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World.cpp
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World.cpp
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/*
* Copyright (c) 2023 Louis Langholtz https://github.com/louis-langholtz/PlayRho
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <playrho/Contact.hpp>
#include <playrho/LengthError.hpp>
#include <playrho/StepConf.hpp>
#include <playrho/to_underlying.hpp>
#include <playrho/WrongState.hpp>
#include <playrho/d2/AabbTreeWorld.hpp>
#include <playrho/d2/Body.hpp>
#include <playrho/d2/BodyConf.hpp>
#include <playrho/d2/ContactImpulsesList.hpp>
#include <playrho/d2/DiskShapeConf.hpp>
#include <playrho/d2/DistanceJointConf.hpp>
#include <playrho/d2/DynamicTree.hpp> // for GetTree
#include <playrho/d2/EdgeShapeConf.hpp>
#include <playrho/d2/FrictionJointConf.hpp>
#include <playrho/d2/GearJointConf.hpp>
#include <playrho/d2/Joint.hpp>
#include <playrho/d2/Manifold.hpp>
#include <playrho/d2/MotorJointConf.hpp>
#include <playrho/d2/PolygonShapeConf.hpp>
#include <playrho/d2/PointStates.hpp> // for GetPointStates
#include <playrho/d2/RayCastInput.hpp>
#include <playrho/d2/RayCastOutput.hpp>
#include <playrho/d2/RopeJointConf.hpp>
#include <playrho/d2/RevoluteJointConf.hpp>
#include <playrho/d2/PrismaticJointConf.hpp>
#include <playrho/d2/PulleyJointConf.hpp>
#include <playrho/d2/TargetJointConf.hpp>
#include <playrho/d2/WheelJointConf.hpp>
#include <playrho/d2/WeldJointConf.hpp>
#include <playrho/d2/World.hpp>
#include <playrho/d2/WorldBody.hpp>
#include <playrho/d2/WorldShape.hpp>
#include <playrho/d2/WorldMisc.hpp>
#include <playrho/d2/WorldJoint.hpp>
#include <playrho/d2/WorldContact.hpp>
#include "gtest/gtest.h"
using namespace playrho;
using namespace playrho::d2;
template <typename T>
struct PushBackListener
{
std::vector<T> ids;
void operator()(T id)
{
ids.push_back(id);
}
};
TEST(World, WorldLockedError)
{
const auto value = WrongState{"world is locked"};
EXPECT_STREQ(value.what(), "world is locked");
}
TEST(World, DefaultInit)
{
World world;
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
EXPECT_EQ(GetTree(world).GetLeafCount(), ContactCounter(0));
EXPECT_EQ(GetJointCount(world), JointCounter(0));
EXPECT_EQ(GetContactCount(world), ContactCounter(0));
EXPECT_EQ(GetHeight(GetTree(world)), ContactCounter(0));
EXPECT_EQ(ComputePerimeterRatio(GetTree(world)), Real(0));
{
const auto bodies = GetBodies(world);
EXPECT_TRUE(bodies.empty());
EXPECT_EQ(bodies.size(), BodyCounter(0));
EXPECT_EQ(bodies.begin(), bodies.end());
}
{
const auto& w = static_cast<const World&>(world);
const auto bodies = GetBodies(w);
EXPECT_TRUE(bodies.empty());
EXPECT_EQ(bodies.size(), BodyCounter(0));
EXPECT_EQ(bodies.begin(), bodies.end());
}
EXPECT_TRUE(GetContacts(world).empty());
EXPECT_EQ(GetContacts(world).size(), ContactCounter(0));
EXPECT_TRUE(GetJoints(world).empty());
EXPECT_EQ(GetJoints(world).size(), JointCounter(0));
EXPECT_FALSE(GetSubStepping(world));
EXPECT_FALSE(IsLocked(world));
EXPECT_TRUE(world == world);
EXPECT_TRUE(world == World());
EXPECT_TRUE(World() == world);
EXPECT_TRUE(World() == World());
EXPECT_FALSE(world != world);
EXPECT_FALSE(world != World());
EXPECT_FALSE(World() != world);
EXPECT_FALSE(World() != World());
}
TEST(World, Init)
{
World world{};
EXPECT_FALSE(IsLocked(world));
{
auto calls = 0;
Query(GetTree(world), AABB{}, [&](BodyID, ShapeID, ChildCounter) {
++calls;
return true;
});
EXPECT_EQ(calls, 0);
}
{
const auto p1 = Length2{0_m, 0_m};
const auto p2 = Length2{100_m, 0_m};
auto calls = 0;
RayCast(world, RayCastInput{p1, p2, UnitInterval<Real>(1)},
[&](BodyID, ShapeID, ChildCounter, Length2, UnitVec) {
++calls;
return RayCastOpcode::ResetRay;
});
EXPECT_EQ(calls, 0);
}
}
TEST(World, Clear)
{
auto jointListener = PushBackListener<JointID>{};
auto shapeListener = PushBackListener<ShapeID>{};
auto associationListener = PushBackListener<std::pair<BodyID, ShapeID>>{};
auto world = World{};
ASSERT_EQ(GetBodies(world).size(), std::size_t(0));
ASSERT_EQ(GetJoints(world).size(), std::size_t(0));
ASSERT_EQ(GetJointRange(world), 0u);
SetJointDestructionListener(world, std::ref(jointListener));
SetShapeDestructionListener(world, std::ref(shapeListener));
SetDetachListener(world, std::ref(associationListener));
const auto b0 = CreateBody(world);
ASSERT_NE(b0, InvalidBodyID);
