samples.general: add 5 more tests

stephengold · Nov 25, 2024 · 22f683b · 22f683b
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diff --git a/src/test/java/testjoltjni/app/samples/SmokeTestAll.java b/src/test/java/testjoltjni/app/samples/SmokeTestAll.java
@@ -128,6 +128,11 @@ public static void main(String... arguments) {
         smokeTest(new DampingTest());
         smokeTest(new DynamicMeshTest());
         smokeTest(new EnhancedInternalEdgeRemovalTest());
+        smokeTest(new FrictionPerTriangleTest());
+        smokeTest(new FrictionTest());
+        smokeTest(new FunnelTest());
+        smokeTest(new GravityFactorTest());
+        smokeTest(new GyroscopicForceTest());
         smokeTest(new HighSpeedTest());
         smokeTest(new RestitutionTest());
 

diff --git a/src/test/java/testjoltjni/app/samples/general/FrictionPerTriangleTest.java b/src/test/java/testjoltjni/app/samples/general/FrictionPerTriangleTest.java
@@ -0,0 +1,123 @@
+/*
+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.general;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import com.github.stephengold.joltjni.readonly.*;
+import java.util.*;
+import testjoltjni.app.samples.*;
+import static com.github.stephengold.joltjni.Jolt.*;
+import static com.github.stephengold.joltjni.std.Std.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics friction per-triangle test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/General/FrictionPerTriangleTest.cpp
+ */
+public class FrictionPerTriangleTest extends Test{
+static class MyMaterial extends PhysicsMaterialSimple{
+    float mFriction,mRestitution;
+    MyMaterial(String inName,ConstColor inColor,float inFriction,float inRestitution){
+        super(inName, inColor);
+        mFriction=inFriction;
+        mRestitution=inRestitution;
+    };
+}
+
+public void Initialize()
+{
+	final int num_sections = 5;
+	final float section_size = 50.0f;
+
+	// Create a strip of triangles
+	List<Triangle> triangles=new ArrayList<>(2*num_sections+2);
+	for (int z = 0; z <= num_sections; ++z)
+	{
+		float z1 = section_size * (z - 0.5f * num_sections);
+		float z2 = z1 + section_size;
+
+		Float3 v1 =new Float3(-100.0f, 0, z1);
+		Float3 v2 =new Float3(100.0f, 0, z1);
+		Float3 v3 =new Float3(-100.0f, 0, z2);
+		Float3 v4 =new Float3(100.0f, 0, z2);
+
+		triangles.add(new Triangle(v1, v3, v4, z));
+		triangles.add(new Triangle(v1, v4, v2, z));
+	}
+
+	// Create materials with increasing friction
+	PhysicsMaterialList materials=new PhysicsMaterialList();
+	for (int i = 0; i <= num_sections; ++i)
+	{
+		float friction = (float)(i) / (float)(num_sections);
+		materials.pushBack(new MyMaterial("Friction " + Float.toString(friction), Color.sGetDistinctColor(i), friction, 0.0f).toRef());
+	}
+
+	// A ramp
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(new MeshShapeSettings(triangles, materials), RVec3.sZero(), Quat.sRotation(Vec3.sAxisX(), 0.2f * JPH_PI), EMotionType.Static, Layers.NON_MOVING), EActivation.DontActivate);
+
+	// A box with friction 1 that slides down the ramp
+	ShapeRef box_shape = new BoxShape(new Vec3(2.0f, 2.0f, 2.0f), cDefaultConvexRadius, new MyMaterial("Box Friction 1", Color.sYellow, 1.0f, 0.0f)).toRef();
+	mBodyInterface.createAndAddBody(new BodyCreationSettings(box_shape,new RVec3(0, 60.0f, -75.0f), Quat.sRotation(Vec3.sAxisX(), 0.2f * JPH_PI), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+}
+
+void sGetFrictionAndRestitution(ConstBody inBody, ConstSubShapeId inSubShapeID, float []outFriction, float []outRestitution)
+{
+	// Get the material that corresponds to the sub shape ID
+	ConstPhysicsMaterial material = inBody.getShape().getMaterial(inSubShapeID);
+	if (material.targetVa() == PhysicsMaterial.sDefault().targetVa())
+	{
+		// This is the default material, use the settings from the body (note all bodies in our test have a material so this should not happen)
+		outFriction[0] = inBody.getFriction();
+		outRestitution[0] = inBody.getRestitution();
+	}
+	else
+	{
+		// If it's not the default material we know its a material that we created so we can cast it and get the values
+		MyMaterial my_material = (MyMaterial)(material);
+		outFriction[0] = my_material.mFriction;
+		outRestitution[0] = my_material.mRestitution;
+	}
+}
+
