
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float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
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b3Vec3 normal = plane.normal;
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b3Vec3 P = C * normal;
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c -= P;
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}
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}
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return c;
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}
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void Solve()
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{
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b3StackArray<b3Shape*, 32> shapes;
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CollectStaticShapes(shapes);
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// Collect collision planes
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b3StackArray<Plane, 32> planes;
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CollectOverlapPlanes(planes, shapes);
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b3Vec3 startPosition = m_characterBody->GetWorldCenter();
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b3Vec3 targetPosition = startPosition + m_translation;
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m_translation.SetZero();
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b3Vec3 solvePosition = SolvePositionConstraints(planes, targetPosition);
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b3Vec3 oldSolvePosition = solvePosition;
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for (;;)
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{
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// Collect collision planes
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b3Vec3 translation = solvePosition - startPosition;
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CollectSweepPlanes(planes, shapes, translation);
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solvePosition = SolvePositionConstraints(planes, targetPosition);
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const float32 tolerance = 0.05f;
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if (b3DistanceSquared(oldSolvePosition, solvePosition) < tolerance * tolerance)
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{
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break;
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}
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oldSolvePosition = solvePosition;
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}
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// Synchronize body
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b3Quat orientation = m_characterBody->GetOrientation();
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b3Vec3 axis;
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float32 angle;
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orientation.GetAxisAngle(&axis, &angle);
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m_characterBody->SetTransform(solvePosition, axis, angle);
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}
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b3World* m_world;
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b3Body* m_characterBody;
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b3SphereShape* m_characterShape;
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b3Vec3 m_translation;
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bool m_isGrounded;
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};
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class CharacterTest : public Test
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{
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public:
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CharacterTest()
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{
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{
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b3BodyDef bdef;
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_groundHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(-10.0f, 3.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 2.0f, 5.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(-10.0f, 9.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(1.0f, 4.0f, 1.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(-10.0f, 2.7f, 7.0f);
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bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 0.25f, 3.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(-10.0f, 2.7f, -7.0f);
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bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 0.25f, 3.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(10.0f, 3.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 2.0f, 5.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(10.0f, 9.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(1.0f, 4.0f, 1.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(10.0f, 2.7f, 7.0f);
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bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 0.25f, 3.0f);
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b3HullShape hs;
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hs.m_hull = &boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.position.Set(10.0f, 2.7f, -7.0f);
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bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull boxHull;
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boxHull.Set(2.0f, 0.25f, 3.0f);
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b3HullShape hs;
|
||||
hs.m_hull = &boxHull;
|
||||
|
||||
b3ShapeDef sdef;
|
||||
sdef.shape = &hs;
|
||||
|
||||
b3Shape* shape = body->CreateShape(sdef);
|
||||
}
