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godot/main/tests/test_physics.cpp
lawnjelly 3d981b8265 Add option to use handles to RID 
Adds an option to compile an alternative implementation for RIDs, which allows checks for erroneous usage patterns as well as providing leak tests.
2021-12-06 14:43:34 +00:00

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/*************************************************************************/
/* test_physics.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.h"
#include "core/map.h"
#include "core/math/convex_hull.h"
#include "core/math/math_funcs.h"
#include "core/os/main_loop.h"
#include "core/os/os.h"
#include "core/print_string.h"
#include "servers/physics_server.h"
#include "servers/visual_server.h"
class TestPhysicsMainLoop : public MainLoop {
GDCLASS(TestPhysicsMainLoop, MainLoop);
enum {
LINK_COUNT = 20,
};
RID test_cube;
RID plane;
RID sphere;
RID light;
RID camera;
RID mover;
RID scenario;
RID space;
RID character;
float ofs_x, ofs_y;
Point2 joy_direction;
List<RID> bodies;
Map<PhysicsServer::ShapeType, RID> type_shape_map;
Map<PhysicsServer::ShapeType, RID> type_mesh_map;
void body_changed_transform(Object *p_state, RID p_visual_instance) {
PhysicsDirectBodyState *state = (PhysicsDirectBodyState *)p_state;
VisualServer *vs = VisualServer::get_singleton();
Transform t = state->get_transform();
vs->instance_set_transform(p_visual_instance, t);
}
bool quit;
protected:
static void _bind_methods() {
ClassDB::bind_method("body_changed_transform", &TestPhysicsMainLoop::body_changed_transform);
}
RID create_body(PhysicsServer::ShapeType p_shape, PhysicsServer::BodyMode p_body, const Transform p_location, bool p_active_default = true, const Transform &p_shape_xform = Transform()) {
VisualServer *vs = VisualServer::get_singleton();
PhysicsServer *ps = PhysicsServer::get_singleton();
RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario);
RID body = RID_PRIME(ps->body_create(p_body, !p_active_default));
ps->body_set_space(body, space);
ps->body_set_param(body, PhysicsServer::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, this, "body_changed_transform", mesh_instance);
ps->body_set_state(body, PhysicsServer::BODY_STATE_TRANSFORM, p_location);
bodies.push_back(body);
if (p_body == PhysicsServer::BODY_MODE_STATIC) {
vs->instance_set_transform(mesh_instance, p_location);
}
return body;
}
RID create_static_plane(const Plane &p_plane) {
PhysicsServer *ps = PhysicsServer::get_singleton();
RID plane_shape = ps->shape_create(PhysicsServer::SHAPE_PLANE);
ps->shape_set_data(plane_shape, p_plane);
RID b = RID_PRIME(ps->body_create(PhysicsServer::BODY_MODE_STATIC));
ps->body_set_space(b, space);
//todo set space
ps->body_add_shape(b, plane_shape);
return b;
}
void configure_body(RID p_body, float p_mass, float p_friction, float p_bounce) {
PhysicsServer *ps = PhysicsServer::get_singleton();
ps->body_set_param(p_body, PhysicsServer::BODY_PARAM_MASS, p_mass);
ps->body_set_param(p_body, PhysicsServer::BODY_PARAM_FRICTION, p_friction);
ps->body_set_param(p_body, PhysicsServer::BODY_PARAM_BOUNCE, p_bounce);
}
void init_shapes() {
VisualServer *vs = VisualServer::get_singleton();
PhysicsServer *ps = PhysicsServer::get_singleton();
/* SPHERE SHAPE */
RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5);
type_mesh_map[PhysicsServer::SHAPE_SPHERE] = sphere_mesh;
RID sphere_shape = ps->shape_create(PhysicsServer::SHAPE_SPHERE);
ps->shape_set_data(sphere_shape, 0.5);
type_shape_map[PhysicsServer::SHAPE_SPHERE] = sphere_shape;
/* BOX SHAPE */
PoolVector<Plane> box_planes = Geometry::build_box_planes(Vector3(0.5, 0.5, 0.5));
RID box_mesh = RID_PRIME(vs->mesh_create());
Geometry::MeshData box_data = Geometry::build_convex_mesh(box_planes);
vs->mesh_add_surface_from_mesh_data(box_mesh, box_data);
type_mesh_map[PhysicsServer::SHAPE_BOX] = box_mesh;
RID box_shape = ps->shape_create(PhysicsServer::SHAPE_BOX);
ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5));
type_shape_map[PhysicsServer::SHAPE_BOX] = box_shape;
/* CAPSULE SHAPE */
PoolVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z);
RID capsule_mesh = RID_PRIME(vs->mesh_create());
Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
type_mesh_map[PhysicsServer::SHAPE_CAPSULE] = capsule_mesh;
RID capsule_shape = ps->shape_create(PhysicsServer::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[PhysicsServer::SHAPE_CAPSULE] = capsule_shape;
/* CONVEX SHAPE */
PoolVector<Plane> convex_planes = Geometry::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z);
RID convex_mesh = RID_PRIME(vs->mesh_create());
Geometry::MeshData convex_data = Geometry::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[PhysicsServer::SHAPE_CONVEX_POLYGON] = convex_mesh;
RID convex_shape = ps->shape_create(PhysicsServer::SHAPE_CONVEX_POLYGON);
ps->shape_set_data(convex_shape, convex_data.vertices);
type_shape_map[PhysicsServer::SHAPE_CONVEX_POLYGON] = convex_shape;