const auto f0 = CreateShape(world, DiskShapeConf{});
ASSERT_NE(f0, InvalidShapeID);
Attach(world, b0, f0);
ASSERT_EQ(GetShapes(world, b0).size(), std::size_t(1));;
const auto b1 = CreateBody(world);
ASSERT_NE(b1, InvalidBodyID);
const auto f1 = CreateShape(world, Shape{DiskShapeConf{}});
ASSERT_NE(f1, InvalidShapeID);
Attach(world, b1, f1);
ASSERT_EQ(GetShapes(world, b1).size(), std::size_t(1));;
const auto j0 = CreateJoint(world, Joint{DistanceJointConf{b0, b1}});
ASSERT_NE(j0, InvalidJointID);
ASSERT_EQ(GetBodies(world).size(), std::size_t(2));
ASSERT_EQ(GetJoints(world).size(), std::size_t(1));
EXPECT_EQ(GetBodyRange(world), 2u);
ASSERT_EQ(GetJointRange(world), 1u);
ASSERT_EQ(GetShapeRange(world), 2u);
EXPECT_FALSE(World() == world);
EXPECT_TRUE(World() != world);
EXPECT_NO_THROW(Clear(world));
EXPECT_TRUE(World() == world);
EXPECT_FALSE(World() != world);
EXPECT_EQ(GetShapeRange(world), 0u);
EXPECT_EQ(GetBodyRange(world), 0u);
EXPECT_EQ(GetJointRange(world), 0u);
EXPECT_EQ(GetContactRange(world), 0u);
EXPECT_EQ(GetBodies(world).size(), std::size_t(0));
EXPECT_EQ(GetJoints(world).size(), std::size_t(0));
ASSERT_EQ(shapeListener.ids.size(), std::size_t(2));
EXPECT_EQ(shapeListener.ids.at(0), f0);
EXPECT_EQ(shapeListener.ids.at(1), f1);
ASSERT_EQ(jointListener.ids.size(), std::size_t(1));
EXPECT_EQ(jointListener.ids.at(0), j0);
const auto b2 = CreateBody(world);
EXPECT_LE(b2, b1);
const auto f2 = CreateShape(world, Shape{DiskShapeConf{}});
EXPECT_EQ(f2, ShapeID(0));
}
TEST(World, SetSubSteppingFreeFunction)
{
World world;
ASSERT_FALSE(GetSubStepping(world));
EXPECT_NO_THROW(SetSubStepping(world, true));
EXPECT_TRUE(GetSubStepping(world));
EXPECT_NO_THROW(SetSubStepping(world, false));
EXPECT_FALSE(GetSubStepping(world));
EXPECT_NO_THROW(SetSubStepping(world, true));
EXPECT_TRUE(GetSubStepping(world));
auto stepConf = StepConf{};
stepConf.deltaTime = Real(1) / 100_Hz;
EXPECT_NO_THROW(Step(world, stepConf));
EXPECT_TRUE(GetSubStepping(world));
}
TEST(World, IsStepComplete)
{
auto world = World{};
ASSERT_FALSE(GetSubStepping(world));
ASSERT_TRUE(IsStepComplete(world));
ASSERT_NO_THROW(SetSubStepping(world, true));
ASSERT_TRUE(GetSubStepping(world));
ASSERT_TRUE(IsStepComplete(world));
auto stepConf = StepConf{};
stepConf.deltaTime = Real(1) / 100_Hz;
Step(world, stepConf);
ASSERT_TRUE(GetSubStepping(world));
EXPECT_TRUE(IsStepComplete(world));
const auto b0 = CreateBody(world, BodyConf{}
.Use(BodyType::Dynamic)
.UseLocation(Length2{-2_m, 2_m})
.UseLinearAcceleration(EarthlyGravity));
ASSERT_NE(b0, InvalidBodyID);
const auto shapeId0 = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
Attach(world, b0, shapeId0);
const auto b1 = CreateBody(world, BodyConf{}
.Use(BodyType::Dynamic)
.UseLocation(Length2{+2_m, 2_m})
.UseLinearAcceleration(EarthlyGravity));
ASSERT_NE(b1, InvalidBodyID);
const auto shapeId1 = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
Attach(world, b1, shapeId1);
const auto stabody = CreateBody(world, BodyConf{}.Use(BodyType::Static));
const auto shapeId2 = CreateShape(world, EdgeShapeConf{Length2{-10_m, 0_m}, Length2{+10_m, 0_m}});
Attach(world, stabody, shapeId2);
auto i = 0ull;
const auto max = 100000ull;
while (IsStepComplete(world) && i < max) {
EXPECT_NO_THROW(Step(world, stepConf));
++i;
}
EXPECT_LT(i, max);
EXPECT_FALSE(IsStepComplete(world));
EXPECT_NO_THROW(Step(world, stepConf));
EXPECT_FALSE(IsStepComplete(world));
EXPECT_NO_THROW(Step(world, stepConf));
EXPECT_TRUE(IsStepComplete(world));
}
TEST(World, CopyConstruction)
{
auto world = World{};
{
const auto copy = World{world};
EXPECT_EQ(GetVertexRadiusInterval(world), GetVertexRadiusInterval(copy));
EXPECT_EQ(GetJoints(world).size(), GetJoints(copy).size());
EXPECT_EQ(GetBodies(world).size(), GetBodies(copy).size());
EXPECT_EQ(GetContacts(world).size(), GetContacts(copy).size());
EXPECT_EQ(GetHeight(GetTree(world)), GetHeight(GetTree(copy)));
EXPECT_EQ(GetTree(world).GetLeafCount(), GetTree(copy).GetLeafCount());
EXPECT_EQ(GetMaxImbalance(GetTree(world)), GetMaxImbalance(GetTree(copy)));
}
const auto shapeId = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b1, shapeId);
const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b2, shapeId);
// Add another body on top of previous and that's not part of any joints to ensure at 1 contact
const auto b3 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b3, shapeId);