|
||||
|
||||
{
|
||||
b3BodyDef bdef;
|
||||
bdef.position.Set(0.0f, 4.0f, 0.0f);
|
||||
|
||||
b3Body* body = m_world.CreateBody(bdef);
|
||||
|
||||
static b3BoxHull boxHull;
|
||||
boxHull.Set(8.0f, 1.0f, 2.0f);
|
||||
|
||||
b3HullShape hs;
|
||||
hs.m_hull = &boxHull;
|
||||
|
||||
b3ShapeDef sdef;
|
||||
sdef.shape = &hs;
|
||||
|
||||
b3Shape* shape = body->CreateShape(sdef);
|
||||
}
|
||||
|
||||
{
|
||||
b3BodyDef bdef;
|
||||
bdef.type = b3BodyType::e_kinematicBody;
|
||||
bdef.position.Set(0.0f, 1.0f, 20.0f);
|
||||
|
||||
b3Body* body = m_world.CreateBody(bdef);
|
||||
|
||||
b3SphereShape sphere;
|
||||
sphere.m_center.SetZero();
|
||||
sphere.m_radius = 1.0f;
|
||||
|
||||
b3ShapeDef sdef;
|
||||
sdef.shape = &sphere;
|
||||
|
||||
b3SphereShape* shape = (b3SphereShape*)body->CreateShape(sdef);
|
||||
|
||||
m_characterController = new CharacterController(shape);
|
||||
}
|
||||
}
|
||||
|
||||
~CharacterTest()
|
||||
{
|
||||
delete m_characterController;
|
||||
}
|
||||
|
||||
void Step()
|
||||
{
|
||||
g_draw->DrawString(b3Color_white, "Arrows - Walk");
|
||||
g_draw->DrawString(b3Color_white, "Space - Jump");
|
||||
|
||||
float32 dt = g_testSettings->inv_hertz;
|
||||
|
||||
const float32 walkSpeed = 10.0f;
|
||||
const float32 jumpSpeed = 10.0f;
|
||||
const float32 gravityAcc = 9.8f;
|
||||
|
||||
static b3Vec3 velocity = b3Vec3_zero;
|
||||
|
||||
velocity.x = 0.0f;
|
||||
velocity.z = 0.0f;
|
||||
|
||||
extern GLFWwindow* g_window;
|
||||
|
||||
bool leftDown = glfwGetKey(g_window, GLFW_KEY_LEFT);
|
||||
bool rightDown = glfwGetKey(g_window, GLFW_KEY_RIGHT);
|
||||
bool downDown = glfwGetKey(g_window, GLFW_KEY_DOWN);
|
||||
bool upDown = glfwGetKey(g_window, GLFW_KEY_UP);
|
||||
bool spaceDown = glfwGetKey(g_window, GLFW_KEY_SPACE);
|
||||
|
||||
bool isGrounded = m_characterController->IsGrounded();
|
||||
|
||||
// Walk
|
||||
if (leftDown)
|
||||
{
|
||||
velocity.x -= walkSpeed;
|
||||
}
|
||||
|
||||
if (rightDown)
|
||||
{
|
||||
velocity.x += walkSpeed;
|
||||
}
|
||||
|
||||
if (upDown)
|
||||
{
|
||||
velocity.z -= walkSpeed;
|
||||
}
|
||||
|
||||
if (downDown)
|
||||
{
|
||||
velocity.z += walkSpeed;
|
||||
}
|
||||
|
||||
if (isGrounded)
|
||||
{
|
||||
velocity.y = 0.0f;
|
||||
|
||||
// Jump
|
||||
if (spaceDown)
|
||||
{
|
||||
velocity.y += jumpSpeed;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Integrate gravity
|
||||
velocity.y -= dt * gravityAcc;
|
||||
}
|
||||
|
||||
// Compute translation
|
||||
b3Vec3 translation = dt * velocity;
|
||||
|
||||
// Move character
|
||||
m_characterController->Move(translation);
|
||||
|
||||
// Step controllers
|
||||
m_characterController->Step();
|
||||
|
||||
// Step world
|
||||
Test::Step();
|
||||
}
|
||||
|
||||
static Test* Create()
|
||||
{
|
||||
return new CharacterTest();
|
||||
}
|
||||
|
||||
CharacterController* m_characterController;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -16,13 +16,13 @@
|
||||
* 3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SELF_COLLISION_H
|
||||
#define SELF_COLLISION_H
|
||||
#ifndef CLOTH_CAPSULE_H
|
||||
#define CLOTH_CAPSULE_H
|
||||
|
||||
class SelfCollision : public Test
|
||||
class ClothCapsule : public Test
|
||||
{
|
||||
public:
|
||||
SelfCollision() : m_rectangleGarment(5.0f, 5.0f)
|
||||
ClothCapsule() : m_rectangleGarment(5.0f, 5.0f)
|
||||
{
|
||||
// Generate 2D mesh
|
||||
m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
|
||||
@ -76,7 +76,7 @@ public:
|
||||
m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
|
||||
}
|
||||
|
||||
~SelfCollision()
|
||||
~ClothCapsule()
|
||||
{
|
||||
delete m_cloth;
|
||||
delete m_clothDragger;
|
||||
@ -141,7 +141,7 @@ public:
|
||||
|
||||
static Test* Create()
|
||||
{
|
||||
return new SelfCollision();
|
||||
return new ClothCapsule();
|
||||
}
|
||||
|
||||
b3RectangleGarment m_rectangleGarment;
|
||||
@ -53,7 +53,7 @@ public:
|
||||
|
||||
for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
|
||||
{
|
||||
p->SetRadius(0.05f);
|
||||
p->SetRadius(0.1f);
|
||||
p->SetFriction(0.2f);
|
||||
}
|
||||
|
||||
|
||||
@ -17,9 +17,7 @@
|
||||
*/
|
||||
|
||||
#include <bounce/dynamics/shapes/mesh_shape.h>
|
||||
#include <bounce/dynamics/shapes/hull_shape.h>
|
||||
#include <bounce/collision/shapes/mesh.h>
|
||||
#include <bounce/collision/shapes/triangle_hull.h>
|
||||
|
||||
b3MeshShape::b3MeshShape()
|
||||
{
|
||||
@ -92,20 +90,11 @@ bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
|
||||
|
||||
bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 index) const
|
||||
{
|
||||
B3_ASSERT(index < m_mesh->triangleCount);
|
||||
b3Triangle* triangle = m_mesh->triangles + index;
|
||||
b3Vec3 v1 = m_mesh->vertices[triangle->v1];
|
||||
b3Vec3 v2 = m_mesh->vertices[triangle->v2];
|
||||
b3Vec3 v3 = m_mesh->vertices[triangle->v3];
|
||||
|
||||
b3TriangleHull hull(v1, v2, v3);
|
||||
|
||||
b3HullShape hullShape;
|
||||
hullShape.m_body = m_body;
|
||||
hullShape.m_hull = &hull;
|
||||
hullShape.m_radius = B3_HULL_RADIUS;
|
||||
|
||||
return hullShape.TestSphere(output, sphere, xf);
|
||||
B3_NOT_USED(output);
|
||||
B3_NOT_USED(sphere);
|
||||
B3_NOT_USED(xf);
|
||||
B3_NOT_USED(index);
|
||||
return false;
|
||||
}
|
||||
|
||||
bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 index) const
|
||||
@ -137,7 +126,7 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
|
||||
return false;
|
||||
}
|
||||
|
||||
struct b3MeshRayCastCallback
|
||||
struct b3MeshShapeRayCastCallback
|
||||
{
|
||||
float32 Report(const b3RayCastInput& subInput, u32 proxyId)
|
||||
{
|
||||
@ -169,7 +158,7 @@ struct b3MeshRayCastCallback
|
||||
|
||||
bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const
|
||||
{
|
||||
b3MeshRayCastCallback callback;
|
||||
b3MeshShapeRayCastCallback callback;
|
||||
callback.input = input;
|
||||
callback.mesh = this;
|
||||
callback.xf = xf;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user