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World.cpp
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/*
* Copyright (c) 2017 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 "UnitTests.hpp"
#include <PlayRho/Dynamics/World.hpp>
#include <PlayRho/Dynamics/StepConf.hpp>
#include <PlayRho/Dynamics/Body.hpp>
#include <PlayRho/Dynamics/BodyConf.hpp>
#include <PlayRho/Dynamics/Fixture.hpp>
#include <PlayRho/Dynamics/Contacts/Contact.hpp>
#include <PlayRho/Dynamics/ContactImpulsesList.hpp>
#include <PlayRho/Collision/Shapes/DiskShapeConf.hpp>
#include <PlayRho/Collision/Shapes/PolygonShapeConf.hpp>
#include <PlayRho/Collision/Shapes/EdgeShapeConf.hpp>
#include <PlayRho/Collision/Collision.hpp>
#include <PlayRho/Collision/RayCastInput.hpp>
#include <PlayRho/Collision/RayCastOutput.hpp>
#include <PlayRho/Dynamics/Joints/TargetJoint.hpp>
#include <PlayRho/Dynamics/Joints/RopeJoint.hpp>
#include <PlayRho/Dynamics/Joints/RevoluteJoint.hpp>
#include <PlayRho/Dynamics/Joints/PrismaticJoint.hpp>
#include <PlayRho/Dynamics/Joints/DistanceJoint.hpp>
#include <PlayRho/Dynamics/Joints/PulleyJoint.hpp>
#include <PlayRho/Dynamics/Joints/WeldJoint.hpp>
#include <PlayRho/Dynamics/Joints/FrictionJoint.hpp>
#include <PlayRho/Dynamics/Joints/MotorJoint.hpp>
#include <PlayRho/Dynamics/Joints/WheelJoint.hpp>
#include <PlayRho/Dynamics/Joints/GearJoint.hpp>
#include <PlayRho/Common/LengthError.hpp>
#include <PlayRho/Common/WrongState.hpp>
#include <chrono>
#include <type_traits>
using namespace playrho;
using namespace playrho::d2;
class UnitTestDestructionListener: public playrho::d2::DestructionListener
{
void SayGoodbye(const Joint& joint) noexcept override
{
joints.push_back(&joint);
}
void SayGoodbye(const Fixture& fixture) noexcept override
{
fixtures.push_back(&fixture);
}
public:
std::vector<const Joint*> joints;
std::vector<const Fixture*> fixtures;
};
TEST(World, ByteSize)
{
switch (sizeof(Real))
{
case 4:
{
// Size is OS dependent.
// Seems linux containers are bigger in size...
#ifdef __APPLE__
EXPECT_EQ(sizeof(World), std::size_t(232));
#endif
#ifdef __linux__
EXPECT_EQ(sizeof(World), std::size_t(232));
#endif
break;
}
case 8:
{
#ifdef __APPLE__
EXPECT_EQ(sizeof(World), std::size_t(248));
#endif
#ifdef __linux__
EXPECT_EQ(sizeof(World), std::size_t(248));
#endif
break;
}
case 16:
EXPECT_EQ(sizeof(World), std::size_t(272));
break;
default: FAIL(); break;
}
}
TEST(World, Conf)
{
const auto worldConf = WorldConf{};
const auto defaultConf = GetDefaultWorldConf();
EXPECT_EQ(defaultConf.maxVertexRadius, worldConf.maxVertexRadius);
EXPECT_EQ(defaultConf.minVertexRadius, worldConf.minVertexRadius);
const auto stepConf = StepConf{};
const auto v = Real(1);
const auto n = nextafter(v, Real(0));
const auto time_inc = (v - n) * 1_s;
ASSERT_GT(time_inc, 0_s);
ASSERT_LT(time_inc, 1_s);
const auto max_inc = time_inc * stepConf.maxTranslation;
EXPECT_GT(max_inc, 0_m * 1_s);
}
TEST(World, Traits)
{
EXPECT_TRUE(std::is_default_constructible<World>::value);
EXPECT_FALSE(std::is_nothrow_default_constructible<World>::value);
EXPECT_FALSE(std::is_trivially_default_constructible<World>::value);
EXPECT_TRUE(std::is_constructible<World>::value);
