From 8f7277c3827162ac3cdb6579ccecdb85070ad552 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Mon, 27 Feb 2023 13:40:45 +0000 Subject: [PATCH 01/12] Added `destroyShape` function to global system --- src/framework/components/collision/system.js | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index b98cf39da98..584b0cc66a0 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -155,6 +155,14 @@ class CollisionSystemImpl { } } + destroyShape(data) { + if (!data.shape) { + return; + } + + Ammo.destroy(data.shape); + } + beforeRemove(entity, component) { if (component.data.shape) { if (component._compoundParent && !component._compoundParent.entity._destroying) { @@ -166,7 +174,7 @@ class CollisionSystemImpl { component._compoundParent = null; - Ammo.destroy(component.data.shape); + this.destroyShape(component.data); component.data.shape = null; } } @@ -513,11 +521,6 @@ class CollisionMeshSystemImpl extends CollisionSystemImpl { Ammo.destroy(data.shape); data.shape = null; } - - remove(entity, data) { - this.destroyShape(data); - super.remove(entity, data); - } } // Compound Collision System From 316a86b35697ad12ade92f0bba2446b2e301258b Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Mon, 27 Feb 2023 13:52:48 +0000 Subject: [PATCH 02/12] Use of `destroyShape` --- src/framework/components/collision/system.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index 584b0cc66a0..9d3b5169235 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -82,7 +82,7 @@ class CollisionSystemImpl { component._compoundParent.entity.rigidbody.activate(); } - Ammo.destroy(data.shape); + this.destroyShape(data.shape); data.shape = null; } From 4ea6669512d4c05fbb14cdfc11c2721f96d11b40 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Mon, 27 Feb 2023 16:24:44 +0000 Subject: [PATCH 03/12] Fixed shape destruction on `recreatePhysicalShapes` --- src/framework/components/collision/system.js | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index 9d3b5169235..474eb36e620 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -82,8 +82,7 @@ class CollisionSystemImpl { component._compoundParent.entity.rigidbody.activate(); } - this.destroyShape(data.shape); - data.shape = null; + this.destroyShape(data); } data.shape = this.createPhysicalShape(component.entity, data); From 319db047d6ed86659678f7e1ac42e3df5d99de71 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Mon, 27 Feb 2023 16:26:05 +0000 Subject: [PATCH 04/12] Reverted extra line deleted --- src/framework/components/collision/system.js | 1 + 1 file changed, 1 insertion(+) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index 474eb36e620..089b2a17d38 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -83,6 +83,7 @@ class CollisionSystemImpl { } this.destroyShape(data); + data.shape = null; } data.shape = this.createPhysicalShape(component.entity, data); From f44ba06a4db6807fdf6c3ce1d94a87f331f4e33e Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Mon, 27 Feb 2023 16:31:37 +0000 Subject: [PATCH 05/12] Made shape null in `destroyShape` --- src/framework/components/collision/system.js | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index 089b2a17d38..4c00dab68ec 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -83,7 +83,6 @@ class CollisionSystemImpl { } this.destroyShape(data); - data.shape = null; } data.shape = this.createPhysicalShape(component.entity, data); @@ -161,6 +160,7 @@ class CollisionSystemImpl { } Ammo.destroy(data.shape); + data.shape = null; } beforeRemove(entity, component) { @@ -175,7 +175,6 @@ class CollisionSystemImpl { component._compoundParent = null; this.destroyShape(component.data); - component.data.shape = null; } } From 3c218f5802cae45ace762c84e8102ca7a0abcf9a Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Wed, 1 Mar 2023 15:37:11 +0000 Subject: [PATCH 06/12] Added Ammo for testing modules requiring Ammo to work --- test/ammo.mjs | 1635 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1635 insertions(+) create mode 100644 test/ammo.mjs diff --git a/test/ammo.mjs b/test/ammo.mjs new file mode 100644 index 00000000000..00c3dcd8b8d --- /dev/null +++ b/test/ammo.mjs @@ -0,0 +1,1635 @@ +import { expect } from 'chai'; + +// Helpers + +/** + * Assert a number to make sure it is a number and not NaN. Check number to be value if value provided. + * + * @param {number} num - Number to assert. + * @param {number} [val] - Value to expect the number to equal. + */ +function assertNum(num, val) { + expect(num).to.be.a('number'); + expect(num).to.not.be.NaN; + + if (val !