const auto b4 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b4, shapeId);
const auto b5 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b5, shapeId);
const auto rj1 = CreateJoint(world, Joint{RevoluteJointConf{b1, b2}});
const auto rj2 = CreateJoint(world, Joint{RevoluteJointConf{b3, b4}});
CreateJoint(world, Joint{PrismaticJointConf{b1, b2}});
CreateJoint(world, Joint{GetPulleyJointConf(world, b1, b2, Length2{}, Length2{},
Length2{}, Length2{}).UseRatio(Real(1))});
CreateJoint(world, Joint{DistanceJointConf{b4, b5}});
CreateJoint(world, Joint{GetWeldJointConf(world, b4, b5)});
CreateJoint(world, Joint{FrictionJointConf{b4, b5}});
CreateJoint(world, Joint{RopeJointConf{b4, b5}});
CreateJoint(world, Joint{GetMotorJointConf(world, b4, b5)});
CreateJoint(world, Joint{WheelJointConf{b4, b5}});
CreateJoint(world, Joint{TargetJointConf{b4}});
CreateJoint(world, Joint{GetGearJointConf(world, rj1, rj2)});
auto stepConf = StepConf{};
Step(world, stepConf);
ASSERT_FALSE(GetContacts(world).empty());
{
const auto copy = World{world};
EXPECT_EQ(GetVertexRadiusInterval(world), GetVertexRadiusInterval(copy));
EXPECT_EQ(GetJoints(world).size(), GetJoints(copy).size());
const auto minJoints = std::min(GetJoints(world).size(), GetJoints(copy).size());
const auto worldJoints = GetJoints(world);
const auto copyJoints = GetJoints(copy);
auto worldJointIter = worldJoints.begin();
auto copyJointIter = copyJoints.begin();
for (auto i = decltype(minJoints){0}; i < minJoints; ++i)
{
EXPECT_EQ(GetType(world, *worldJointIter), GetType(copy, *copyJointIter));
++worldJointIter;
++copyJointIter;
}
EXPECT_EQ(GetBodies(world).size(), GetBodies(copy).size());
EXPECT_EQ(GetContacts(world).size(), GetContacts(copy).size());
EXPECT_EQ(GetHeight(GetTree(world)), GetHeight(GetTree(copy)));
EXPECT_EQ(GetTree(world).GetLeafCount(), GetTree(copy).GetLeafCount());
EXPECT_EQ(GetMaxImbalance(GetTree(world)), GetMaxImbalance(GetTree(copy)));
if (GetContacts(world).size() == GetContacts(copy).size()) {
const auto max = GetContactRange(world);
for (auto i = static_cast<decltype(GetContactRange(world))>(0u); i < max; ++i) {
const auto id = ContactID(i);
EXPECT_EQ(GetManifold(world, id), GetManifold(copy, id));
}
}
}
}
TEST(World, CopyAssignment)
{
auto world = World{};
{
auto copy = World{};
copy = world;
EXPECT_EQ(GetVertexRadiusInterval(world), GetVertexRadiusInterval(copy));
EXPECT_EQ(GetJoints(world).size(), GetJoints(copy).size());
EXPECT_EQ(GetBodies(world).size(), GetBodies(copy).size());
EXPECT_EQ(GetContacts(world).size(), GetContacts(copy).size());
EXPECT_EQ(GetHeight(GetTree(world)), GetHeight(GetTree(copy)));
EXPECT_EQ(GetTree(world).GetLeafCount(), GetTree(copy).GetLeafCount());
EXPECT_EQ(GetMaxImbalance(GetTree(world)), GetMaxImbalance(GetTree(copy)));
}
const auto shapeId = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b1, shapeId);
const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b2, shapeId);
CreateJoint(world, Joint{RevoluteJointConf{b1, b2, Length2{}}});
CreateJoint(world, Joint{GetPrismaticJointConf(world, b1, b2, Length2{}, UnitVec::GetRight())});
CreateJoint(world, Joint{GetPulleyJointConf(world, b1, b2, Length2{}, Length2{},
Length2{}, Length2{}).UseRatio(Real(1))});
auto stepConf = StepConf{};
Step(world, stepConf);
{
auto copy = World{};
copy = world;
EXPECT_EQ(GetVertexRadiusInterval(world), GetVertexRadiusInterval(copy));
EXPECT_EQ(GetJoints(world).size(), GetJoints(copy).size());
const auto minJoints = std::min(GetJoints(world).size(), GetJoints(copy).size());
const auto worldJoints = GetJoints(world);
const auto copyJoints = GetJoints(copy);
auto worldJointIter = worldJoints.begin();
auto copyJointIter = copyJoints.begin();
for (auto i = decltype(minJoints){0}; i < minJoints; ++i)
{
EXPECT_EQ(GetType(world, *worldJointIter), GetType(copy, *copyJointIter));
++worldJointIter;
++copyJointIter;
}
EXPECT_EQ(GetShapeRange(world), GetShapeRange(copy));
EXPECT_EQ(GetBodies(world).size(), GetBodies(copy).size());
EXPECT_EQ(GetContacts(world).size(), GetContacts(copy).size());
EXPECT_EQ(GetHeight(GetTree(world)), GetHeight(GetTree(copy)));
EXPECT_EQ(GetTree(world).GetLeafCount(), GetTree(copy).GetLeafCount());
EXPECT_EQ(GetMaxImbalance(GetTree(world)), GetMaxImbalance(GetTree(copy)));
if (GetContacts(world).size() == GetContacts(copy).size()) {