EXPECT_FALSE(std::is_nothrow_constructible<World>::value);
EXPECT_FALSE(std::is_trivially_constructible<World>::value);
EXPECT_TRUE(std::is_copy_constructible<World>::value);
EXPECT_FALSE(std::is_nothrow_copy_constructible<World>::value);
EXPECT_FALSE(std::is_trivially_copy_constructible<World>::value);
EXPECT_TRUE(std::is_copy_assignable<World>::value);
EXPECT_FALSE(std::is_nothrow_copy_assignable<World>::value);
EXPECT_FALSE(std::is_trivially_copy_assignable<World>::value);
EXPECT_TRUE(std::is_destructible<World>::value);
EXPECT_TRUE(std::is_nothrow_destructible<World>::value);
EXPECT_FALSE(std::is_trivially_destructible<World>::value);
}
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(world.GetTree().GetLeafCount(), ContactCounter(0));
EXPECT_EQ(GetJointCount(world), JointCounter(0));
EXPECT_EQ(GetContactCount(world), ContactCounter(0));
EXPECT_EQ(GetHeight(world.GetTree()), ContactCounter(0));
EXPECT_EQ(ComputePerimeterRatio(world.GetTree()), Real(0));
{
const auto& bodies = world.GetBodies();
EXPECT_TRUE(bodies.empty());
EXPECT_EQ(bodies.size(), BodyCounter(0));
EXPECT_EQ(bodies.begin(), bodies.end());
EXPECT_EQ(world.GetBodies().begin(), world.GetBodies().end());
}
{
const auto& w = static_cast<const World&>(world);
const auto& bodies = w.GetBodies();
EXPECT_TRUE(bodies.empty());
EXPECT_EQ(bodies.size(), BodyCounter(0));
EXPECT_EQ(bodies.begin(), bodies.end());
EXPECT_EQ(w.GetBodies().begin(), w.GetBodies().end());
}
EXPECT_TRUE(world.GetContacts().empty());
EXPECT_EQ(world.GetContacts().size(), ContactCounter(0));
EXPECT_EQ(world.GetContacts().begin(), world.GetContacts().end());
EXPECT_TRUE(world.GetJoints().empty());
EXPECT_EQ(world.GetJoints().size(), JointCounter(0));
EXPECT_EQ(world.GetJoints().begin(), world.GetJoints().end());
EXPECT_FALSE(world.GetSubStepping());
EXPECT_FALSE(world.IsLocked());
}
TEST(World, Init)
{
World world{};
EXPECT_FALSE(world.IsLocked());
{
auto calls = 0;
Query(world.GetTree(), AABB{}, [&](Fixture*, 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.GetTree(), RayCastInput{p1, p2, UnitInterval<Real>{1}}, [&](Fixture*, ChildCounter, Length2, UnitVec) {
++calls;
return RayCastOpcode::ResetRay;
});
EXPECT_EQ(calls, 0);
}
}
TEST(World, InvalidArgumentInit)
{
const auto min = Positive<Length>(4_m);
const auto max = Positive<Length>(8_m);
ASSERT_GT(max, min);
const auto def = WorldConf{}.UseMinVertexRadius(max).UseMaxVertexRadius(min);
EXPECT_THROW(World{def}, InvalidArgument);
}
TEST(World, Clear)
{
auto world = World{};
ASSERT_EQ(world.GetBodies().size(), std::size_t(0));
ASSERT_EQ(world.GetJoints().size(), std::size_t(0));
auto listener = UnitTestDestructionListener{};
world.SetDestructionListener(&listener);
const auto b0 = world.CreateBody();
const auto f0 = b0->CreateFixture(Shape{DiskShapeConf{}});
const auto b1 = world.CreateBody();
const auto f1 = b1->CreateFixture(Shape{DiskShapeConf{}});
const auto j0 = world.CreateJoint(DistanceJointConf{b0, b1});
ASSERT_NE(j0, nullptr);
ASSERT_EQ(world.GetBodies().size(), std::size_t(2));
ASSERT_EQ(world.GetJoints().size(), std::size_t(1));
world.Clear();
EXPECT_EQ(world.GetBodies().size(), std::size_t(0));
EXPECT_EQ(world.GetJoints().size(), std::size_t(0));