+void sOverrideContactSettings(ConstBody inBody1, ConstBody inBody2, ContactManifold inManifold, ContactSettings ioSettings)
+{
+	// Get the custom friction and restitution for both bodies
+	float[] friction1=new float[1], friction2=new float[1], restitution1=new float[1], restitution2=new float[1];
+	sGetFrictionAndRestitution(inBody1, inManifold.getSubShapeId1(), friction1, restitution1);
+	sGetFrictionAndRestitution(inBody2, inManifold.getSubShapeId2(), friction2, restitution2);
+
+	// Use the default formulas for combining friction and restitution
+	ioSettings.setCombinedFriction ( sqrt(friction1[0] * friction2[0]));
+	ioSettings.setCombinedRestitution ( Math.max(restitution1[0], restitution2[0]));
+}
+
+void OnContactAdded(ConstBody inBody1, ConstBody inBody2, ContactManifold inManifold, ContactSettings ioSettings)
+{
+	sOverrideContactSettings(inBody1, inBody2, inManifold, ioSettings);
+}
+
+void OnContactPersisted(ConstBody inBody1, ConstBody inBody2, ContactManifold inManifold, ContactSettings ioSettings)
+{
+	sOverrideContactSettings(inBody1, inBody2, inManifold, ioSettings);
+}
+}
diff --git a/src/test/java/testjoltjni/app/samples/general/FrictionTest.java b/src/test/java/testjoltjni/app/samples/general/FrictionTest.java
@@ -0,0 +1,60 @@
+/*
+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.general;
+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 friction test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/General/FrictionTest.cpp
+ */
+public class FrictionTest extends Test{
+
+public void Initialize()
+{
+	// Floor
+	Body floor = mBodyInterface.createBody(new BodyCreationSettings(new BoxShape(new Vec3(100.0f, 1.0f, 100.0f), 0.0f), RVec3.sZero(), Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI), EMotionType.Static, Layers.NON_MOVING));
+	floor.setFriction(1.0f);
+	mBodyInterface.addBody(floor.getId(), EActivation.DontActivate);
+
+	ShapeRefC box = new BoxShape(new Vec3(2.0f, 2.0f, 2.0f)).toRefC();
+	ShapeRefC sphere = new SphereShape(2.0f).toRefC();
+
+	// Bodies with increasing friction
+	for (int i = 0; i <= 10; ++i)
+	{
+		Body body = mBodyInterface.createBody(new BodyCreationSettings(box,new RVec3(-50.0f + i * 10.0f, 55.0f, -50.0f), Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI), EMotionType.Dynamic, Layers.MOVING));
+		body.setFriction(0.1f * i);
+		mBodyInterface.addBody(body.getId(), EActivation.Activate);
+	}
+
+	for (int i = 0; i <= 10; ++i)
+	{
+		Body body = mBodyInterface.createBody(new BodyCreationSettings(sphere,new RVec3(-50.0f + i * 10.0f, 47.0f, -40.0f), Quat.sRotation(Vec3.sAxisX(), 0.25f * JPH_PI), EMotionType.Dynamic, Layers.MOVING));
+		body.setFriction(0.1f * i);
+		mBodyInterface.addBody(body.getId(), EActivation.Activate);
+	}
+}
+}
diff --git a/src/test/java/testjoltjni/app/samples/general/FunnelTest.java b/src/test/java/testjoltjni/app/samples/general/FunnelTest.java
@@ -0,0 +1,172 @@
+/*
+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.general;
+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 testjoltjni.app.testframework.CameraState;
+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 funnel test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/General/FunnelTest.cpp
+ */
+public class FunnelTest extends Test{
+
+public void Initialize()
+{
+	ShapeRefC box = new BoxShape(new Vec3(50, 1, 50), 0.0f).toRefC();
+
+	// Funnel
+	for (int i = 0; i < 4; ++i)
+	{
+		Quat rotation = Quat.sRotation(Vec3.sAxisY(), 0.5f * JPH_PI * i);
+
+		mBodyInterface.createAndAddBody(new BodyCreationSettings(box,new RVec3(star(rotation ,new Vec3(25, 25, 0))), star(rotation , Quat.sRotation(Vec3.sAxisZ(), 0.25f * JPH_PI)), EMotionType.Static, Layers.NON_MOVING), EActivation.DontActivate);
+	}
+
+	DefaultRandomEngine random=new DefaultRandomEngine();
+	UniformRealDistribution feature_size=new UniformRealDistribution(0.1f, 2.0f);
+	UniformRealDistribution position_variation=new UniformRealDistribution(-40, 40);
+	UniformRealDistribution scale_variation=new UniformRealDistribution(-1.5f, 1.5f);
+
+	// Random scale
+	Vec3 scale=new Vec3(scale_variation.nextFloat(random), scale_variation.nextFloat(random), scale_variation.nextFloat(random));
+
+	// Make it minimally -0.5 or 0.5 depending on the sign
+	plusEquals(scale , Vec3.sSelect(Vec3.sReplicate(-0.5f), Vec3.sReplicate(0.5f), Vec3.sGreaterOrEqual(scale, Vec3.sZero())));
