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Diffstat (limited to 'tests/servers/test_physics_3d.cpp')
| -rw-r--r-- | tests/servers/test_physics_3d.cpp | 410 |
1 files changed, 410 insertions, 0 deletions
diff --git a/tests/servers/test_physics_3d.cpp b/tests/servers/test_physics_3d.cpp new file mode 100644 index 0000000000..4e483d628d --- /dev/null +++ b/tests/servers/test_physics_3d.cpp @@ -0,0 +1,410 @@ +/*************************************************************************/ +/* test_physics_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "test_physics_3d.h" + +#include "core/math/convex_hull.h" +#include "core/math/geometry_3d.h" +#include "core/os/main_loop.h" +#include "servers/physics_server_3d.h" +#include "servers/rendering_server.h" + +class TestPhysics3DMainLoop : public MainLoop { + GDCLASS(TestPhysics3DMainLoop, MainLoop); + + enum { + LINK_COUNT = 20, + }; + + RID test_cube; + + RID plane; + RID sphere; + RID light; + RID camera; + RID mover; + RID scenario; + RID space; + + RID character; + + real_t ofs_x, ofs_y; + + Point2 joy_direction; + + List<RID> bodies; + Map<PhysicsServer3D::ShapeType, RID> type_shape_map; + Map<PhysicsServer3D::ShapeType, RID> type_mesh_map; + + void body_changed_transform(Object *p_state, RID p_visual_instance) { + PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; + RenderingServer *vs = RenderingServer::get_singleton(); + Transform3D t = state->get_transform(); + vs->instance_set_transform(p_visual_instance, t); + } + + bool quit; + +protected: + RID create_body(PhysicsServer3D::ShapeType p_shape, PhysicsServer3D::BodyMode p_body, const Transform3D p_location, bool p_active_default = true, const Transform3D &p_shape_xform = Transform3D()) { + RenderingServer *vs = RenderingServer::get_singleton(); + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + + RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario); + RID body = ps->body_create(); + ps->body_set_mode(body, p_body); + ps->body_set_state(body, PhysicsServer3D::BODY_STATE_SLEEPING, !p_active_default); + ps->body_set_space(body, space); + ps->body_set_param(body, PhysicsServer3D::BODY_PARAM_BOUNCE, 0.0); + //todo set space + ps->body_add_shape(body, type_shape_map[p_shape]); + ps->body_set_force_integration_callback(body, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance); + + ps->body_set_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM, p_location); + bodies.push_back(body); + + if (p_body == PhysicsServer3D::BODY_MODE_STATIC) { + vs->instance_set_transform(mesh_instance, p_location); + } + return body; + } + + RID create_world_boundary(const Plane &p_plane) { + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + + RID world_boundary_shape = ps->shape_create(PhysicsServer3D::SHAPE_WORLD_BOUNDARY); + ps->shape_set_data(world_boundary_shape, p_plane); + + RID b = ps->body_create(); + ps->body_set_mode(b, PhysicsServer3D::BODY_MODE_STATIC); + + ps->body_set_space(b, space); + ps->body_add_shape(b, world_boundary_shape); + return b; + } + + void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) { + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass); + ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction); + ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_BOUNCE, p_bounce); + } + + void initialize_shapes() { + RenderingServer *vs = RenderingServer::get_singleton(); + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + + /* SPHERE SHAPE */ + RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5); + type_mesh_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_mesh; + + RID sphere_shape = ps->shape_create(PhysicsServer3D::SHAPE_SPHERE); + ps->shape_set_data(sphere_shape, 0.5); + type_shape_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_shape; + + /* BOX SHAPE */ + + Vector<Plane> box_planes = Geometry3D::build_box_planes(Vector3(0.5, 0.5, 0.5)); + RID box_mesh = vs->mesh_create(); + Geometry3D::MeshData box_data = Geometry3D::build_convex_mesh(box_planes); + vs->mesh_add_surface_from_mesh_data(box_mesh, box_data); + type_mesh_map[PhysicsServer3D::SHAPE_BOX] = box_mesh; + + RID box_shape = ps->shape_create(PhysicsServer3D::SHAPE_BOX); + ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5)); + type_shape_map[PhysicsServer3D::SHAPE_BOX] = box_shape; + + /* CAPSULE SHAPE */ + + Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z); + + RID capsule_mesh = vs->mesh_create(); + Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes); + vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data); + + type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh; + + RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE); + Dictionary capsule_params; + capsule_params["radius"] = 0.5; + capsule_params["height"] = 1.4; + ps->shape_set_data(capsule_shape, capsule_params); + type_shape_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_shape; + + /* CONVEX SHAPE */ + + Vector<Plane> convex_planes = Geometry3D::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z); + + RID convex_mesh = vs->mesh_create(); + Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes); + ConvexHullComputer::convex_hull(convex_data.vertices, convex_data); + vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data); + + type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh; + + RID convex_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONVEX_POLYGON); + ps->shape_set_data(convex_shape, convex_data.vertices); + type_shape_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_shape; + } + + void make_trimesh(Vector<Vector3> p_faces, const Transform3D &p_xform = Transform3D()) { + RenderingServer *vs = RenderingServer::get_singleton(); + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + RID trimesh_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONCAVE_POLYGON); + Dictionary trimesh_params; + trimesh_params["faces"] = p_faces; + trimesh_params["backface_collision"] = false; + ps->shape_set_data(trimesh_shape, trimesh_params); + Vector<Vector3> normals; // for drawing + for (int i = 0; i < p_faces.size() / 3; i++) { + Plane p(p_faces[i * 3 + 0], p_faces[i * 3 + 1], p_faces[i * 3 + 2]); + normals.push_back(p.normal); + normals.push_back(p.normal); + normals.push_back(p.normal); + } + + RID trimesh_mesh = vs->mesh_create(); + Array d; + d.resize(RS::ARRAY_MAX); + d[RS::ARRAY_VERTEX] = p_faces; + d[RS::ARRAY_NORMAL] = normals; + vs->mesh_add_surface_from_arrays(trimesh_mesh, RS::PRIMITIVE_TRIANGLES, d); + + RID triins = vs->instance_create2(trimesh_mesh, scenario); + + RID tribody = ps->body_create(); + ps->body_set_mode(tribody, PhysicsServer3D::BODY_MODE_STATIC); + ps->body_set_space(tribody, space); + //todo set space + ps->body_add_shape(tribody, trimesh_shape); + Transform3D tritrans = p_xform; + ps->body_set_state(tribody, PhysicsServer3D::BODY_STATE_TRANSFORM, tritrans); + vs->instance_set_transform(triins, tritrans); + } + + void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform3D &p_xform = Transform3D()) { + Vector<Vector<real_t>> grid; + + grid.resize(p_width); + + for (int i = 0; i < p_width; i++) { + grid.write[i].resize(p_height); + + for (int j = 0; j < p_height; j++) { + grid.write[i].write[j] = 1.0 + Math::random(-p_cellheight, p_cellheight); + } + } + + Vector<Vector3> faces; + + for (int i = 1; i < p_width; i++) { + for (int j = 1; j < p_height; j++) { +#define MAKE_VERTEX(m_x, m_z) \ + faces.push_back(Vector3((m_x - p_width / 2) * p_cellsize, grid[m_x][m_z], (m_z - p_height / 2) * p_cellsize)) + + MAKE_VERTEX(i, j - 1); + MAKE_VERTEX(i, j); + MAKE_VERTEX(i - 1, j); + + MAKE_VERTEX(i - 1, j - 1); + MAKE_VERTEX(i, j - 1); + MAKE_VERTEX(i - 1, j); + } + } + + make_trimesh(faces, p_xform); + } + +public: + virtual void input_event(const Ref<InputEvent> &p_event) { + Ref<InputEventMouseMotion> mm = p_event; + if (mm.is_valid() && mm->get_button_mask() & 4) { + ofs_y -= mm->get_relative().y / 200.0; + ofs_x += mm->get_relative().x / 200.0; + } + + if (mm.is_valid() && mm->get_button_mask() & 1) { + real_t y = -mm->get_relative().y / 20.0; + real_t x = mm->get_relative().x / 20.0; + + if (mover.is_valid()) { + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM); + t.origin += Vector3(x, y, 0); + + ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t); + } + } + } + + virtual void request_quit() { + quit = true; + } + virtual void initialize() override { + ofs_x = ofs_y = 