test.cpp

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// MIT License

// Copyright (c) 2019 Erin Catto

// 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.h"
#include "settings.h"
#include <stdio.h>

void DestructionListener::SayGoodbye(b2Joint* joint)
{
        if (test->m_mouseJoint == joint)
        {
                test->m_mouseJoint = NULL;
        }
        else
        {
                test->JointDestroyed(joint);
        }
}

Test::Test()
{
        b2Vec2 gravity;
        gravity.Set(0.0f, -10.0f);
        m_world = new b2World(gravity);
        m_bomb = NULL;
        m_textLine = 30;
        m_textIncrement = 13;
        m_mouseJoint = NULL;
        m_pointCount = 0;

        m_destructionListener.test = this;
        m_world->SetDestructionListener(&m_destructionListener);
        m_world->SetContactListener(this);
        m_world->SetDebugDraw(&g_debugDraw);
        
        m_bombSpawning = false;

        m_stepCount = 0;

        b2BodyDef bodyDef;
        m_groundBody = m_world->CreateBody(&bodyDef);

        memset(&m_maxProfile, 0, sizeof(b2Profile));
        memset(&m_totalProfile, 0, sizeof(b2Profile));
}

Test::~Test()
{
        // By deleting the world, we delete the bomb, mouse joint, etc.
        delete m_world;
        m_world = NULL;
}

void Test::PreSolve(b2Contact* contact, const b2Manifold* oldManifold)
{
        const b2Manifold* manifold = contact->GetManifold();

        if (manifold->pointCount == 0)
        {
                return;
        }

        b2Fixture* fixtureA = contact->GetFixtureA();
        b2Fixture* fixtureB = contact->GetFixtureB();

        b2PointState state1[b2_maxManifoldPoints], state2[b2_maxManifoldPoints];
        b2GetPointStates(state1, state2, oldManifold, manifold);

        b2WorldManifold worldManifold;
        contact->GetWorldManifold(&worldManifold);

        for (int32 i = 0; i < manifold->pointCount && m_pointCount < k_maxContactPoints; ++i)
        {
                ContactPoint* cp = m_points + m_pointCount;
                cp->fixtureA = fixtureA;
                cp->fixtureB = fixtureB;
                cp->position = worldManifold.points[i];
                cp->normal = worldManifold.normal;
                cp->state = state2[i];
                cp->normalImpulse = manifold->points[i].normalImpulse;
                cp->tangentImpulse = manifold->points[i].tangentImpulse;
                cp->separation = worldManifold.separations[i];
                ++m_pointCount;
        }
}

void Test::DrawTitle(const char *string)
{
    g_debugDraw.DrawString(5, 5, string);
    m_textLine = int32(26.0f);
}

class QueryCallback : public b2QueryCallback
{
public:
        QueryCallback(const b2Vec2& point)
        {
                m_point = point;
                m_fixture = NULL;
        }

        bool ReportFixture(b2Fixture* fixture) override
        {
                b2Body* body = fixture->GetBody();
                if (body->GetType() == b2_dynamicBody)
                {
                        bool inside = fixture->TestPoint(m_point);
                        if (inside)
                        {
                                m_fixture = fixture;

                                // We are done, terminate the query.
                                return false;
                        }
                }

                // Continue the query.
                return true;
        }

        b2Vec2 m_point;
        b2Fixture* m_fixture;
};

void Test::MouseDown(const b2Vec2& p)
{
        m_mouseWorld = p;
        
        if (m_mouseJoint != NULL)
        {
                return;
        }

        // Make a small box.
        b2AABB aabb;
        b2Vec2 d;
        d.Set(0.001f, 0.001f);
        aabb.lowerBound = p - d;
        aabb.upperBound = p + d;

        // Query the world for overlapping shapes.
        QueryCallback callback(p);
        m_world->QueryAABB(&callback, aabb);

        if (callback.m_fixture)
        {
                float frequencyHz = 5.0f;
                float dampingRatio = 0.7f;

                b2Body* body = callback.m_fixture->GetBody();
                b2MouseJointDef jd;
                jd.bodyA = m_groundBody;
                jd.bodyB = body;
                jd.target = p;
                jd.maxForce = 1000.0f * body->GetMass();
                b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);

                m_mouseJoint = (b2MouseJoint*)m_world->CreateJoint(&jd);
                body->SetAwake(true);
        }
}

void Test::SpawnBomb(const b2Vec2& worldPt)
{
        m_bombSpawnPoint = worldPt;
        m_bombSpawning = true;
}
    
void Test::CompleteBombSpawn(const b2Vec2& p)
{
        if (m_bombSpawning == false)
        {
                return;
        }

        const float multiplier = 30.0f;
        b2Vec2 vel = m_bombSpawnPoint - p;
        vel *= multiplier;
        LaunchBomb(m_bombSpawnPoint,vel);
        m_bombSpawning = false;
}

