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wip example
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@xpenatan
xpenatan committed Sep 5, 2024
1 parent 7587bc4 commit 257fb46
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159 changes: 6 additions & 153 deletions examples/SamplesApp/core/src/main/java/jolt/example/samples/app/GameScreen.java
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package jolt.example.samples.app;

import com.badlogic.gdx.ScreenAdapter;
import com.badlogic.gdx.math.MathUtils;
import com.badlogic.gdx.utils.ScreenUtils;
import jolt.JoltInterface;
import jolt.JoltSettings;
import jolt.MeshShapeSettings;
import jolt.PhysicsMaterialList;
import jolt.RVec3;
import jolt.ShapeResult;
import jolt.TriangleList;
import jolt.jolt.geometry.Triangle;
import jolt.jolt.math.Quat;
import jolt.jolt.physics.PhysicsSystem;
import jolt.jolt.physics.body.Body;
import jolt.jolt.physics.body.BodyCreationSettings;
import jolt.jolt.physics.body.BodyInterface;
import jolt.jolt.physics.collision.ObjectLayerPairFilterTable;
import jolt.jolt.physics.collision.broadphase.BroadPhaseLayer;
import jolt.jolt.physics.collision.broadphase.BroadPhaseLayerInterfaceTable;
import jolt.jolt.physics.collision.broadphase.ObjectVsBroadPhaseLayerFilterTable;
import static jolt.EMotionType.EMotionType_Static;
import static jolt.jolt.physics.EActivation.EActivation_Activate;
import jolt.example.samples.app.tests.BoxShapeTest;

public class GameScreen extends ScreenAdapter {

// Object layers
static int LAYER_NON_MOVING = 0;
static int LAYER_MOVING = 1;
static int NUM_OBJECT_LAYERS = 2;
private SamplesApp samplesApp;


private JoltInterface jolt;
private PhysicsSystem physicsSystem;
private BodyInterface bodyInterface;

@Override
public void show() {
JoltSettings settings = new JoltSettings();
setupCollisionFiltering(settings);
jolt = new JoltInterface(settings);
// settings.dispose();

physicsSystem = jolt.GetPhysicsSystem();
bodyInterface = physicsSystem.GetBodyInterface();

createMeshFloor(30, 1, 4, 0, 5, 0);
samplesApp = new SamplesApp();
samplesApp.setup();
samplesApp.startTest(BoxShapeTest.class);
}

@Override
public void render(float delta) {
ScreenUtils.clear(1, 1, 1, 1, true);
// Don't go below 30 Hz to prevent spiral of death
float deltaTime = (float)Math.min(delta, 1.0 / 30.0);

updatePhysics(deltaTime);
}

private void setupCollisionFiltering(JoltSettings settings) {
// Layer that objects can be in, determines which other objects it can collide with
// Typically you at least want to have 1 layer for moving bodies and 1 layer for static bodies, but you can have more
// layers if you want. E.g. you could have a layer for high detail collision (which is not used by the physics simulation
// but only if you do collision testing).

ObjectLayerPairFilterTable objectFilter = new ObjectLayerPairFilterTable(NUM_OBJECT_LAYERS);
objectFilter.EnableCollision(LAYER_NON_MOVING, LAYER_MOVING);
objectFilter.EnableCollision(LAYER_MOVING, LAYER_MOVING);

// Each broadphase layer results in a separate bounding volume tree in the broad phase. You at least want to have
// a layer for non-moving and moving objects to avoid having to update a tree full of static objects every frame.
// You can have a 1-on-1 mapping between object layers and broadphase layers (like in this case) but if you have
// many object layers you'll be creating many broad phase trees, which is not efficient.