const auto max = GetContactRange(world);
for (auto i = static_cast<decltype(GetContactRange(world))>(0u); i < max; ++i) {
const auto id = ContactID(i);
EXPECT_EQ(GetManifold(world, id), GetManifold(copy, id));
}
}
}
}
TEST(World, MoveConstruction)
{
auto world = World{};
const auto shapeId = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b1, shapeId);
const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b2, shapeId);
CreateJoint(world, Joint{RevoluteJointConf{b1, b2, Length2{}}});
CreateJoint(world, Joint{GetPrismaticJointConf(world, b1, b2, Length2{}, UnitVec::GetRight())});
CreateJoint(world, Joint{GetPulleyJointConf(world, b1, b2, Length2{}, Length2{},
Length2{}, Length2{}).UseRatio(Real(1))});
auto stepConf = StepConf{};
Step(world, stepConf);
{
auto other = World{std::move(world)};
EXPECT_EQ(GetBodies(other).size(), 2u);
EXPECT_EQ(GetJoints(other).size(), 3u);
}
}
TEST(World, MoveAssignment)
{
auto world = World{};
const auto shapeId = CreateShape(world, DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m));
const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b1, shapeId);
const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
Attach(world, b2, shapeId);
CreateJoint(world, Joint{RevoluteJointConf{b1, b2, Length2{}}});
CreateJoint(world, Joint{GetPrismaticJointConf(world, b1, b2, Length2{}, UnitVec::GetRight())});
CreateJoint(world, Joint{GetPulleyJointConf(world, b1, b2, Length2{}, Length2{},
Length2{}, Length2{}).UseRatio(Real(1))});
auto stepConf = StepConf{};
Step(world, stepConf);
{
auto other = World{};
other = std::move(world);
EXPECT_EQ(GetBodies(other).size(), 2u);
EXPECT_EQ(GetJoints(other).size(), 3u);
}
}
TEST(World, GetType)
{
EXPECT_NE(GetType(World{}), GetTypeID<void>());
EXPECT_EQ(GetType(World{}), GetTypeID<AabbTreeWorld>());
}
TEST(WorldModel, GetData_)
{
const auto model = playrho::d2::detail::WorldModel<AabbTreeWorld>{WorldConf{}};
EXPECT_NE(model.GetData_(), nullptr);
}
TEST(World, TypeCast)
{
{
auto world = World{};
EXPECT_EQ(TypeCast<int>(&world), nullptr);
EXPECT_NE(TypeCast<AabbTreeWorld>(&world), nullptr);
EXPECT_THROW(TypeCast<int>(world), std::bad_cast);
}
{
const auto world = World{};
EXPECT_EQ(TypeCast<const int>(&world), nullptr);
EXPECT_NE(TypeCast<AabbTreeWorld>(&world), nullptr);
EXPECT_THROW(TypeCast<int>(world), std::bad_cast);
}
}
TEST(World, CreateDestroyEmptyDynamicBody)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto bodyId = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
ASSERT_NE(bodyId, InvalidBodyID);
EXPECT_EQ(GetType(world, bodyId), BodyType::Dynamic);
EXPECT_EQ(GetAngle(world, bodyId), 0_deg);
EXPECT_TRUE(IsSpeedable(world, bodyId));
EXPECT_TRUE(IsAccelerable(world, bodyId));
EXPECT_FALSE(IsImpenetrable(world, bodyId));
EXPECT_EQ(GetShapes(world, bodyId).size(), std::size_t{0});
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = GetBodies(world);
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto first = bodies1.begin();
EXPECT_EQ(bodyId, *first);
EXPECT_EQ(GetBodyRange(world), 1u);
Destroy(world, bodyId);
EXPECT_TRUE(IsDestroyed(world, bodyId));
EXPECT_EQ(GetBodyRange(world), 1u);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
const auto bodies2 = GetBodies(world);
EXPECT_TRUE(bodies2.empty());
EXPECT_EQ(bodies2.size(), BodyCounter(0));
}
TEST(World, CreateDestroyDynamicBodyAndFixture)
{
// Created this test after receiving issue #306:
// Rapid create/destroy between step() causes SEGFAULT
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto bodyId = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
ASSERT_NE(bodyId, InvalidBodyID);
EXPECT_EQ(GetType(world, bodyId), BodyType::Dynamic);
EXPECT_TRUE(IsAwake(world, bodyId));
EXPECT_TRUE(IsSpeedable(world, bodyId));
EXPECT_TRUE(IsAccelerable(world, bodyId));
EXPECT_FALSE(IsImpenetrable(world, bodyId));
EXPECT_EQ(GetShapes(world, bodyId).size(), std::size_t{0});
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = GetBodies(world);
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto first = bodies1.begin();
EXPECT_EQ(bodyId, *first);
Attach(world, bodyId, CreateShape(world, DiskShapeConf{1_m}));
EXPECT_EQ(GetBodiesForProxies(world).size(), std::size_t{0});
EXPECT_EQ(GetShapes(world, bodyId).size(), std::size_t{1});
EXPECT_NO_THROW(Destroy(world, bodyId)); // should clear fixtures for proxies!