}
void make_trimesh(Vector<Vector3> p_faces, const Transform &p_xform = Transform()) {
VisualServer *vs = VisualServer::get_singleton();
PhysicsServer *ps = PhysicsServer::get_singleton();
RID trimesh_shape = ps->shape_create(PhysicsServer::SHAPE_CONCAVE_POLYGON);
ps->shape_set_data(trimesh_shape, p_faces);
p_faces = ps->shape_get_data(trimesh_shape); // optimized one
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 = RID_PRIME(vs->mesh_create());
Array d;
d.resize(VS::ARRAY_MAX);
d[VS::ARRAY_VERTEX] = p_faces;
d[VS::ARRAY_NORMAL] = normals;
vs->mesh_add_surface_from_arrays(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, d);
RID triins = vs->instance_create2(trimesh_mesh, scenario);
RID tribody = RID_PRIME(ps->body_create(PhysicsServer::BODY_MODE_STATIC));
ps->body_set_space(tribody, space);
//todo set space
ps->body_add_shape(tribody, trimesh_shape);
Transform tritrans = p_xform;
ps->body_set_state(tribody, PhysicsServer::BODY_STATE_TRANSFORM, tritrans);
vs->instance_set_transform(triins, tritrans);
}
void make_grid(int p_width, int p_height, float p_cellsize, float p_cellheight, const Transform &p_xform = Transform()) {
Vector<Vector<float>> 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) {
float y = -mm->get_relative().y / 20.0;
float x = mm->get_relative().x / 20.0;
if (mover.is_valid()) {
PhysicsServer *ps = PhysicsServer::get_singleton();
Transform t = ps->body_get_state(mover, PhysicsServer::BODY_STATE_TRANSFORM);
t.origin += Vector3(x, y, 0);
ps->body_set_state(mover, PhysicsServer::BODY_STATE_TRANSFORM, t);
}
}
}
virtual void request_quit() {
quit = true;
}
virtual void init() {
ofs_x = ofs_y = 0;
init_shapes();
PhysicsServer *ps = PhysicsServer::get_singleton();
space = RID_PRIME(ps->space_create());
ps->space_set_active(space, true);
VisualServer *vs = VisualServer::get_singleton();
/* LIGHT */
RID lightaux = RID_PRIME(vs->directional_light_create());
scenario = RID_PRIME(vs->scenario_create());
vs->light_set_shadow(lightaux, true);
light = vs->instance_create2(lightaux, scenario);
Transform t;
t.rotate(Vector3(1.0, 0, 0), 0.6);
vs->instance_set_transform(light, t);
/* CAMERA */
camera = RID_PRIME(vs->camera_create());
RID viewport = RID_PRIME(vs->viewport_create());
Size2i screen_size = OS::get_singleton()->get_window_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, Transform(Basis(), Vector3(0, 9, 12)));
Transform 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 iteration(float p_time) {
if (mover.is_valid()) {
static float joy_speed = 10;
PhysicsServer *ps = PhysicsServer::get_singleton();
Transform t = ps->body_get_state(mover, PhysicsServer::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, PhysicsServer::BODY_STATE_TRANSFORM, t);
};
Transform cameratr;
cameratr.rotate(Vector3(0, 1, 0), ofs_x);
cameratr.rotate(Vector3(1, 0, 0), -ofs_y);
cameratr.translate(Vector3(0, 2, 8));
VisualServer *vs = VisualServer::get_singleton();
vs->camera_set_transform(camera, cameratr);
return quit;
}
virtual void finish() {
}
void test_joint() {
}
void test_hinge() {
}
void test_character() {
VisualServer *vs = VisualServer::get_singleton();
PhysicsServer *ps = PhysicsServer::get_singleton();
PoolVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y);
RID capsule_mesh = RID_PRIME(vs->mesh_create());
Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
type_mesh_map[PhysicsServer::SHAPE_CAPSULE] = capsule_mesh;
RID capsule_shape = ps->shape_create(PhysicsServer::SHAPE_CAPSULE);
Dictionary capsule_params;
capsule_params["radius"] = 0.5;
capsule_params["height"] = 1;
Transform 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 = RID_PRIME(ps->body_create(PhysicsServer::BODY_MODE_CHARACTER));
ps->body_set_space(character, space);
//todo add space
ps->body_add_shape(character, capsule_shape);
ps->body_set_force_integration_callback(character, this, "body_changed_transform", mesh_instance);
ps->body_set_state(character, PhysicsServer::BODY_STATE_TRANSFORM, Transform(Basis(), Vector3(-2, 5, -2)));
bodies.push_back(character);
}
void test_fall() {
for (int i = 0; i < 35; i++) {
static const PhysicsServer::ShapeType shape_idx[] = {
PhysicsServer::SHAPE_CAPSULE,
PhysicsServer::SHAPE_BOX,
PhysicsServer::SHAPE_SPHERE,
PhysicsServer::SHAPE_CONVEX_POLYGON
};
PhysicsServer::ShapeType type = shape_idx[i % 4];
Transform 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, PhysicsServer::BODY_MODE_RIGID, t);
}
create_static_plane(Plane(Vector3(0, 1, 0), -1));
}
void test_activate() {
create_body(PhysicsServer::SHAPE_BOX, PhysicsServer::BODY_MODE_RIGID, Transform(Basis(), Vector3(0, 2, 0)), true);
create_static_plane(Plane(Vector3(0, 1, 0), -1));
}
virtual bool idle(float p_time) {
return false;
}
TestPhysicsMainLoop() {
}
};
namespace TestPhysics {
MainLoop *test() {
return memnew(TestPhysicsMainLoop);
}
} // namespace TestPhysics
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