ASSERT_EQ(listener.fixtures.size(), std::size_t(2));
EXPECT_EQ(listener.fixtures.at(0), f0);
EXPECT_EQ(listener.fixtures.at(1), f1);
ASSERT_EQ(listener.joints.size(), std::size_t(1));
EXPECT_EQ(listener.joints.at(0), j0);
}
TEST(World, SetSubStepping)
{
World world;
ASSERT_FALSE(world.GetSubStepping());
world.SetSubStepping(true);
EXPECT_TRUE(world.GetSubStepping());
world.SetSubStepping(false);
EXPECT_FALSE(world.GetSubStepping());
world.SetSubStepping(true);
EXPECT_TRUE(world.GetSubStepping());
auto stepConf = StepConf{};
stepConf.SetInvTime(100_Hz);
world.Step(stepConf);
EXPECT_TRUE(world.GetSubStepping());
}
TEST(World, IsStepComplete)
{
auto world{World{}};
ASSERT_FALSE(world.GetSubStepping());
EXPECT_TRUE(world.IsStepComplete());
world.SetSubStepping(true);
EXPECT_TRUE(world.GetSubStepping());
EXPECT_TRUE(world.IsStepComplete());
auto stepConf = StepConf{};
stepConf.SetInvTime(100_Hz);
world.Step(stepConf);
EXPECT_TRUE(world.GetSubStepping());
EXPECT_TRUE(world.IsStepComplete());
const auto b0 = world.CreateBody(BodyConf{}
.UseType(BodyType::Dynamic)
.UseLocation(Length2{-2_m, 2_m})
.UseLinearAcceleration(EarthlyGravity));
b0->CreateFixture(Shape{DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m)});
const auto b1 = world.CreateBody(BodyConf{}
.UseType(BodyType::Dynamic)
.UseLocation(Length2{+2_m, 2_m})
.UseLinearAcceleration(EarthlyGravity));
b1->CreateFixture(Shape{DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m)});
const auto stabody = world.CreateBody(BodyConf{}.UseType(BodyType::Static));
stabody->CreateFixture(Shape{EdgeShapeConf{Length2{-10_m, 0_m}, Length2{+10_m, 0_m}}});
while (world.IsStepComplete())
{
world.Step(stepConf);
}
EXPECT_FALSE(world.IsStepComplete());
world.Step(stepConf);
EXPECT_FALSE(world.IsStepComplete());
world.Step(stepConf);
EXPECT_TRUE(world.IsStepComplete());
}
TEST(World, CopyConstruction)
{
auto world = World{};
{
const auto copy = World{world};
EXPECT_EQ(world.GetMinVertexRadius(), copy.GetMinVertexRadius());
EXPECT_EQ(world.GetMaxVertexRadius(), copy.GetMaxVertexRadius());
EXPECT_EQ(world.GetJoints().size(), copy.GetJoints().size());
EXPECT_EQ(world.GetBodies().size(), copy.GetBodies().size());
EXPECT_EQ(world.GetContacts().size(), copy.GetContacts().size());
EXPECT_EQ(GetHeight(world.GetTree()), GetHeight(copy.GetTree()));
EXPECT_EQ(world.GetTree().GetLeafCount(), copy.GetTree().GetLeafCount());
EXPECT_EQ(GetMaxImbalance(world.GetTree()), GetMaxImbalance(copy.GetTree()));
}
const auto shape = Shape{DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m)};
const auto b1 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b1->CreateFixture(shape);
const auto b2 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b2->CreateFixture(shape);
// Add another body on top of previous and that's not part of any joints to ensure at 1 contact
const auto b3 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b3->CreateFixture(shape);
const auto b4 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b4->CreateFixture(shape);
const auto b5 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b5->CreateFixture(shape);
const auto rj1 = world.CreateJoint(RevoluteJointConf{b1, b2, Length2{}});