+
+	ShapeRefC shape=new ShapeRefC();
+	for (int i = 0; i < 1000; ++i)
+	{
+		switch (random.nextInt() % 10)
+		{
+		case 0:
+			{
+				shape = new SphereShape(feature_size.nextFloat(random)).toRefC();
+				scale = scale.swizzle(0,0,0); // Only uniform scale supported
+				break;
+			}
+
+		case 1:
+			{
+				shape = new BoxShape(new Vec3(feature_size.nextFloat(random), feature_size.nextFloat(random), feature_size.nextFloat(random))).toRefC();
+				break;
+			}
+
+		case 2:
+			{
+				// Create random points
+				List<Vec3Arg> points=new ArrayList<>(20);
+				for (int j = 0; j < 20; ++j)
+					points.add(star(feature_size.nextFloat(random) , Vec3.sRandom(random)));
+				shape =new ConvexHullShapeSettings(points).create().get();
+				break;
+			}
+
+		case 3:
+			{
+				shape = new CapsuleShape(0.5f * feature_size.nextFloat(random), feature_size.nextFloat(random)).toRefC();
+				scale = scale.swizzle(0,0,0); // Only uniform scale supported
+				break;
+			}
+
+		case 4:
+			{
+				float top = feature_size.nextFloat(random);
+				float bottom = feature_size.nextFloat(random);
+				float half_height = Math.max(0.5f * feature_size.nextFloat(random), 0.5f * Math.abs(top - bottom) + 0.001f);
+				shape =new TaperedCapsuleShapeSettings(half_height, top, bottom).create().get();
+				scale = scale.swizzle(0,0,0); // Only uniform scale supported
+				break;
+			}
+
+		case 5:
+			{
+				shape = new CylinderShape(0.5f * feature_size.nextFloat(random), feature_size.nextFloat(random)).toRefC();
+				scale = scale.swizzle(0,1,0); // Scale X must be same as Z
+				break;
+			}
+
+		case 6:
+			{
+				shape =new TaperedCylinderShapeSettings(0.5f * feature_size.nextFloat(random), feature_size.nextFloat(random), feature_size.nextFloat(random)).create().get();
+				scale = scale.swizzle(0,1,0); // Scale X must be same as Z
+				break;
+			}
+
+		case 7:
+			{
+				shape =new TaperedCylinderShapeSettings(0.5f * feature_size.nextFloat(random), 0.0f, feature_size.nextFloat(random), 0.0f).create().get();
+				scale = scale.swizzle(0,0,0); // Scale X must be same as Z
+				break;
+			}
+
+		case 8:
+			{
+				// Simple compound
+				StaticCompoundShapeSettings compound_shape_settings=new StaticCompoundShapeSettings();
+				compound_shape_settings.addShape(Vec3.sZero(), Quat.sIdentity(), new CapsuleShape(1, 0.1f));
+				compound_shape_settings.addShape(new Vec3(0, -1, 0), Quat.sIdentity(), new SphereShape(0.5f));
+				compound_shape_settings.addShape(new Vec3(0, 1, 0), Quat.sIdentity(), new SphereShape(0.5f));
+				shape = compound_shape_settings.create().get();
+				scale = scale.swizzle(0,0,0); // Only uniform scale supported
+				break;
+			}
+
+		case 9:
+			{
+				// Compound with sub compound and rotation
+				StaticCompoundShapeSettings sub_compound = new StaticCompoundShapeSettings();
+				sub_compound.addShape(new Vec3(0, 0.75f, 0), Quat.sRotation(Vec3.sAxisZ(), 0.5f * JPH_PI), new BoxShape(new Vec3(0.75f, 0.25f, 0.2f)));
+				sub_compound.addShape(new Vec3(0.75f, 0, 0), Quat.sRotation(Vec3.sAxisZ(), 0.5f * JPH_PI), new CylinderShape(0.75f, 0.2f).toRefC());
+				sub_compound.addShape(new Vec3(0, 0, 0.75f), Quat.sRotation(Vec3.sAxisX(), 0.5f * JPH_PI), new TaperedCapsuleShapeSettings(0.75f, 0.25f, 0.2f));
+				StaticCompoundShapeSettings compound_shape_settings=new StaticCompoundShapeSettings();
+				compound_shape_settings.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_shape_settings.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);
+				shape = compound_shape_settings.create().get();
+				scale = scale.swizzle(0,0,0); // Only uniform scale supported
+				break;
+			}
+		}
+
+		// Scale the shape
+		if ((random.nextInt() % 3) == 0)
+			shape = new ScaledShape(shape, scale).toRefC();
+
+		RVec3 position=new RVec3(position_variation.nextFloat(random), 100.0f + position_variation.nextFloat(random), position_variation.nextFloat(random));
+		mBodyInterface.createAndAddBody(new BodyCreationSettings(shape, position, Quat.sRandom(random), EMotionType.Dynamic, Layers.MOVING), EActivation.Activate);
+	}
+}
+
+void GetInitialCamera(CameraState ioState)
+{
+	RVec3 cam_tgt =new RVec3(0, 50, 0);
+	ioState.mPos =new RVec3(50, 100, 50);
+	ioState.mForward =new Vec3(minus(cam_tgt , ioState.mPos)).normalized();
+}
+}