120 lines
3.8 KiB
Go
120 lines
3.8 KiB
Go
package physics_test
|
|
|
|
import (
|
|
"testing"
|
|
|
|
"aego/contracts/physics2d"
|
|
"aego/core/mathx"
|
|
"aego/modules/physics/components"
|
|
"aego/scene"
|
|
)
|
|
|
|
type castScene struct {
|
|
*fixture
|
|
ground, groundCol scene.NodeHandle
|
|
mover, foot scene.NodeHandle
|
|
q physics2d.Queries
|
|
all physics2d.QueryFilter
|
|
}
|
|
|
|
// newCastScene: a static ground whose collider sits on a child node and a kinematic mover with a body box and a foot box.
|
|
func newCastScene(t *testing.T) *castScene {
|
|
f := newFixture(t)
|
|
c := &castScene{fixture: f, all: physics2d.QueryFilter{LayerMask: ^uint32(0)}}
|
|
c.ground = f.node(scene.NodeHandle{}, "Ground", mathx.Vec2{Y: 5})
|
|
f.body(c.ground, components.Static)
|
|
c.groundCol = f.node(c.ground, "GroundShape", mathx.Vec2{})
|
|
f.box(c.groundCol, mathx.Vec2{X: 20, Y: 1})
|
|
c.mover = f.node(scene.NodeHandle{}, "Mover", mathx.Vec2{})
|
|
f.body(c.mover, components.Kinematic)
|
|
f.box(c.mover, mathx.Vec2{X: 1, Y: 1})
|
|
c.foot = f.node(c.mover, "Foot", mathx.Vec2{Y: 0.5})
|
|
f.box(c.foot, mathx.Vec2{X: 0.5, Y: 0.5})
|
|
f.step(1)
|
|
c.q = f.sim
|
|
return c
|
|
}
|
|
|
|
func TestCastBodyMapsToNodes(t *testing.T) {
|
|
c := newCastScene(t)
|
|
h, ok := c.q.CastBody(c.mover, mathx.Vec2{}, mathx.Vec2{Y: 10}, c.all)
|
|
if !ok || h.Initial || h.Node != c.ground || h.ColliderNode != c.groundCol {
|
|
t.Fatalf("hit %+v ok=%v", h, ok)
|
|
}
|
|
if !near(h.Fraction, 0.375, 0.005) || !near(h.Normal.Y, -1, 1e-3) || !near(h.Point.Y, 4.5, 0.01) {
|
|
t.Fatalf("hit geometry %+v", h)
|
|
}
|
|
if h, ok := c.q.CastBody(c.ground, mathx.Vec2{}, mathx.Vec2{Y: -10}, c.all); !ok || h.Node != c.mover || h.ColliderNode != c.foot {
|
|
t.Fatalf("ground cast up %+v ok=%v", h, ok)
|
|
}
|
|
if _, ok := c.q.CastBody(c.groundCol, mathx.Vec2{}, mathx.Vec2{Y: 1}, c.all); ok {
|
|
t.Fatal("a collider node is not a body")
|
|
}
|
|
}
|
|
|
|
func TestPenetrationByNode(t *testing.T) {
|
|
c := newCastScene(t)
|
|
if err := c.q.Teleport(c.mover, mathx.Vec2{Y: 3.9}, 0); err != nil {
|
|
t.Fatal(err)
|
|
}
|
|
out := make([]physics2d.CastHit, 4)
|
|
n := c.q.Penetration(c.mover, c.all, out)
|
|
if n != 1 || out[0].Node != c.ground || out[0].ColliderNode != c.groundCol {
|
|
t.Fatalf("penetration %d %+v", n, out[:n])
|
|
}
|
|
if !near(out[0].Depth, 0.15, 1e-3) || !near(out[0].Normal.Y, -1, 1e-3) || !out[0].Initial {
|
|
t.Fatalf("depth and normal %+v", out[0])
|
|
}
|
|
}
|
|
|
|
func TestMoveKinematicReachesTargetAndPushes(t *testing.T) {
|
|
c := newCastScene(t)
|
|
crate, _ := c.crate(mathx.Vec2{X: 2.2})
|
|
c.step(1)
|
|
target := mathx.Vec2{X: 1}
|
|
if err := c.q.MoveKinematic(c.mover, target, 0, dt); err != nil {
|
|
t.Fatal(err)
|
|
}
|
|
c.step(1)
|
|
p, a, ok := c.q.BodyPose(c.mover)
|
|
if !ok || !near(p.X, 1, 1e-4) || !near(p.Y, 0, 1e-4) || a != 0 {
|
|
t.Fatalf("pose %v %v %v", p, a, ok)
|
|
}
|
|
if v, _, _ := c.q.BodyVelocity(c.mover); !near(v.X, 60, 1e-2) {
|
|
t.Fatalf("mover velocity %v", v)
|
|
}
|
|
for range 5 {
|
|
p, _, _ := c.q.BodyPose(c.mover)
|
|
if err := c.q.MoveKinematic(c.mover, p.Add(mathx.Vec2{X: 0.1}), 0, dt); err != nil {
|
|
t.Fatal(err)
|
|
}
|
|
c.step(1)
|
|
}
|
|
if v, _, _ := c.q.BodyVelocity(crate); v.X <= 0 {
|
|
t.Fatalf("crate was not pushed: %v", v)
|
|
}
|
|
if err := c.q.MoveKinematic(c.groundCol, target, 0, dt); err == nil {
|
|
t.Fatal("MoveKinematic on a collider node must fail")
|
|
}
|
|
if err := c.q.ApplyImpulse(crate, mathx.Vec2{X: 1}); err != nil {
|
|
t.Fatal(err)
|
|
}
|
|
}
|
|
|
|
func TestExcludeBodyMatchesExcludeNode(t *testing.T) {
|
|
c := newCastScene(t)
|
|
from := mathx.Vec2{Y: -3}
|
|
if h, ok := c.q.CastCircle(from, 0.25, mathx.Vec2{Y: 10}, c.all); !ok || h.Node != c.mover {
|
|
t.Fatalf("unfiltered %+v", h)
|
|
}
|
|
for _, f := range []physics2d.QueryFilter{
|
|
{LayerMask: ^uint32(0), ExcludeBody: c.mover},
|
|
{LayerMask: ^uint32(0), ExcludeNode: c.mover},
|
|
{LayerMask: ^uint32(0), ExcludeNode: c.foot},
|
|
} {
|
|
if h, ok := c.q.CastCircle(from, 0.25, mathx.Vec2{Y: 10}, f); !ok || h.Node != c.ground {
|
|
t.Fatalf("filter %+v: %+v", f, h)
|
|
}
|
|
}
|
|
}
|