0; + initialize_shapes(); + + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + space = ps->space_create(); + ps->space_set_active(space, true); + + RenderingServer *vs = RenderingServer::get_singleton(); + + /* LIGHT */ + RID lightaux = vs->directional_light_create(); + scenario = vs->scenario_create(); + vs->light_set_shadow(lightaux, true); + light = vs->instance_create2(lightaux, scenario); + Transform3D t; + t.rotate(Vector3(1.0, 0, 0), 0.6); + vs->instance_set_transform(light, t); + + /* CAMERA */ + + camera = vs->camera_create(); + + RID viewport = vs->viewport_create(); + Size2i screen_size = DisplayServer::get_singleton()->window_get_size(); + vs->viewport_set_size(viewport, screen_size.x, screen_size.y); + vs->viewport_attach_to_screen(viewport, Rect2(Vector2(), screen_size)); + vs->viewport_set_active(viewport, true); + vs->viewport_attach_camera(viewport, camera); + vs->viewport_set_scenario(viewport, scenario); + + vs->camera_set_perspective(camera, 60, 0.1, 40.0); + vs->camera_set_transform(camera, Transform3D(Basis(), Vector3(0, 9, 12))); + + Transform3D gxf; + gxf.basis.scale(Vector3(1.4, 0.4, 1.4)); + gxf.origin = Vector3(-2, 1, -2); + make_grid(5, 5, 2.5, 1, gxf); + test_fall(); + quit = false; + } + virtual bool physics_process(double p_time) override { + if (mover.is_valid()) { + static real_t joy_speed = 10; + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM); + t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0); + ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t); + }; + + Transform3D cameratr; + cameratr.rotate(Vector3(0, 1, 0), ofs_x); + cameratr.rotate(Vector3(1, 0, 0), -ofs_y); + cameratr.translate(Vector3(0, 2, 8)); + RenderingServer *vs = RenderingServer::get_singleton(); + vs->camera_set_transform(camera, cameratr); + + return quit; + } + virtual void finalize() override { + } + + void test_joint() { + } + + void test_hinge() { + } + + void test_character() { + RenderingServer *vs = RenderingServer::get_singleton(); + PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); + + Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y); + + RID capsule_mesh = vs->mesh_create(); + Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes); + vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data); + type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh; + + RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE); + Dictionary capsule_params; + capsule_params["radius"] = 0.5; + capsule_params["height"] = 1; + Transform3D shape_xform; + shape_xform.rotate(Vector3(1, 0, 0), Math_PI / 2.0); + //shape_xform.origin=Vector3(1,1,1); + ps->shape_set_data(capsule_shape, capsule_params); + + RID mesh_instance = vs->instance_create2(capsule_mesh, scenario); + character = ps->body_create(); + ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR); + ps->body_set_space(character, space); + //todo add space + ps->body_add_shape(character, capsule_shape); + ps->body_set_force_integration_callback(character, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance); + + ps->body_set_state(character, PhysicsServer3D::BODY_STATE_TRANSFORM, Transform3D(Basis(), Vector3(-2, 5, -2))); + bodies.push_back(character); + } + + void test_fall() { + for (int i = 0; i < 35; i++) { + static const PhysicsServer3D::ShapeType shape_idx[] = { + PhysicsServer3D::SHAPE_CAPSULE, + PhysicsServer3D::SHAPE_BOX, + PhysicsServer3D::SHAPE_SPHERE, + PhysicsServer3D::SHAPE_CONVEX_POLYGON + }; + + PhysicsServer3D::ShapeType type = shape_idx[i % 4]; + + Transform3D t; + + t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i); + t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6); + + create_body(type, PhysicsServer3D::BODY_MODE_DYNAMIC, t); + } + + create_world_boundary(Plane(Vector3(0, 1, 0), -1)); + } + + void test_activate() { + create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_DYNAMIC, Transform3D(Basis(), Vector3(0, 2, 0)), true); + create_world_boundary(Plane(Vector3(0, 1, 0), -1)); + } + + virtual bool process(double p_time) override { + return false; + } + + TestPhysics3DMainLoop() { + } +}; + +namespace TestPhysics3D { + +MainLoop *test() { + return memnew(TestPhysics3DMainLoop); +} +} // namespace TestPhysics3D |