BroadPhaseLayer BP_LAYER_NON_MOVING = new BroadPhaseLayer((short)0);
BroadPhaseLayer BP_LAYER_MOVING = new BroadPhaseLayer((short)1);
int NUM_BROAD_PHASE_LAYERS = 2;
BroadPhaseLayerInterfaceTable bpInterface = new BroadPhaseLayerInterfaceTable(NUM_OBJECT_LAYERS, NUM_BROAD_PHASE_LAYERS);
bpInterface.MapObjectToBroadPhaseLayer(LAYER_NON_MOVING, BP_LAYER_NON_MOVING);
bpInterface.MapObjectToBroadPhaseLayer(LAYER_MOVING, BP_LAYER_MOVING);

settings.set_mObjectLayerPairFilter(objectFilter);
settings.set_mBroadPhaseLayerInterface(bpInterface);
ObjectVsBroadPhaseLayerFilterTable broadPhaseLayerFilter = new ObjectVsBroadPhaseLayerFilterTable(settings.get_mBroadPhaseLayerInterface(), NUM_BROAD_PHASE_LAYERS, settings.get_mObjectLayerPairFilter(), NUM_OBJECT_LAYERS);
settings.set_mObjectVsBroadPhaseLayerFilter(broadPhaseLayerFilter);
samplesApp.update(delta);
}

private void updatePhysics(float deltaTime) {
// When running below 55 Hz, do 2 steps instead of 1
var numSteps = deltaTime > 1.0 / 55.0 ? 2 : 1;
jolt.Step(deltaTime, numSteps);
}

private float height(float x, float y) {
return MathUtils.sin(x / 2) * MathUtils.cos(y / 3);
}

private void createMeshFloor(int n, int cellSize, int maxHeight, float posX, float posY, float posZ) {
// Create regular grid of triangles

TriangleList triangles = new TriangleList();
triangles.resize(n * n * 2);
for (int x = 0; x < n; ++x)
for (int z = 0; z < n; ++z) {
float center = n * cellSize / 2.0f;

float x1 = cellSize * x - center;
float z1 = cellSize * z - center;
float x2 = x1 + cellSize;
float z2 = z1 + cellSize;

{
Triangle t = triangles.at((x * n + z) * 2);
var v1 = t.get_mV(0);
v1.set_x(x1);
v1.set_y(height(x, z));
v1.set_z(z1);
var v2 = t.get_mV(1);
v2.set_x(x1);
v2.set_y(height(x, z + 1));
v2.set_z(z2);
var v3 = t.get_mV(2);
v3.set_x(x2);
v3.set_y(height(x + 1, z + 1));
v3.set_z(z2);
}

{
var t = triangles.at((x * n + z) * 2 + 1);
var v1 = t.get_mV(0);
v1.set_x(x1);
v1.set_y(height(x, z));
v1.set_z(z1);
var v2 = t.get_mV(1);
v2.set_x(x2);
v2.set_y(height(x + 1, z + 1));
v2.set_z(z2);
var v3 = t.get_mV(2);
v3.set_x(x2);
v3.set_y(height(x + 1, z));
v3.set_z(z1);
}
}
var materials = new PhysicsMaterialList();
ShapeResult shapeResult = new MeshShapeSettings(triangles, materials).Create();
triangles.dispose();
materials.dispose();
boolean hasError = shapeResult.HasError();
boolean isValid = shapeResult.IsValid();
System.out.println("ShapeResult hasError: " + hasError);
System.out.println("ShapeResult isValid: " + isValid);
// IDLString idlString = shapeResult.GetError();
// long cPointer = idlString.getCPointer();
// String data = idlString.data();
// System.out.println("ShapeResult GetError: " + data);
var shape = shapeResult.Get();
// Create body
var creationSettings = new BodyCreationSettings(shape, new RVec3(posX, posY, posZ), new Quat(0, 0, 0, 1), EMotionType_Static, LAYER_NON_MOVING);
var body = bodyInterface.CreateBody(creationSettings);
creationSettings.dispose();
addToScene(body, 0xc7c7c7);
}

void addToScene(Body body, int color) {
bodyInterface.AddBody(body.GetID(), EActivation_Activate);

// addToThreeScene(body, color);
}

}
21 changes: 20 additions & 1 deletion examples/SamplesApp/core/src/main/java/jolt/example/samples/app/SamplesApp.java
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package jolt.example.samples.app;

import jolt.example.samples.app.tests.BoxShapeTest;

public class SamplesApp {

public void startTest(Class<Test> testClass) {
Test test;

public void setup() {

}

public void update(float delta) {
if(test != null) {
test.update(delta);
}
}

public void startTest(Class<? extends Test> testClass) {
if(test != null) {
test.dispose();
test = null;
}
test = new BoxShapeTest();
test.setup();
}

public void nextTest() {
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