const auto rj2 = world.CreateJoint(RevoluteJointConf{b3, b4, Length2{}});
world.CreateJoint(PrismaticJointConf{b1, b2, Length2{}, UnitVec::GetRight()});
world.CreateJoint(PulleyJointConf{b1, b2, Length2{}, Length2{},
Length2{}, Length2{}}.UseRatio(Real(1)));
world.CreateJoint(DistanceJointConf{b4, b5});
world.CreateJoint(WeldJointConf{b4, b5, Length2{}});
world.CreateJoint(FrictionJointConf{b4, b5, Length2{}});
world.CreateJoint(RopeJointConf{b4, b5});
world.CreateJoint(MotorJointConf{b4, b5});
world.CreateJoint(WheelJointConf{b4, b5, Length2{}, UnitVec::GetRight()});
world.CreateJoint(TargetJointConf{b4});
world.CreateJoint(GearJointConf{rj1, rj2});
auto stepConf = StepConf{};
world.Step(stepConf);
ASSERT_FALSE(world.GetContacts().empty());
{
const auto copy = World{world};
EXPECT_EQ(world.GetMinVertexRadius(), copy.GetMinVertexRadius());
EXPECT_EQ(world.GetMaxVertexRadius(), copy.GetMaxVertexRadius());
EXPECT_EQ(world.GetJoints().size(), copy.GetJoints().size());
const auto minJoints = std::min(world.GetJoints().size(), copy.GetJoints().size());
auto worldJointIter = world.GetJoints().begin();
auto copyJointIter = copy.GetJoints().begin();
for (auto i = decltype(minJoints){0}; i < minJoints; ++i)
{
EXPECT_EQ(GetType(*(*worldJointIter)), GetType(*(*copyJointIter)));
++worldJointIter;
++copyJointIter;
}
EXPECT_EQ(world.GetBodies().size(), copy.GetBodies().size());
EXPECT_EQ(world.GetContacts().size(), copy.GetContacts().size());
EXPECT_EQ(GetHeight(world.GetTree()), GetHeight(copy.GetTree()));
EXPECT_EQ(world.GetTree().GetLeafCount(), copy.GetTree().GetLeafCount());
EXPECT_EQ(GetMaxImbalance(world.GetTree()), GetMaxImbalance(copy.GetTree()));
}
}
TEST(World, CopyAssignment)
{
auto world = World{};
{
auto copy = World{};
copy = world;
EXPECT_EQ(world.GetMinVertexRadius(), copy.GetMinVertexRadius());
EXPECT_EQ(world.GetMaxVertexRadius(), copy.GetMaxVertexRadius());
EXPECT_EQ(world.GetJoints().size(), copy.GetJoints().size());
EXPECT_EQ(world.GetBodies().size(), copy.GetBodies().size());
EXPECT_EQ(world.GetContacts().size(), copy.GetContacts().size());
EXPECT_EQ(GetHeight(world.GetTree()), GetHeight(copy.GetTree()));
EXPECT_EQ(world.GetTree().GetLeafCount(), copy.GetTree().GetLeafCount());
EXPECT_EQ(GetMaxImbalance(world.GetTree()), GetMaxImbalance(copy.GetTree()));
}
const auto shape = Shape{DiskShapeConf{}.UseDensity(1_kgpm2).UseRadius(1_m)};
const auto b1 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b1->CreateFixture(shape);
const auto b2 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
b2->CreateFixture(shape);
world.CreateJoint(RevoluteJointConf{b1, b2, Length2{}});
world.CreateJoint(PrismaticJointConf{b1, b2, Length2{}, UnitVec::GetRight()});
world.CreateJoint(PulleyJointConf{b1, b2, Length2{}, Length2{},
Length2{}, Length2{}}.UseRatio(Real(1)));
auto stepConf = StepConf{};
world.Step(stepConf);
{
auto copy = World{};
copy = world;
EXPECT_EQ(world.GetMinVertexRadius(), copy.GetMinVertexRadius());
EXPECT_EQ(world.GetMaxVertexRadius(), copy.GetMaxVertexRadius());
EXPECT_EQ(world.GetJoints().size(), copy.GetJoints().size());
const auto minJoints = std::min(world.GetJoints().size(), copy.GetJoints().size());
auto worldJointIter = world.GetJoints().begin();