EXPECT_TRUE(IsDestroyed(world, bodyId));
EXPECT_EQ(GetType(world, bodyId), BodyType::Static);
EXPECT_FALSE(IsAwake(world, bodyId));
EXPECT_FALSE(IsSpeedable(world, bodyId));
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
const auto bodies2 = GetBodies(world);
EXPECT_TRUE(bodies2.empty());
EXPECT_EQ(bodies2.size(), BodyCounter(0));
}
TEST(World, CreateDestroyJoinedBodies)
{
auto jointListener = PushBackListener<JointID>{};
auto shapeListener = PushBackListener<ShapeID>{};
auto associationListener = PushBackListener<std::pair<BodyID, ShapeID>>{};
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(GetJointCount(world), JointCounter(0));
SetJointDestructionListener(world, std::ref(jointListener));
SetShapeDestructionListener(world, std::ref(shapeListener));
SetDetachListener(world, std::ref(associationListener));
const auto bodyId1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = GetBodies(world);
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
ASSERT_NE(bodyId1, InvalidBodyID);
EXPECT_EQ(bodyId1, *bodies1.begin());
const auto bodyId2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
EXPECT_EQ(GetBodyCount(world), BodyCounter(2));
const auto shapeId1 = CreateShape(world, DiskShapeConf{1_m});
Attach(world, bodyId1, shapeId1);
const auto shapeId2 = CreateShape(world, DiskShapeConf{1_m});
Attach(world, bodyId2, shapeId2);
EXPECT_EQ(GetContacts(world).size(), ContactCounter(0));
auto stepConf = StepConf{};
Step(world, stepConf);
const auto worldContacts = GetContacts(world);
ASSERT_EQ(worldContacts.size(), ContactCounter(1));
const auto c0 = worldContacts.begin();
auto cid0 = std::get<ContactID>(*c0);
EXPECT_FALSE(IsDestroyed(world, cid0));
const auto contactBodyA = GetBodyA(world, cid0);
const auto contactBodyB = GetBodyB(world, cid0);
EXPECT_EQ(contactBodyA, bodyId1);
EXPECT_EQ(contactBodyB, bodyId2);
EXPECT_FALSE(NeedsFiltering(world, c0->second));
auto contact0 = GetContact(world, cid0);
if (contact0.HasValidToi()) {
contact0.SetToi({});
}
else {
contact0.SetToi(Real(0.5f));
}
EXPECT_THROW(SetContact(world, cid0, contact0), InvalidArgument);
contact0 = GetContact(world, cid0);
contact0.SetToiCount(contact0.GetToiCount() + 1u);
EXPECT_THROW(SetContact(world, cid0, contact0), InvalidArgument);
const auto joint = CreateJoint(world, Joint{DistanceJointConf{bodyId1, bodyId2}});
ASSERT_NE(joint, InvalidJointID);
EXPECT_EQ(GetJointCount(world), JointCounter(1));
EXPECT_TRUE(NeedsFiltering(world, c0->second));
Destroy(world, bodyId1);
EXPECT_TRUE(IsDestroyed(world, bodyId1));
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
EXPECT_EQ(GetJointCount(world), JointCounter(0));
EXPECT_EQ(GetContacts(world).size(), ContactCounter(0));
EXPECT_TRUE(IsDestroyed(world, cid0));
const auto bodies0 = GetBodies(world);
EXPECT_FALSE(bodies0.empty());
EXPECT_EQ(bodies0.size(), BodyCounter(1));
EXPECT_NE(bodies0.begin(), bodies0.end());
Destroy(world, bodyId2);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(associationListener.ids.size(), std::size_t(2));
EXPECT_EQ(associationListener.ids.at(0), std::make_pair(bodyId1, shapeId1));
EXPECT_EQ(associationListener.ids.at(1), std::make_pair(bodyId2, shapeId2));
ASSERT_EQ(jointListener.ids.size(), std::size_t(1));
EXPECT_EQ(jointListener.ids.at(0), joint);
}
TEST(World, CreateDestroyContactingBodies)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(GetJointCount(world), JointCounter(0));
ASSERT_EQ(GetBodiesForProxies(world).size(), 0u);
ASSERT_EQ(GetTree(world).GetNodeCount(), 0u);
auto contacts = GetContacts(world);
ASSERT_TRUE(contacts.empty());
ASSERT_EQ(contacts.size(), ContactCounter(0));
const auto l1 = Length2{};
const auto l2 = Length2{};
const auto bodyId1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(l1));
const auto bodyId2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(l2));
