app.samples: add the CharacterSpaceShipTest class

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

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+/*
+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;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import com.github.stephengold.joltjni.operator.Op;
+import com.github.stephengold.joltjni.readonly.*;
+import testjoltjni.app.testframework.CameraState;
+/**
+ * A line-for-line Java translation of the Jolt Physics character-spaceship test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterSpaceShipTest.cpp
+ */
+class CharacterSpaceShipTest extends Test{
+static final float cCharacterHeightStanding = 1.35f;
+static final float cCharacterRadiusStanding = 0.3f;
+static final float cCharacterSpeed = 6.0f;
+static final float cJumpSpeed = 4.0f;
+CharacterVirtualRef mCharacter;
+BodyId mSpaceShip=new BodyId();
+RMat44 mSpaceShipPrevTransform=new RMat44();
+Vec3 mSpaceShipLinearVelocity=new Vec3();
+Vec3 mSpaceShipAngularVelocity=new Vec3();
+float mTime = 0.0f;
+Vec3 mDesiredVelocity = Vec3.sZero();
+boolean mJump = false;
+boolean mWasJump = false;
+
+void Initialize()
+{
+	// Dimensions of our space ship
+	final float cSpaceShipHeight = 2.0f;
+	final float cSpaceShipRingHeight = 0.2f;
+	final float cSpaceShipRadius = 100.0f;
+	final RVec3 cShipInitialPosition=new RVec3(-25, 15, 0);
+
+	// Create floor for reference
+	CreateFloor();
+
+	// Create 'player' character
+	CharacterVirtualSettings settings = new CharacterVirtualSettings();
+	settings.setShape (new RotatedTranslatedShapeSettings(new Vec3(0, 0.5f * cCharacterHeightStanding + cCharacterRadiusStanding, 0), Quat.sIdentity(), new CapsuleShape(0.5f * cCharacterHeightStanding, cCharacterRadiusStanding)).create().get());
+	settings.setSupportingVolume (new Plane(Vec3.sAxisY(), -cCharacterRadiusStanding)); // Accept contacts that touch the lower sphere of the capsule
+	mCharacter = new CharacterVirtual(settings, Op.add(cShipInitialPosition ,new Vec3(0, cSpaceShipHeight, 0)), Quat.sIdentity(), 0, mPhysicsSystem).toRef();
+	mCharacter.getPtr().setListener(new CustomCharacterContactListener() {
+            public void onAdjustBodyVelocity(long characterVa, long body2Va, float[] velocities) {OnAdjustBodyVelocity(new CharacterVirtual(characterVa), new Body(body2Va), new Vec3(), new Vec3());}
+        });
+
+	// Create the space ship
+	StaticCompoundShapeSettings compound=new StaticCompoundShapeSettings();
+	compound.setEmbedded();
+	for (float h = cSpaceShipRingHeight; h < cSpaceShipHeight; h += cSpaceShipRingHeight)
+		compound.addShape(Vec3.sZero(), Quat.sIdentity(), new CylinderShape(h, (float)Math.sqrt(Jolt.square(cSpaceShipRadius) - Jolt.square(cSpaceShipRadius - cSpaceShipHeight - cSpaceShipRingHeight + h))));
+	mSpaceShip = mBodyInterface.createAndAddBody(new BodyCreationSettings(compound, cShipInitialPosition, Quat.sIdentity(), EMotionType.Kinematic, Layers.MOVING), EActivation.Activate);
+	mSpaceShipPrevTransform = mBodyInterface.getCenterOfMassTransform(mSpaceShip);
+}
+
+/*TODO
+void ProcessInput(ProcessInputParams inParams)
+{
+	// Determine controller input
+	Vec3 control_input = Vec3.sZero();
+	if (inParams.mKeyboard->IsKeyPressed(DIK_LEFT))		control_input.SetZ(-1);
+	if (inParams.mKeyboard->IsKeyPressed(DIK_RIGHT))	control_input.SetZ(1);
+	if (inParams.mKeyboard->IsKeyPressed(DIK_UP))		control_input.SetX(1);
+	if (inParams.mKeyboard->IsKeyPressed(DIK_DOWN))		control_input.SetX(-1);
+	if (control_input != Vec3.sZero())
+		control_input = control_input.Normalized();
+
+	// Calculate the desired velocity in local space to the ship based on the camera forward
+	RMat44 new_space_ship_transform = mBodyInterface->GetCenterOfMassTransform(mSpaceShip);
+	Vec3 cam_fwd = new_space_ship_transform.GetRotation().Multiply3x3Transposed(inParams.mCameraState.mForward);
+	cam_fwd.SetY(0.0f);
+	cam_fwd = cam_fwd.NormalizedOr(Vec3.sAxisX());
+	Quat rotation = Quat.sFromTo(Vec3.sAxisX(), cam_fwd);
+	control_input = rotation * control_input;
+
+	// Smooth the player input in local space to the ship
+	mDesiredVelocity = 0.25f * control_input * cCharacterSpeed + 0.75f * mDesiredVelocity;
+
+	// Check actions
+	mJump = inParams.mKeyboard->IsKeyPressedAndTriggered(DIK_RCONTROL, mWasJump);
+}
+*/
+
+void PrePhysicsUpdate(PreUpdateParams inParams)
+{
+	// Update scene time
+	mTime += inParams.mDeltaTime;
+
+	// Update the character so it stays relative to the space ship
+	RMat44 new_space_ship_transform = mBodyInterface.getCenterOfMassTransform(mSpaceShip);