auto copyJointIter = copy.GetJoints().begin();
for (auto i = decltype(minJoints){0}; i < minJoints; ++i)
{
EXPECT_EQ(GetType(*(*worldJointIter)), GetType(*(*copyJointIter)));
++worldJointIter;
++copyJointIter;
}
EXPECT_EQ(world.GetBodies().size(), copy.GetBodies().size());
EXPECT_EQ(world.GetContacts().size(), copy.GetContacts().size());
EXPECT_EQ(GetHeight(world.GetTree()), GetHeight(copy.GetTree()));
EXPECT_EQ(world.GetTree().GetLeafCount(), copy.GetTree().GetLeafCount());
EXPECT_EQ(GetMaxImbalance(world.GetTree()), GetMaxImbalance(copy.GetTree()));
}
}
TEST(World, CreateDestroyEmptyStaticBody)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Static));
ASSERT_NE(body, nullptr);
EXPECT_EQ(body->GetType(), BodyType::Static);
EXPECT_FALSE(body->IsSpeedable());
EXPECT_FALSE(body->IsAccelerable());
EXPECT_TRUE(body->IsImpenetrable());
EXPECT_EQ(body->GetFixtures().size(), std::size_t{0});
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = world.GetBodies();
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto& first = GetRef(*bodies1.begin());
EXPECT_EQ(body, &first);
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{0});
world.Destroy(body);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
const auto& bodies2 = world.GetBodies();
EXPECT_TRUE(bodies2.empty());
EXPECT_EQ(bodies2.size(), BodyCounter(0));
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{0});
}
TEST(World, CreateDestroyEmptyDynamicBody)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
ASSERT_NE(body, nullptr);
EXPECT_EQ(body->GetType(), BodyType::Dynamic);
EXPECT_TRUE(body->IsSpeedable());
EXPECT_TRUE(body->IsAccelerable());
EXPECT_FALSE(body->IsImpenetrable());
EXPECT_EQ(body->GetFixtures().size(), std::size_t{0});
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = world.GetBodies();
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto& first = GetRef(*bodies1.begin());
EXPECT_EQ(body, &first);
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{0});
world.Destroy(body);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
const auto& bodies2 = world.GetBodies();
EXPECT_TRUE(bodies2.empty());
EXPECT_EQ(bodies2.size(), BodyCounter(0));
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{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 body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
ASSERT_NE(body, nullptr);
EXPECT_EQ(body->GetType(), BodyType::Dynamic);
EXPECT_TRUE(body->IsSpeedable());
EXPECT_TRUE(body->IsAccelerable());
EXPECT_FALSE(body->IsImpenetrable());
EXPECT_EQ(body->GetFixtures().size(), std::size_t{0});
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto bodies1 = world.GetBodies();
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto& first = GetRef(*bodies1.begin());
EXPECT_EQ(body, &first);
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{0});
const auto fixture = body->CreateFixture(Shape{DiskShapeConf{1_m}});
ASSERT_NE(fixture, nullptr);
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(body->GetFixtures().size(), std::size_t{1});
ASSERT_EQ(world.GetFixturesForProxies().size(), std::size_t{1});
EXPECT_EQ(*world.GetFixturesForProxies().begin(), fixture);
world.Destroy(body); // should clear fixtures for proxies!