EXPECT_EQ(GetBodyCount(world), BodyCounter(2));
EXPECT_EQ(GetBodiesForProxies(world).size(), 0u);
EXPECT_EQ(GetTree(world).GetNodeCount(), 0u);
Attach(world, bodyId1, CreateShape(world, DiskShapeConf{1_m}.UseDensity(1_kgpm2)));
Attach(world, bodyId2, CreateShape(world, DiskShapeConf{1_m}.UseDensity(1_kgpm2)));
ASSERT_EQ(size(GetShapes(world, bodyId1)), 1u);
ASSERT_EQ(size(GetShapes(world, bodyId2)), 1u);
EXPECT_EQ(GetBodiesForProxies(world).size(), 0u);
EXPECT_EQ(GetAssociationCount(world), std::size_t(2));
EXPECT_EQ(GetTree(world).GetNodeCount(), 0u);
const auto stepConf = StepConf{};
const auto stats0 = Step(world, stepConf);
EXPECT_EQ(GetBodiesForProxies(world).size(), 0u);
EXPECT_EQ(GetTree(world).GetNodeCount(), 3u);
EXPECT_EQ(stats0.pre.proxiesCreated, 2u);
EXPECT_EQ(stats0.pre.proxiesMoved, 0u);
EXPECT_EQ(stats0.pre.contactsDestroyed, 0u);
EXPECT_EQ(stats0.pre.contactsAdded, 1u);
EXPECT_EQ(stats0.pre.contactsUpdated, 0u);
EXPECT_EQ(stats0.pre.contactsSkipped, 0u);
EXPECT_EQ(stats0.reg.minSeparation, -2.0_m);
EXPECT_EQ(stats0.reg.maxIncImpulse, 0.0_Ns);
EXPECT_EQ(stats0.reg.islandsFound, 1u);
EXPECT_EQ(stats0.reg.islandsSolved, 0u);
EXPECT_EQ(stats0.reg.contactsAdded, 0u);
EXPECT_EQ(stats0.reg.bodiesSlept, 0u);
EXPECT_EQ(stats0.reg.proxiesMoved, 0u);
EXPECT_EQ(stats0.reg.sumPosIters, 3u);
EXPECT_EQ(stats0.reg.sumVelIters, 1u);
EXPECT_EQ(stats0.toi.minSeparation, std::numeric_limits<Length>::infinity());
EXPECT_EQ(stats0.toi.maxIncImpulse, 0.0_Ns);
EXPECT_EQ(stats0.toi.islandsFound, 0u);
EXPECT_EQ(stats0.toi.islandsSolved, 0u);
EXPECT_EQ(stats0.toi.contactsFound, 0u);
EXPECT_EQ(stats0.toi.contactsAtMaxSubSteps, 0u);
EXPECT_EQ(stats0.toi.contactsUpdatedToi, 0u);
EXPECT_EQ(stats0.toi.contactsUpdatedTouching, 0u);
EXPECT_EQ(stats0.toi.contactsSkippedTouching, 1u);
EXPECT_EQ(stats0.toi.contactsAdded, 0u);
EXPECT_EQ(stats0.toi.proxiesMoved, 0u);
EXPECT_EQ(stats0.toi.sumPosIters, 0u);
EXPECT_EQ(stats0.toi.sumVelIters, 0u);
EXPECT_EQ(stats0.toi.maxDistIters, 0u);
EXPECT_EQ(stats0.toi.maxToiIters, 0u);
EXPECT_EQ(stats0.toi.maxRootIters, 0u);
contacts = GetContacts(world);
EXPECT_FALSE(contacts.empty());
EXPECT_EQ(contacts.size(), ContactCounter(1));
if (contacts.size() == 1u) {
EXPECT_EQ(contacts.begin()->first.GetMin(),
static_cast<decltype(contacts.begin()->first.GetMin())>(0));
EXPECT_EQ(contacts.begin()->first.GetMax(),
static_cast<decltype(contacts.begin()->first.GetMax())>(1));
EXPECT_EQ(GetShapeA(world, contacts.begin()->second),
*GetShapes(world, bodyId1).begin());
EXPECT_EQ(GetShapeB(world, contacts.begin()->second),
*GetShapes(world, bodyId2).begin());
}
Destroy(world, bodyId1);
EXPECT_TRUE(IsDestroyed(world, bodyId1));
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
EXPECT_EQ(GetBodiesForProxies(world).size(), static_cast<decltype(GetBodiesForProxies(world).size())>(0));
EXPECT_EQ(GetTree(world).GetNodeCount(), static_cast<decltype(GetTree(world).GetNodeCount())>(1));
Step(world, stepConf);
EXPECT_EQ(GetBodiesForProxies(world).size(), static_cast<decltype(GetBodiesForProxies(world).size())>(0));
EXPECT_EQ(GetTree(world).GetNodeCount(), static_cast<decltype(GetTree(world).GetNodeCount())>(1));
contacts = GetContacts(world);
EXPECT_TRUE(empty(contacts));
EXPECT_EQ(size(contacts), ContactCounter(0));
EXPECT_TRUE(IsDestroyed(world, ContactID(0)));
Destroy(world, bodyId2);
EXPECT_TRUE(IsDestroyed(world, bodyId2));
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
EXPECT_EQ(GetTree(world).GetNodeCount(), static_cast<decltype(GetTree(world).GetNodeCount())>(0));
contacts = GetContacts(world);
EXPECT_TRUE(contacts.empty());
EXPECT_EQ(contacts.size(), ContactCounter(0));
EXPECT_EQ(GetAssociationCount(world), std::size_t(0));
}
TEST(World, SetUnsetSetImpenetrable)
{
auto world = World{};
EXPECT_THROW(SetImpenetrable(world, InvalidBodyID), std::out_of_range);