+	mCharacter.getPtr().setPosition(Op.multiply(Op.multiply(new_space_ship_transform , mSpaceShipPrevTransform.inversed()), mCharacter.getPosition()));
+
+	// Update the character rotation and its up vector to match the new up vector of the ship
+	mCharacter.getPtr().setUp(new_space_ship_transform.getAxisY());
+	mCharacter.getPtr().setRotation(new_space_ship_transform.getQuaternion());
+
+	// Draw character pre update (the sim is also drawn pre update)
+	// Note that we have first updated the position so that it matches the new position of the ship
+if(Jolt.implementsDebugRendering()){
+	mCharacter.getShape().draw(mDebugRenderer, mCharacter.getCenterOfMassTransform(), Vec3.sReplicate(1.0f), Color.sGreen, false, true);
+} // JPH_DEBUG_RENDERER
+
+	// Determine new character velocity
+	Vec3 current_vertical_velocity =Op.multiply( mCharacter.getLinearVelocity().dot(mSpaceShipPrevTransform.getAxisY()) , mCharacter.getUp());
+	Vec3 ground_velocity = mCharacter.getGroundVelocity();
+	Vec3 new_velocity;
+	if (mCharacter.getGroundState() == EGroundState.OnGround // If on ground
+		&& (current_vertical_velocity.getY() - ground_velocity.getY()) < 0.1f) // And not moving away from ground
+	{
+		// Assume velocity of ground when on ground
+		new_velocity = ground_velocity;
+
+		// Jump
+		if (mJump)
+			Op.plusEquals(new_velocity , Op.multiply(cJumpSpeed , mCharacter.getUp()));
+	}
+	else
+		new_velocity = current_vertical_velocity;
+
+	// Gravity always acts relative to the ship
+	Vec3 gravity = new_space_ship_transform.multiply3x3(mPhysicsSystem.getGravity());
+	Op.plusEquals(new_velocity , Op.multiply(gravity , inParams.mDeltaTime));
+
+	// Transform player input to world space
+	Op.plusEquals(new_velocity , new_space_ship_transform.multiply3x3(mDesiredVelocity));
+
+	// Update character velocity
+	mCharacter.getPtr().setLinearVelocity(new_velocity);
+
+	// Update the character position
+	ExtendedUpdateSettings update_settings=new ExtendedUpdateSettings();
+	mCharacter.getPtr().extendedUpdate(inParams.mDeltaTime,
+		gravity,
+		update_settings,
+		mPhysicsSystem.getDefaultBroadPhaseLayerFilter(Layers.MOVING),
+		mPhysicsSystem.getDefaultLayerFilter(Layers.MOVING),
+		new BodyFilter(),
+		new ShapeFilter(),
+		mTempAllocator);
+
+	// Update previous transform
+	mSpaceShipPrevTransform = new_space_ship_transform;
+
+	// Calculate new velocity
+	UpdateShipVelocity();
+}
+
+void UpdateShipVelocity()
+{
+	// Make it a rocky ride...
+	mSpaceShipLinearVelocity =Op.multiply(new Vec3(Math.sin(mTime), 0, Math.cos(mTime)) , 50.0f);
+	mSpaceShipAngularVelocity =Op.multiply(new Vec3(Math.sin(2.0f * mTime), 1, Math.cos(2.0f * mTime)) , 0.5f);
+
+	mBodyInterface.setLinearAndAngularVelocity(mSpaceShip, mSpaceShipLinearVelocity, mSpaceShipAngularVelocity);
+}
+
+void GetInitialCamera(CameraState ioState)
+{
+	// This will become the local space offset, look down the x axis and slightly down
+	ioState.mPos = RVec3.sZero();
+	ioState.mForward =new Vec3(10.0f, -2.0f, 0).normalized();
+}
+
+RMat44 GetCameraPivot(float inCameraHeading, float inCameraPitch)
+{
+	// Pivot is center of character + distance behind based on the heading and pitch of the camera
+	Vec3 fwd =new Vec3(Math.cos(inCameraPitch) * Math.cos(inCameraHeading), Math.sin(inCameraPitch), Math.cos(inCameraPitch) * Math.sin(inCameraHeading));
+	return RMat44.sTranslation(Op.subtract(Op.add(mCharacter.getPosition() ,new Vec3(0, cCharacterHeightStanding + cCharacterRadiusStanding, 0)) , Op.multiply(5.0f , fwd)));
+}
+
+void SaveState(StateRecorder inStream)
+{
+	mCharacter.saveState(inStream);
+
+	inStream.write(mTime);
+	inStream.write(mSpaceShipPrevTransform);
+}
+
+void RestoreState(StateRecorder inStream)
+{
+	mCharacter.getPtr().restoreState(inStream);
+
+	mTime = inStream.readFloat(mTime);
+	inStream.readRMat44(mSpaceShipPrevTransform);
+
+	// Calculate new velocity
+	UpdateShipVelocity();
+}
+
+void SaveInputState(StateRecorder inStream)
+{
+	inStream.write(mDesiredVelocity);
+	inStream.write(mJump);
+}
+
+void RestoreInputState(StateRecorder inStream)
+{
+	inStream.readVec3(mDesiredVelocity);
+	mJump=inStream.readBoolean(mJump);
+}
+
+void OnAdjustBodyVelocity(ConstCharacterVirtual inCharacter, ConstBody inBody2, Vec3 ioLinearVelocity, Vec3 ioAngularVelocity)
+{
+	// Cancel out velocity of space ship, we move relative to this which means we don't feel any of the acceleration of the ship (= engage inertial dampeners!)
+	Op.minusEquals(ioLinearVelocity , mSpaceShipLinearVelocity);
+	Op.minusEquals(ioAngularVelocity , mSpaceShipAngularVelocity);
+}
+}