== undefined) { + expect(num).to.equal(val); + } +} + +/** + * Assert an array to make sure it is an array. Check value against provided callback if any. + * + * @param {*[]} array - Array to assert. + * @param {Function} [assertValue] - Callback function to run for each value in array. + */ +function assertArray(array, assertValue) { + expect(array).to.be.an('object'); + assertNum(array.length); + + if (assertValue !== undefined) { + array.forEach(assertValue); + } +} + +/** + * Assert an object to be of a certain Ammo type. + * + * @param {object} val - The value to assert. + * @param {string} type - The Ammo type that the value should be of. + */ +function assertAmmoType(val, type) { + expect(val).to.be.an('object'); + expect(val.__type).to.include(type); +} + +/** + * Whether an object is of a certain Ammo type. + * + * @param {object} val - The value to assert. + * @param {string} type - The Ammo type that the value should be of. + * @returns {boolean} Whether the value is of a certain Ammo type. + */ +function isOfAmmoType(val, type) { + return val ? val.__type.indexOf(type) !== -1 : false; +} + +/** + * Assert a Vector 3 to be a vector 3 as well as to match the provided values if any. + * + * @param {object} vec - The Vec3 to assert. + * @param {number} [x] - The expected X value. + * @param {number} [y] - The expected Y value. + * @param {number} [z] - The expected Z value. + */ +function assertVec3(vec, x, y, z) { + assertNum(vec.x, x); + assertNum(vec.y, y); + assertNum(vec.z, z); +} + +// Stub Ammo + +// Note: do not use arrow functions in the Ammo root object, since the engine will +// not be able to use "new" keyword with them for instantiation +const AmmoTypes = { }; + +const Ammo = { + destroy: function (obj) { + expect(obj).to.be.an('object'); + }, + getPointer: function (type) { + expect(type).to.be.an('object'); + + return type; + }, + wrapPointer: function (pointer, type) { + expect(pointer).to.be.an('object'); + expect(type).to.not.equal(undefined); + + if (typeof type === 'function') { + return type._obj; + } + + return type; + }, + castObject: function (origin, target) { + expect(origin).to.be.an('object'); + expect(target).to.not.equal(undefined); + + if (typeof target === 'function') { + return target._obj; + } + + return target; + }, + addFunction: function (fn, name) { + expect(fn).to.be.a('function'); + expect(name).to.be.a('string'); + expect(Ammo[name]).to.equal(undefined); + + Ammo[name] = fn; + } +}; + +/** + * Get all types that descend from a searched type. + * + * @param {string} type - Searched type name. + * @param {boolean} [classOnly] - Whether to return only types that have constructor. + * @returns {string[]} List of type names where type is descendant of searched type. + */ +function allOfAmmoType(type, classOnly = false) { + return Object.keys(AmmoTypes).filter(t => isOfAmmoType(AmmoTypes[t], type) && (classOnly ? typeof Ammo[t] === 'function' : true)); +} + +/** + * Creates a new Ammo type for testing. + * + * @param {string} name - The name of this type. + * @param {object} definition - The definition for this type. + * @param {object} [parentName] - The parent type name. + */ +function createType(name, definition, parentName) { + const obj = parentName ? { + ...AmmoTypes[parentName], + ...definition + } : definition; + + if (obj.__type) { + obj.__type.push(name); + } else { + obj.