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
const auto& bodies2 = world.GetBodies();
EXPECT_TRUE(bodies2.empty());
EXPECT_EQ(bodies2.size(), BodyCounter(0));
EXPECT_EQ(world.GetBodiesForProxies().size(), std::size_t{0});
EXPECT_EQ(world.GetFixturesForProxies().size(), std::size_t{0});
}
TEST(World, CreateDestroyJoinedBodies)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(GetJointCount(world), JointCounter(0));
auto listener = UnitTestDestructionListener{};
world.SetDestructionListener(&listener);
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto& bodies1 = world.GetBodies();
EXPECT_FALSE(bodies1.empty());
EXPECT_EQ(bodies1.size(), BodyCounter(1));
EXPECT_NE(bodies1.begin(), bodies1.end());
const auto& first = GetRef(*bodies1.begin());
ASSERT_NE(body, nullptr);
EXPECT_EQ(body, &first);
const auto body2 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
EXPECT_EQ(GetBodyCount(world), BodyCounter(2));
const auto f0 = body->CreateFixture(Shape{DiskShapeConf{1_m}});
const auto f1 = body2->CreateFixture(Shape{DiskShapeConf{1_m}});
EXPECT_EQ(world.GetContacts().size(), ContactCounter(0));
auto stepConf = StepConf{};
world.Step(stepConf);
ASSERT_EQ(world.GetContacts().size(), ContactCounter(1));
const auto c0 = world.GetContacts().begin();
EXPECT_FALSE(c0->second->NeedsFiltering());
const auto joint = world.CreateJoint(DistanceJointConf{body, body2});
ASSERT_NE(joint, nullptr);
EXPECT_EQ(GetJointCount(world), JointCounter(1));
EXPECT_TRUE(c0->second->NeedsFiltering());
world.Destroy(body);
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
EXPECT_EQ(GetJointCount(world), JointCounter(0));
EXPECT_EQ(world.GetContacts().size(), ContactCounter(0));
const auto& bodies0 = world.GetBodies();
EXPECT_FALSE(bodies0.empty());
EXPECT_EQ(bodies0.size(), BodyCounter(1));
EXPECT_NE(bodies0.begin(), bodies0.end());
world.Destroy(body2);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(listener.fixtures.size(), std::size_t(2));
EXPECT_EQ(listener.fixtures.at(0), f0);
EXPECT_EQ(listener.fixtures.at(1), f1);
ASSERT_EQ(listener.joints.size(), std::size_t(1));
EXPECT_EQ(listener.joints.at(0), joint);
}
TEST(World, CreateDestroyContactingBodies)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
ASSERT_EQ(GetJointCount(world), JointCounter(0));
auto contacts = world.GetContacts();
ASSERT_TRUE(contacts.empty());
ASSERT_EQ(contacts.size(), ContactCounter(0));
const auto l1 = Length2{};
const auto l2 = Length2{};
const auto body1 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic).UseLocation(l1));
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
const auto body2 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic).UseLocation(l2));
EXPECT_EQ(GetBodyCount(world), BodyCounter(2));
EXPECT_NE(body1->CreateFixture(Shape{DiskShapeConf{1_m}.UseDensity(1_kgpm2)}), nullptr);
EXPECT_NE(body2->CreateFixture(Shape{DiskShapeConf{1_m}.UseDensity(1_kgpm2)}), nullptr);
EXPECT_EQ(GetFixtureCount(world), std::size_t(2));
auto stepConf = StepConf{};
world.Step(stepConf);
contacts = world.GetContacts();
EXPECT_FALSE(contacts.empty());
EXPECT_EQ(contacts.size(), ContactCounter(1));
world.Destroy(body1);
EXPECT_EQ(GetBodyCount(world), BodyCounter(1));
world.Destroy(body2);
EXPECT_EQ(GetBodyCount(world), BodyCounter(0));
contacts = world.GetContacts();
EXPECT_TRUE(contacts.empty());
EXPECT_EQ(contacts.size(), ContactCounter(0));
EXPECT_EQ(GetFixtureCount(world), std::size_t(0));
}
#if 0
TEST(World, CreateAndDestroyFixture)
{
auto world = World{};
auto other = World{};