void Test::ShiftMouseDown(const b2Vec2& p)
{
        m_mouseWorld = p;
        
        if (m_mouseJoint != NULL)
        {
                return;
        }

        SpawnBomb(p);
}

void Test::MouseUp(const b2Vec2& p)
{
        if (m_mouseJoint)
        {
                m_world->DestroyJoint(m_mouseJoint);
                m_mouseJoint = NULL;
        }
        
        if (m_bombSpawning)
        {
                CompleteBombSpawn(p);
        }
}

void Test::MouseMove(const b2Vec2& p)
{
        m_mouseWorld = p;
        
        if (m_mouseJoint)
        {
                m_mouseJoint->SetTarget(p);
        }
}

void Test::LaunchBomb()
{
        b2Vec2 p(RandomFloat(-15.0f, 15.0f), 30.0f);
        b2Vec2 v = -5.0f * p;
        LaunchBomb(p, v);
}

void Test::LaunchBomb(const b2Vec2& position, const b2Vec2& velocity)
{
        if (m_bomb)
        {
                m_world->DestroyBody(m_bomb);
                m_bomb = NULL;
        }

        b2BodyDef bd;
        bd.type = b2_dynamicBody;
        bd.position = position;
        bd.bullet = true;
        m_bomb = m_world->CreateBody(&bd);
        m_bomb->SetLinearVelocity(velocity);
        
        b2CircleShape circle;
        circle.m_radius = 0.3f;

        b2FixtureDef fd;
        fd.shape = &circle;
        fd.density = 20.0f;
        fd.restitution = 0.0f;
        
        b2Vec2 minV = position - b2Vec2(0.3f,0.3f);
        b2Vec2 maxV = position + b2Vec2(0.3f,0.3f);
        
        b2AABB aabb;
        aabb.lowerBound = minV;
        aabb.upperBound = maxV;

        m_bomb->CreateFixture(&fd);
}

void Test::Step(Settings& settings)
{
        float timeStep = settings.m_hertz > 0.0f ? 1.0f / settings.m_hertz : float(0.0f);

        if (settings.m_pause)
        {
                if (settings.m_singleStep)
                {
                        settings.m_singleStep = 0;
                }
                else
                {
                        timeStep = 0.0f;
                }

                g_debugDraw.DrawString(5, m_textLine, "****PAUSED****");
                m_textLine += m_textIncrement;
        }

        uint32 flags = 0;
        flags += settings.m_drawShapes * b2Draw::e_shapeBit;
        flags += settings.m_drawJoints * b2Draw::e_jointBit;
        flags += settings.m_drawAABBs * b2Draw::e_aabbBit;
        flags += settings.m_drawCOMs * b2Draw::e_centerOfMassBit;
        g_debugDraw.SetFlags(flags);

        m_world->SetAllowSleeping(settings.m_enableSleep);
        m_world->SetWarmStarting(settings.m_enableWarmStarting);
        m_world->SetContinuousPhysics(settings.m_enableContinuous);
        m_world->SetSubStepping(settings.m_enableSubStepping);

        m_pointCount = 0;

        m_world->Step(timeStep, settings.m_velocityIterations, settings.m_positionIterations);

        m_world->DebugDraw();
    g_debugDraw.Flush();

        if (timeStep > 0.0f)
        {
                ++m_stepCount;
        }

        if (settings.m_drawStats)
        {
                int32 bodyCount = m_world->GetBodyCount();
                int32 contactCount = m_world->GetContactCount();
                int32 jointCount = m_world->GetJointCount();
                g_debugDraw.DrawString(5, m_textLine, "bodies/contacts/joints = %d/%d/%d", bodyCount, contactCount, jointCount);
                m_textLine += m_textIncrement;

                int32 proxyCount = m_world->GetProxyCount();
                int32 height = m_world->GetTreeHeight();
                int32 balance = m_world->GetTreeBalance();
                float quality = m_world->GetTreeQuality();
                g_debugDraw.DrawString(5, m_textLine, "proxies/height/balance/quality = %d/%d/%d/%g", proxyCount, height, balance, quality);
                m_textLine += m_textIncrement;
        }

