samples.shapes: add 7 test classes

src/test/java/testjoltjni/app/samples/SmokeTestAll.java

@@ -46,6 +46,11 @@ final public class SmokeTestAll {
      * renderer shared by all test objects
      */
     private static DebugRenderer renderer;
+    /**
+     * how many physics steps to simulate for each invocation of
+     * {@code smokeTest()}
+     */
+    private static int numSteps = 1;
     /**
      * count invocations of {@code smokeTest()}
      */
@@ -152,9 +157,16 @@ public static void main(String... arguments) {
         smokeTest(new EmptyShapeTest());
         smokeTest(new HeightFieldShapeTest());
         smokeTest(new MeshShapeTest());
+        smokeTest(new MeshShapeUserDataTest());
         smokeTest(new MutableCompoundShapeTest());
+        smokeTest(new OffsetCenterOfMassShapeTest());
         smokeTest(new PlaneShapeTest());
         smokeTest(new RotatedTranslatedShapeTest());
+        smokeTest(new SphereShapeTest());
+        smokeTest(new StaticCompoundShapeTest());
+        smokeTest(new TaperedCapsuleShapeTest());
+        smokeTest(new TaperedCylinderShapeTest());
+        smokeTest(new TriangleShapeTest());
 
         // softbody package:
         smokeTest(new SoftBodyPressureTest());
@@ -194,18 +206,20 @@ static private void smokeTest(Test test) {
         PhysicsSystem physicsSystem = newPhysicsSystem(10_240);
         test.SetPhysicsSystem(physicsSystem);
 
-        // Initialize and single-step the test:
         test.Initialize();
 
-        PreUpdateParams params = new PreUpdateParams();
-        params.mDeltaTime = 0.02f;
-        test.PrePhysicsUpdate(params);
+        // Single-step the physics numSteps times:
+        for (int i = 0; i < numSteps; ++i) {
+            PreUpdateParams params = new PreUpdateParams();
+            params.mDeltaTime = 0.02f;
+            test.PrePhysicsUpdate(params);
 
-        int collisionSteps = 1;
-        physicsSystem.update(
-                params.mDeltaTime, collisionSteps, tempAllocator, jobSystem);
+            int collisionSteps = 1;
+            physicsSystem.update(params.mDeltaTime, collisionSteps,
+                    tempAllocator, jobSystem);
 
-        test.PostPhysicsUpdate(params.mDeltaTime);
+            test.PostPhysicsUpdate(params.mDeltaTime);
+        }
 
         test.Cleanup();
         System.gc();

src/test/java/testjoltjni/app/samples/shapes/MeshShapeUserDataTest.java

@@ -0,0 +1,115 @@
+/*
+Copyright (c) 2024 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples.shapes;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import com.github.stephengold.joltjni.readonly.*;
+import com.github.stephengold.joltjni.std.*;
+import java.util.*;
+import testjoltjni.app.samples.*;
+import static com.github.stephengold.joltjni.Jolt.*;
+import static com.github.stephengold.joltjni.operator.Op.*;
+import static com.github.stephengold.joltjni.std.Std.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics mesh-shape user-data test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Shapes/MeshShapeUserDataTest.cpp
+ */
+public class MeshShapeUserDataTest extends Test{
+
+@SuppressWarnings("unchecked")
+public void Initialize()
+{
+	DefaultRandomEngine random=new DefaultRandomEngine();
+
+	// Create regular grid of triangles
+	int user_data = 0;
+	List[] triangles={new ArrayList<>(),new ArrayList<>()};
+	for (int x = -10; x < 10; ++x)
+		for (int z = -10; z < 10; ++z)
+		{
+			float x1 = 10.0f * x;
+			float z1 = 10.0f * z;
+			float x2 = x1 + 10.0f;
+			float z2 = z1 + 10.0f;
+
+			Float3 v1 =new Float3(x1, 0, z1);
+			Float3 v2 =new Float3(x2, 0, z1);
+			Float3 v3 =new Float3(x1, 0, z2);
+			Float3 v4 =new Float3(x2, 0, z2);
+
+			triangles[random.nextInt() & 1].add(new Triangle(v1, v3, v4, 0, user_data++));
+			triangles[random.nextInt() & 1].add(new Triangle(v1, v4, v2, 0, user_data++));
+		}
+
+	// Create a compound with 2 meshes
+	StaticCompoundShapeSettings compound_settings=new StaticCompoundShapeSettings();
+	compound_settings.setEmbedded();
+	for (List t : triangles)
+	{
+		// Shuffle the triangles
+		shuffle(t, random);
+
+		// Create mesh
+		MeshShapeSettings mesh_settings=new MeshShapeSettings(t);
+		mesh_settings.setPerTriangleUserData ( true);
+		compound_settings.addShape(Vec3.sZero(), Quat.sIdentity(), mesh_settings.create().get());
+	}
+
+	// Create body
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(compound_settings, RVec3.sZero(), Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI), EMotionType.Static, Layers.NON_MOVING), EActivation.DontActivate);
+
+	// 1 body with zero friction
+	BodyCreationSettings bcs=new BodyCreationSettings(new BoxShape(Vec3.sReplicate(2.0f)),new RVec3(0, 55.0f, -50.0f), Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI), EMotionType.Dynamic, Layers.MOVING);
+	bcs.setFriction ( 0.0f);
+	bcs.setEnhancedInternalEdgeRemoval ( true); // Needed because the 2 meshes have a lot of active edges
+	mBodyInterface.createAndAddBody(bcs, EActivation.Activate);
+}
+
+public void PrePhysicsUpdate(PreUpdateParams inParams)
+{
+	// Cast a ray
+	RayCastResult hit=new RayCastResult();
+	RRayCast ray=new RRayCast(inParams.mCameraState.mPos, star(inParams.mCameraState.mForward , 100.0f));
+	mPhysicsSystem.getNarrowPhaseQuery().castRay(ray, hit);
+
+	// Get body (if there was a hit)
+	BodyLockRead lock=new BodyLockRead(mPhysicsSystem.getBodyLockInterface(), hit.getBodyId());
+	if (lock.succeededAndIsInBroadPhase())
+	{
+		// Get the leaf shape (mesh shape in this case)
+		SubShapeId remainder=new SubShapeId();
+		ConstShape shape = lock.getBody().getShape().getLeafShape(hit.getSubShapeId2(), remainder);
+		if (shape.getType() == EShapeType.Mesh)
+		{
+			// Get user data from the triangle that was hit
+			int user_data = ((MeshShape)shape).getTriangleUserData(remainder);
+
+			// Draw it on screen
+			RVec3 hit_pos = ray.getPointOnRay(hit.getFraction());
+			mDebugRenderer.drawText3D(hit_pos, String.format("UserData: %d", user_data));
+		}
+	}
+        lock.releaseLock();
+}
+}