const auto bodyA = world.CreateBody();
const auto bodyB = world.CreateBody();
ASSERT_EQ(GetFixtureCount(*bodyA), std::size_t(0));
ASSERT_EQ(GetFixtureCount(*bodyB), std::size_t(0));
EXPECT_THROW(world.CreateFixture(*bodyA, Shape{DiskShapeConf(0_m)}), InvalidArgument);
EXPECT_THROW(world.CreateFixture(*bodyA, Shape{DiskShapeConf(WorldConf{}.maxVertexRadius * 2)}), InvalidArgument);
const auto fixtureA = world.CreateFixture(*bodyA, Shape{DiskShapeConf(1_m)});
ASSERT_NE(fixtureA, nullptr);
ASSERT_EQ(GetFixtureCount(*bodyA), std::size_t(1));
EXPECT_FALSE(other.TouchProxies(*fixtureA));
EXPECT_TRUE(world.Destroy(fixtureA));
EXPECT_EQ(GetFixtureCount(*bodyA), std::size_t(0));
EXPECT_FALSE(world.Destroy(static_cast<Fixture*>(nullptr)));
const auto bodyC = other.CreateBody();
ASSERT_NE(bodyC, nullptr);
const auto fixtureC = other.CreateFixture(*bodyC, Shape{DiskShapeConf(1_m)});
ASSERT_NE(fixtureC, nullptr);
EXPECT_FALSE(world.Destroy(fixtureC));
EXPECT_THROW(world.CreateFixture(*bodyC, Shape{DiskShapeConf(1_m)}), InvalidArgument);
}
#endif
TEST(World, SynchronizeProxies)
{
auto world = World{};
const auto stepConf = StepConf{};
EXPECT_EQ(world.Step(stepConf).pre.proxiesMoved, PreStepStats::counter_type(0));
const auto bodyA = world.CreateBody();
bodyA->CreateFixture(Shape{DiskShapeConf(1_m)});
EXPECT_EQ(world.Step(stepConf).pre.proxiesMoved, PreStepStats::counter_type(0));
SetLocation(*bodyA, Length2{10_m, -4_m});
EXPECT_EQ(world.Step(stepConf).pre.proxiesMoved, PreStepStats::counter_type(1));
}
#if 0
TEST(World, SetTypeOfBody)
{
auto world = World{};
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
ASSERT_EQ(body->GetType(), BodyType::Dynamic);
auto other = World{};
other.SetType(*body, BodyType::Static);
EXPECT_EQ(body->GetType(), BodyType::Dynamic);
world.SetType(*body, BodyType::Static);
EXPECT_EQ(body->GetType(), BodyType::Static);
}
TEST(World, RegisterBodyForProxies)
{
auto world = World{};
EXPECT_FALSE(world.RegisterForProxies(static_cast<Body*>(nullptr)));
const auto body = world.CreateBody();
EXPECT_TRUE(world.RegisterForProxies(body));
}
TEST(World, RegisterFixtureForProxies)
{
auto world = World{};
EXPECT_FALSE(world.RegisterForProxies(static_cast<Fixture*>(nullptr)));
const auto body = world.CreateBody();
const auto fixture = body->CreateFixture(Shape{DiskShapeConf(1_m)});
EXPECT_TRUE(world.RegisterForProxies(fixture));
}
#endif
TEST(World, Query)
{
auto world = World{};
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
ASSERT_NE(body, nullptr);
ASSERT_EQ(body->GetType(), BodyType::Dynamic);
ASSERT_TRUE(body->IsSpeedable());
ASSERT_TRUE(body->IsAccelerable());
ASSERT_FALSE(body->IsImpenetrable());
ASSERT_EQ(GetX(body->GetLocation()), 0_m);
ASSERT_EQ(GetY(body->GetLocation()), 0_m);
ASSERT_EQ(GetX(body->GetLinearAcceleration()), 0_mps2);
ASSERT_EQ(GetY(body->GetLinearAcceleration()), 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 fixture = body->CreateFixture(Shape{conf});
ASSERT_NE(fixture, nullptr);
auto stepConf = StepConf{};
stepConf.SetTime(0_s);
world.Step(stepConf);
{
auto foundOurs = 0;
auto foundOthers = 0;
Query(world.GetTree(), AABB{v1, v2}, [&](Fixture* f, ChildCounter i) {
if (f == fixture && 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 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic).UseLocation(p0));
ASSERT_NE(b0->CreateFixture(Shape{DiskShapeConf{1_m}}), nullptr);
const auto p1 = Length2{+1_m, 0_m};
const auto b1 = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic).UseLocation(p1));