        // Track maximum profile times
        {
                const b2Profile& p = m_world->GetProfile();
                m_maxProfile.step = b2Max(m_maxProfile.step, p.step);
                m_maxProfile.collide = b2Max(m_maxProfile.collide, p.collide);
                m_maxProfile.solve = b2Max(m_maxProfile.solve, p.solve);
                m_maxProfile.solveInit = b2Max(m_maxProfile.solveInit, p.solveInit);
                m_maxProfile.solveVelocity = b2Max(m_maxProfile.solveVelocity, p.solveVelocity);
                m_maxProfile.solvePosition = b2Max(m_maxProfile.solvePosition, p.solvePosition);
                m_maxProfile.solveTOI = b2Max(m_maxProfile.solveTOI, p.solveTOI);
                m_maxProfile.broadphase = b2Max(m_maxProfile.broadphase, p.broadphase);

                m_totalProfile.step += p.step;
                m_totalProfile.collide += p.collide;
                m_totalProfile.solve += p.solve;
                m_totalProfile.solveInit += p.solveInit;
                m_totalProfile.solveVelocity += p.solveVelocity;
                m_totalProfile.solvePosition += p.solvePosition;
                m_totalProfile.solveTOI += p.solveTOI;
                m_totalProfile.broadphase += p.broadphase;
        }

        if (settings.m_drawProfile)
        {
                const b2Profile& p = m_world->GetProfile();

                b2Profile aveProfile;
                memset(&aveProfile, 0, sizeof(b2Profile));
                if (m_stepCount > 0)
                {
                        float scale = 1.0f / m_stepCount;
                        aveProfile.step = scale * m_totalProfile.step;
                        aveProfile.collide = scale * m_totalProfile.collide;
                        aveProfile.solve = scale * m_totalProfile.solve;
                        aveProfile.solveInit = scale * m_totalProfile.solveInit;
                        aveProfile.solveVelocity = scale * m_totalProfile.solveVelocity;
                        aveProfile.solvePosition = scale * m_totalProfile.solvePosition;
                        aveProfile.solveTOI = scale * m_totalProfile.solveTOI;
                        aveProfile.broadphase = scale * m_totalProfile.broadphase;
                }

                g_debugDraw.DrawString(5, m_textLine, "step [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.step, aveProfile.step, m_maxProfile.step);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "collide [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.collide, aveProfile.collide, m_maxProfile.collide);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "solve [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solve, aveProfile.solve, m_maxProfile.solve);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "solve init [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveInit, aveProfile.solveInit, m_maxProfile.solveInit);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "solve velocity [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveVelocity, aveProfile.solveVelocity, m_maxProfile.solveVelocity);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "solve position [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solvePosition, aveProfile.solvePosition, m_maxProfile.solvePosition);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "solveTOI [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveTOI, aveProfile.solveTOI, m_maxProfile.solveTOI);
                m_textLine += m_textIncrement;
                g_debugDraw.DrawString(5, m_textLine, "broad-phase [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.broadphase, aveProfile.broadphase, m_maxProfile.broadphase);
                m_textLine += m_textIncrement;
        }

        if (m_bombSpawning)
        {
                b2Color c;
                c.Set(0.0f, 0.0f, 1.0f);
                g_debugDraw.DrawPoint(m_bombSpawnPoint, 4.0f, c);

                c.Set(0.8f, 0.8f, 0.8f);
                g_debugDraw.DrawSegment(m_mouseWorld, m_bombSpawnPoint, c);
        }

        if (settings.m_drawContactPoints)
        {
                const float k_impulseScale = 0.1f;
                const float k_axisScale = 0.3f;

                for (int32 i = 0; i < m_pointCount; ++i)
                {
                        ContactPoint* point = m_points + i;

                        if (point->state == b2_addState)
                        {
                                // Add
                                g_debugDraw.DrawPoint(point->position, 10.0f, b2Color(0.3f, 0.95f, 0.3f));
                        }
                        else if (point->state == b2_persistState)
                        {
                                // Persist
                                g_debugDraw.DrawPoint(point->position, 5.0f, b2Color(0.3f, 0.3f, 0.95f));
                        }

                        if (settings.m_drawContactNormals == 1)
                        {
                                b2Vec2 p1 = point->position;
                                b2Vec2 p2 = p1 + k_axisScale * point->normal;
                                g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.9f, 0.9f));
                        }
                        else if (settings.m_drawContactImpulse == 1)
                        {
                                b2Vec2 p1 = point->position;
                                b2Vec2 p2 = p1 + k_impulseScale * point->normalImpulse * point->normal;
                                g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.9f, 0.3f));
                        }

                        if (settings.m_drawFrictionImpulse == 1)
                        {
                                b2Vec2 tangent = b2Cross(point->normal, 1.0f);
                                b2Vec2 p1 = point->position;
                                b2Vec2 p2 = p1 + k_impulseScale * point->tangentImpulse * tangent;
                                g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.9f, 0.3f));
                        }
                }
        }
}

void Test::ShiftOrigin(const b2Vec2& newOrigin)
{
        m_world->ShiftOrigin(newOrigin);
}

TestEntry g_testEntries[MAX_TESTS] = { {nullptr} };
int g_testCount = 0;

int RegisterTest(const char* category, const char* name, TestCreateFcn* fcn)
{
        int index = g_testCount;
        if (index < MAX_TESTS)
        {
                g_testEntries[index] = { category, name, fcn };
                ++g_testCount;
                return index;
        }

        return -1;
}