src/test/java/testjoltjni/app/samples/shapes/OffsetCenterOfMassShapeTest.java

@@ -0,0 +1,74 @@
+/*
+Copyright (c) 2024 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples.shapes;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import testjoltjni.app.samples.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics offset center-of-mass shape test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Shapes/OffsetCenterOfMassShapeTest.cpp
+ */
+public class OffsetCenterOfMassShapeTest extends Test{
+
+public void Initialize()
+{
+	// Floor
+	Body floor = CreateFloor();
+	floor.setFriction(1.0f);
+
+	ShapeSettings sphere = new SphereShapeSettings(1.0f);
+	OffsetCenterOfMassShapeSettings left = new OffsetCenterOfMassShapeSettings(new Vec3(-1, 0, 0), sphere);
+	OffsetCenterOfMassShapeSettings right = new OffsetCenterOfMassShapeSettings(new Vec3(1, 0, 0), sphere);
+
+	// Sphere with center of mass moved to the left side
+	Body body_left = mBodyInterface.createBody(new BodyCreationSettings(left,new RVec3(-5, 5, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING));
+	body_left.setFriction(1.0f);
+	mBodyInterface.addBody(body_left.getId(), EActivation.Activate);
+
+	// Sphere with center of mass centered
+	Body body_center = mBodyInterface.createBody(new BodyCreationSettings(sphere,new RVec3(0, 5, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING));
+	body_center.setFriction(1.0f);
+	mBodyInterface.addBody(body_center.getId(), EActivation.Activate);
+
+	// Sphere with center of mass moved to the right side
+	Body body_right = mBodyInterface.createBody(new BodyCreationSettings(right,new RVec3(5, 5, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING));
+	body_right.setFriction(1.0f);
+	mBodyInterface.addBody(body_right.getId(), EActivation.Activate);
+
+	// Create body and apply a large angular impulse so see that it spins around the COM
+	BodyCreationSettings bcs=new BodyCreationSettings(new OffsetCenterOfMassShapeSettings(new Vec3(-3, 0, 0), new SphereShapeSettings(1.0f)),new RVec3(-5, 5, 10), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING);
+	bcs.setGravityFactor ( 0.0f);
+	bcs.setLinearDamping ( 0.0f);
+	bcs.setAngularDamping ( 0.0f);
+	Body body_rotating1 = mBodyInterface.createBody(bcs);
+	mBodyInterface.addBody(body_rotating1.getId(), EActivation.Activate);
+	body_rotating1.addAngularImpulse(new Vec3(0, 1.0e6f, 0));
+
+	// Create the same body but this time apply a torque
+	bcs.setPosition (new RVec3(5, 5, 10));
+	Body body_rotating2 = mBodyInterface.createBody(bcs);
+	mBodyInterface.addBody(body_rotating2.getId(), EActivation.Activate);
+	body_rotating2.addTorque(new Vec3(0, 1.0e6f * 60.0f, 0)); // Assuming physics sim is at 60Hz here, otherwise the bodies won't rotate with the same speed
+}
+}