ASSERT_NE(b1->CreateFixture(Shape{DiskShapeConf{0.1_m}}), nullptr);
const auto b2 = world.CreateBody(BodyConf{}.UseType(BodyType::Static).UseLocation(Length2{-100_m, -100_m}));
ASSERT_NE(b2->CreateFixture(Shape{EdgeShapeConf{Length2{}, Length2{-20_m, -20_m}}}), nullptr);
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));
ASSERT_NE(body, nullptr);
ASSERT_EQ(body->GetType(), BodyType::Dynamic);
ASSERT_TRUE(body->IsSpeedable());
ASSERT_TRUE(body->IsAccelerable());
ASSERT_FALSE(body->IsImpenetrable());
ASSERT_EQ(GetX(body->GetLocation()), 0_m);
ASSERT_EQ(GetY(body->GetLocation()), 0_m);
ASSERT_EQ(GetX(body->GetLinearAcceleration()), 0_mps2);
ASSERT_EQ(GetY(body->GetLinearAcceleration()), 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 fixture = body->CreateFixture(shape);
ASSERT_NE(fixture, nullptr);
auto stepConf = StepConf{};
stepConf.SetTime(0_s);
world.Step(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.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && 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.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && 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.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::IgnoreFixture;
});
EXPECT_FALSE(retval);
EXPECT_EQ(foundOurs, 1);
EXPECT_EQ(foundOthers, 1);
}
{
const auto p2 = Length2{ +5_m, 0_m};
const auto p3 = Length2{+10_m, 0_m};
auto foundOurs = 0;
auto foundOthers = 0;
const auto retval = RayCast(world.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::IgnoreFixture;
});
EXPECT_FALSE(retval);
EXPECT_EQ(foundOurs, 0);
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.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::ClipRay;
});
EXPECT_TRUE(retval);
EXPECT_EQ(foundOurs, 1);
EXPECT_EQ(foundOthers, 0);
}
{
const auto p2 = Length2{-3_m, 0_m};
const auto p3 = Length2{+2_m, 10_m};
auto foundOurs = 0;
auto foundOthers = 0;
const auto retval = RayCast(world.GetTree(), RayCastInput{p2, p3, UnitInterval<Real>{1}},
[&](Fixture* f, ChildCounter i, Length2, UnitVec) {
if (f == fixture && i == 0)
{
++foundOurs;
}
else
{
++foundOthers;
}
return RayCastOpcode::ResetRay;
});
EXPECT_FALSE(retval);
EXPECT_EQ(foundOurs, 0);
EXPECT_EQ(foundOthers, 0);
}
{
auto found = 0;
const auto rci = RayCastInput{Length2{-100_m, -101_m}, Length2{-120_m, -121_m}, Real{0.9f}};
const auto retval = RayCast(world.GetTree(), rci, [&](Fixture*, ChildCounter, Length2, UnitVec) {
++found;
return RayCastOpcode::Terminate;
});
EXPECT_FALSE(retval);
EXPECT_EQ(found, 0);
}
}
TEST(World, ClearForcesFreeFunction)
{
World world;
ASSERT_EQ(GetBodyCount(world), BodyCounter(0));
const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic).UseLinearAcceleration(EarthlyGravity));
ASSERT_NE(body, nullptr);
ASSERT_EQ(body->GetType(), BodyType::Dynamic);
ASSERT_TRUE(body->IsSpeedable());
ASSERT_TRUE(body->IsAccelerable());
ASSERT_FALSE(body->IsImpenetrable());
ASSERT_EQ(GetX(body->GetLinearAcceleration()), GetX(EarthlyGravity));
ASSERT_EQ(GetY(body->GetLinearAcceleration()), GetY(EarthlyGravity));
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};
const auto fixture = body->CreateFixture(shape);
ASSERT_NE(fixture, nullptr);
ApplyForceToCenter(*body, Force2(2_N, 4_N));
ASSERT_NE(GetX(body->GetLinearAcceleration()), GetX(EarthlyGravity));
ASSERT_NE(GetY(body->GetLinearAcceleration()), GetY(EarthlyGravity));
ClearForces(world);
EXPECT_EQ(GetX(body->GetLinearAcceleration()), 0_mps2);
EXPECT_EQ(GetY(body->GetLinearAcceleration()), 0_mps2);
}
TEST(World, SetAccelerationsFunctionalFF)
{
World world;