EXPECT_THROW(UnsetImpenetrable(world, InvalidBodyID), std::out_of_range);
const auto body = CreateBody(world);
EXPECT_NO_THROW(SetImpenetrable(world, body));
EXPECT_TRUE(IsImpenetrable(world, body));
EXPECT_NO_THROW(UnsetImpenetrable(world, body));
EXPECT_FALSE(IsImpenetrable(world, body));
EXPECT_NO_THROW(SetImpenetrable(world, body));
EXPECT_TRUE(IsImpenetrable(world, body));
}
TEST(World, SetSleepingAllowed)
{
auto world = World{};
EXPECT_THROW(SetSleepingAllowed(world, InvalidBodyID, true), std::out_of_range);
const auto body = CreateBody(world);
SetType(world, body, BodyType::Static);
ASSERT_FALSE(IsSpeedable(GetType(world, body)));
EXPECT_NO_THROW(SetSleepingAllowed(world, body, true));
EXPECT_TRUE(IsSleepingAllowed(world, body));
EXPECT_NO_THROW(SetSleepingAllowed(world, body, false));
EXPECT_TRUE(IsSleepingAllowed(world, body));
SetType(world, body, BodyType::Dynamic);
ASSERT_TRUE(IsSpeedable(GetType(world, body)));
EXPECT_NO_THROW(SetSleepingAllowed(world, body, true));
EXPECT_TRUE(IsSleepingAllowed(world, body));
EXPECT_NO_THROW(SetSleepingAllowed(world, body, false));
EXPECT_FALSE(IsSleepingAllowed(world, body));
}
TEST(World, GetSetAngle)
{
auto world = World{};
const auto body = CreateBody(world, BodyConf{}.Use(BodyType::Kinematic));
ASSERT_EQ(GetAngle(world, body), 0_deg);
ASSERT_EQ(GetAngularVelocity(world, body), 0_rpm);
EXPECT_NO_THROW(SetAngle(world, body, Pi * 0.5_rad));
EXPECT_NEAR(double(StripUnit(GetAngle(world, body))), double(Pi) * 0.5, 0.00001);
EXPECT_NO_THROW(SetAngle(world, body, Pi * 2.1_rad));
EXPECT_NEAR(double(StripUnit(GetAngle(world, body))), double(Pi) * 2.1, 0.00001);
EXPECT_NO_THROW(SetAngle(world, body, Pi * 0_rad));
EXPECT_NO_THROW(SetVelocity(world, body, 60_rpm));
for (auto i = 0; i < 105; ++i) {
EXPECT_NO_THROW(Step(world));
}
EXPECT_NEAR(double(StripUnit(GetAngle(GetTransformation(world, body).q))), //
double(StripUnit(GetNormalized(Angle{60_rpm * 105 * (1_s / 60)}))), //
0.001);
}
TEST(World, SetLinearDamping)
{
auto world = World{};
auto value = 1_Hz;
EXPECT_THROW(SetLinearDamping(world, InvalidBodyID, value), std::out_of_range);
const auto body = CreateBody(world);
value = 2_Hz;
EXPECT_NO_THROW(SetLinearDamping(world, body, value));
EXPECT_EQ(GetLinearDamping(world, body), value);
value = 23_Hz;
EXPECT_NO_THROW(SetLinearDamping(world, body, value));
EXPECT_EQ(GetLinearDamping(world, body), value);
}
TEST(World, SetAngularDamping)
{
auto world = World{};
auto value = 1_Hz;
EXPECT_THROW(SetAngularDamping(world, InvalidBodyID, value), std::out_of_range);
const auto body = CreateBody(world);
value = 2_Hz;
EXPECT_NO_THROW(SetAngularDamping(world, body, value));
EXPECT_EQ(GetAngularDamping(world, body), value);
value = 23_Hz;
EXPECT_NO_THROW(SetAngularDamping(world, body, value));
EXPECT_EQ(GetAngularDamping(world, body), value);
}
TEST(World, SynchronizeProxies)
{
auto world = World{};
const auto stepConf = StepConf{};
EXPECT_EQ(Step(world, stepConf).pre.proxiesMoved, PreStepStats::counter_type(0));
const auto bodyA = CreateBody(world);
Attach(world, bodyA, CreateShape(world, DiskShapeConf(1_m)));
EXPECT_EQ(Step(world, stepConf).pre.proxiesMoved, PreStepStats::counter_type(0));
SetLocation(world, bodyA, Length2{10_m, -4_m});
EXPECT_EQ(Step(world, stepConf).pre.proxiesMoved, PreStepStats::counter_type(1));
}
TEST(World, SetTypeOfBody)
{
auto world = World{};
const auto body = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
ASSERT_EQ(GetType(world, body), BodyType::Dynamic);
auto other = World{};
EXPECT_THROW(SetType(other, body, BodyType::Static), std::out_of_range);
EXPECT_EQ(GetType(world, body), BodyType::Dynamic);
SetType(world, body, BodyType::Static);
EXPECT_EQ(GetType(world, body), BodyType::Static);
}
TEST(World, Query)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto body = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