src/test/java/testjoltjni/app/samples/shapes/SphereShapeTest.java

@@ -0,0 +1,51 @@
+/*
+Copyright (c) 2024 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples.shapes;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import testjoltjni.app.samples.*;
+import static com.github.stephengold.joltjni.Jolt.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics sphere-shape test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Shapes/SphereShapeTest.cpp
+ */
+public class SphereShapeTest extends Test{
+
+public void Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Create different sized spheres
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(new SphereShape(1.0f),new RVec3(0, 10, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(new SphereShape(2.0f),new RVec3(0, 10, 10), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(new SphereShape(0.5f),new RVec3(0, 10, 20), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+
+	// Tower of spheres
+	for (int i = 0; i < 10; ++i)
+		mBodyInterface.createAndAddBody(new BodyCreationSettings(new SphereShape(0.5f),new RVec3(10, 10 + 1.5f * i, 0), Quat.sRotation(Vec3.sAxisZ(), 0.25f * JPH_PI), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+}
+}

src/test/java/testjoltjni/app/samples/shapes/StaticCompoundShapeTest.java

@@ -0,0 +1,79 @@
+/*
+Copyright (c) 2024 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples.shapes;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import com.github.stephengold.joltjni.std.*;
+import java.nio.*;
+import testjoltjni.app.samples.*;
+import static com.github.stephengold.joltjni.Jolt.*;
+import static com.github.stephengold.joltjni.operator.Op.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics static compound-shape test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/stephengold/JoltPhysics/blob/master/Samples/Tests/Shapes/StaticCompoundShapeTest.cpp
+ */
+public class StaticCompoundShapeTest extends Test{
+
+public void Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Simple compound
+	StaticCompoundShapeSettings compound_shape1 = new StaticCompoundShapeSettings();
+	compound_shape1.addShape(Vec3.sZero(), Quat.sIdentity(), new CapsuleShape(5, 1));
+	compound_shape1.addShape(new Vec3(0, -5, 0), Quat.sIdentity(), new SphereShape(2));
+	compound_shape1.addShape(new Vec3(0, 5, 0), Quat.sIdentity(), new SphereShape(2));
+
+	// Compound with sub compound and rotation
+	StaticCompoundShapeSettings sub_compound = new StaticCompoundShapeSettings();
+	sub_compound.addShape(new Vec3(0, 1.5f, 0), Quat.sRotation(Vec3.sAxisZ(), 0.5f * JPH_PI), new BoxShape(new Vec3(1.5f, 0.25f, 0.2f)));
+	sub_compound.addShape(new Vec3(1.5f, 0, 0), Quat.sRotation(Vec3.sAxisZ(), 0.5f * JPH_PI), new CylinderShape(1.5f, 0.2f));
+	sub_compound.addShape(new Vec3(0, 0, 1.5f), Quat.sRotation(Vec3.sAxisX(), 0.5f * JPH_PI), new TaperedCapsuleShapeSettings(1.5f, 0.25f, 0.2f));
+
+	StaticCompoundShapeSettings compound_shape2 = new StaticCompoundShapeSettings();
+	compound_shape2.addShape(new Vec3(0, 0, 0), star(Quat.sRotation(Vec3.sAxisX(), -0.25f * JPH_PI) , Quat.sRotation(Vec3.sAxisZ(), 0.25f * JPH_PI)), sub_compound);
+	compound_shape2.addShape(new Vec3(0, -0.1f, 0), star(Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI) , Quat.sRotation(Vec3.sAxisZ(), -0.75f * JPH_PI)), sub_compound);
+
+	// Compound with large amount of sub shapes
+	StaticCompoundShapeSettings compound_shape3 = new StaticCompoundShapeSettings();
+	for (int y = -2; y <= 2; ++y)
+		for (int x = -2; x <= 2; ++x)
+			for (int z = -2; z <= 2; ++z)
+				compound_shape3.addShape(new Vec3(0.5f * x, 0.5f * y, 0.5f * z), star(Quat.sRotation(Vec3.sAxisX(), -0.25f * JPH_PI) , Quat.sRotation(Vec3.sAxisZ(), 0.25f * JPH_PI)), new BoxShape(Vec3.sReplicate(0.5f)));
+
+	StaticCompoundShapeSettings shapes[] = { compound_shape1, compound_shape2, compound_shape3 };
+
+	for (int i = 0; i < 10; ++i)
+		for (int j = 0; j < 3; ++j)
+		{
+			Quat rotation;
+			if ((i & 1) == 0)
+				rotation = Quat.sRotation(Vec3.sAxisX(), 0.5f * JPH_PI);
+			else
+				rotation = Quat.sRotation(Vec3.sAxisZ(), 0.5f * JPH_PI);
+			mBodyInterface.createAndAddBody(new BodyCreationSettings(shapes[j],new RVec3(0, 10.0f + 4.0f * i, j * 20.0f), rotation, EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+		}
+}
+}