ASSERT_NE(body, InvalidBodyID);
ASSERT_EQ(GetType(world, body), BodyType::Dynamic);
ASSERT_TRUE(IsSpeedable(world, body));
ASSERT_TRUE(IsAccelerable(world, body));
ASSERT_FALSE(IsImpenetrable(world, body));
ASSERT_EQ(GetX(GetLocation(world, body)), 0_m);
ASSERT_EQ(GetY(GetLocation(world, body)), 0_m);
ASSERT_EQ(GetX(GetLinearAcceleration(world, body)), 0_mps2);
ASSERT_EQ(GetY(GetLinearAcceleration(world, body)), 0_mps2);
const auto v1 = Length2{-1_m, 0_m};
const auto v2 = Length2{+1_m, 0_m};
const auto conf = EdgeShapeConf{}.UseVertexRadius(1_m).UseDensity(1_kgpm2).Set(v1, v2);
ASSERT_EQ(GetChildCount(conf), ChildCounter(1));
const auto shapeId = CreateShape(world, Shape{conf});
Attach(world, body, shapeId);
auto stepConf = StepConf{};
stepConf.deltaTime = 0_s;
Step(world, stepConf);
{
auto foundOurs = 0;
auto foundOthers = 0;
Query(GetTree(world), AABB{v1, v2}, [&](BodyID, ShapeID f, ChildCounter i) {
if (f == shapeId && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return true;
});
EXPECT_EQ(foundOurs, 1);
EXPECT_EQ(foundOthers, 0);
}
}
TEST(World, RayCast)
{
World world{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto p0 = Length2{-10_m, +3_m};
const auto b0 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(p0));
Attach(world, b0, CreateShape(world, DiskShapeConf{1_m}));
const auto p1 = Length2{+1_m, 0_m};
const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(p1));
Attach(world, b1, CreateShape(world, DiskShapeConf{0.1_m}));
const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Static).UseLocation(Length2{-100_m, -100_m}));
Attach(world, b2, CreateShape(world, EdgeShapeConf{Length2{}, Length2{-20_m, -20_m}}));
const auto body = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic));
ASSERT_NE(body, InvalidBodyID);
ASSERT_EQ(GetType(world, body), BodyType::Dynamic);
ASSERT_TRUE(IsSpeedable(world, body));
ASSERT_TRUE(IsAccelerable(world, body));
ASSERT_FALSE(IsImpenetrable(world, body));
ASSERT_EQ(GetX(GetLocation(world, body)), 0_m);
ASSERT_EQ(GetY(GetLocation(world, body)), 0_m);
ASSERT_EQ(GetX(GetLinearAcceleration(world, body)), 0_mps2);
ASSERT_EQ(GetY(GetLinearAcceleration(world, body)), 0_mps2);
const auto v1 = Length2{-1_m, 0_m};
const auto v2 = Length2{+1_m, 0_m};
const auto conf = EdgeShapeConf{}.UseVertexRadius(1_m).UseDensity(1_kgpm2).Set(v1, v2);
const auto shape = Shape{conf};
ASSERT_EQ(GetChildCount(shape), ChildCounter(1));
const auto shapeId = CreateShape(world, shape);
Attach(world, body, shapeId);
auto stepConf = StepConf{};
stepConf.deltaTime = 0_s;
Step(world, stepConf);
{
const auto p2 = Length2{-2_m, 0_m};
const auto p3 = Length2{+2_m, 0_m};
auto foundOurs = 0;
auto foundOthers = 0;
const auto retval = RayCast(world, RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](BodyID b, ShapeID f, ChildCounter i, Length2, UnitVec) {
if (b == body && f == shapeId && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::ResetRay;
});
EXPECT_FALSE(retval);
EXPECT_EQ(foundOurs, 1);
EXPECT_EQ(foundOthers, 1);
}
{
const auto p2 = Length2{-2_m, 0_m};
const auto p3 = Length2{+2_m, 0_m};
auto foundOurs = 0;
auto foundOthers = 0;
const auto retval = RayCast(world, RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](BodyID b, ShapeID f, ChildCounter i, Length2, UnitVec) {
if (b == body && f == shapeId && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::Terminate;
});
EXPECT_TRUE(retval);
EXPECT_EQ(foundOurs, 1);
EXPECT_EQ(foundOthers, 0);
}
{
const auto p2 = Length2{-2_m, 0_m};
const auto p3 = Length2{+2_m, 0_m};
auto foundOurs = 0;
auto foundOthers = 0;
const auto retval = RayCast(world, RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](BodyID b, ShapeID f, ChildCounter i, Length2, UnitVec) {
if (b == body && f == shapeId && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}