__type = [name]; + } + + AmmoTypes[name] = obj; + + if (obj._constructor) { + const fn = function (...args) { + obj._constructor(...args); + return obj; + }; + + fn._obj = obj; + + Ammo[name] = fn; + } else { + Ammo[name] = obj; + } +} + +// Linear Math + +createType('btVector3', { + _constructor: (x, y, z) => { + if (x !== undefined) { + assertNum(x); + assertNum(y); + assertNum(z); + } + }, + + length: () => 0, + x: () => 0, + y: () => 0, + z: () => 0, + + setX: x => assertNum(x), + setY: y => assertNum(y), + setZ: z => assertNum(z), + + setValue: (x, y, z) => { + assertNum(x); + assertNum(y); + assertNum(z); + }, + + normalize: function () { }, + dot: v => assertAmmoType(v, 'btVector3'), + + op_mul: x => assertNum(x), + op_add: v => assertAmmoType(v, 'btVector3'), + op_sub: v => assertAmmoType(v, 'btVector3') +}); + +createType('btVector4', { + _constructor: (x, y, z, w) => { + if (x !== undefined) { + assertNum(x); + assertNum(y); + assertNum(z); + assertNum(w); + } + }, + + w: () => 0, + + setValue: (x, y, z, w) => { + assertNum(x); + assertNum(y); + assertNum(z); + assertNum(w); + }, + + dot: v => assertAmmoType(v, 'btVector4'), + + op_mul: x => assertNum(x), + op_add: v => assertAmmoType(v, 'btVector4'), + op_sub: v => assertAmmoType(v, 'btVector4') +}, 'btVector3'); + +createType('btQuadWord', { + x: () => 0, + y: () => 0, + z: () => 0, + w: () => 0, + + setX: x => assertNum(x), + setY: y => assertNum(y), + setZ: z => assertNum(z), + setW: w => assertNum(w) +}); + +createType('btQuaternion', { + _constructor: (x, y, z, w) => { + if (x !== undefined) { + assertNum(x); + assertNum(y); + assertNum(z); + assertNum(w); + } + }, + + setValue: (x, y, z, w) => { + assertNum(x); + assertNum(y); + assertNum(z); + assertNum(w); + }, + setEulerZYX: (x, y, z, w) => { + assertNum(x); + assertNum(y); + assertNum(z); + assertNum(w); + }, + + normalize: function () { } +}, 'btQuadWord'); + +createType('btMatrix3x3', { + setEulerZYX: (x, y, z) => { + assertNum(x); + assertNum(y); + assertNum(z); + }, + getRotation: q => assertAmmoType(q, 'btQuaternion'), + getRow: (y) => { + assertNum(y); + + return AmmoTypes.btVector3; + } +}); + +createType('btTransform', { + _constructor: (q, v) => { + if (q !== undefined) { + assertAmmoType(q, 'btQuaternion'); + assertAmmoType(v, 'btVector3'); + } + + return AmmoTypes.btTransform; + }, + + setIdentity: function () { }, + setOrigin: origin => assertAmmoType(origin, 'btVector3'), + setRotation: rotation => assertAmmoType(rotation, 'btQuaternion'), + getOrigin: () => AmmoTypes.btVector3, + getRotation: () => AmmoTypes.btQuaternion, + getBasis: () => AmmoTypes.btMatrix3x3, + setFromOpenGLMatrix: m => expect(m).to.be.an('object') +}); + +createType('btMotionState', { + getWorldTransform: worldTrans => assertAmmoType(worldTrans, 'btTransform'), + setWorldTransform: worldTrans => assertAmmoType(worldTrans, 'btTransform') +}); + +createType('btDefaultMotionState', { + _constructor: (startTrans, centerOfMassOffset) => { + if (startTrans !== undefined) { + assertAmmoType(startTrans, 'btTransform'); + } + + if (centerOfMassOffset !== undefined) { + assertAmmoType(centerOfMassOffset, 'btTransform'); + } + }, + + m_graphicsWorldTrans: AmmoTypes.btMotionState +}, 'btMotionState'); + +// Collision + +createType('VoidPtr', { }); + +createType('btCollisionShape', { + setLocalScaling: scaling => assertAmmoType(scaling, 'btVector3'), + calculateLocalInertia: (mass, inertia) => { + assertNum(mass); + assertAmmoType(inertia, 'btVector3'); + }, + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}); + +createType('btCollisionObject', { + setAnisotropicFriction: function (anisotropicFriction, frictionMode) { + assertAmmoType(anisotropicFriction, 'btVector3'); + assertNum(frictionMode); + }, + getCollisionShape: () => AmmoTypes.btCollisionShape, + setContactProcessingThreshold: contactProcessingThreshold => assertNum(contactProcessingThreshold), + setActivationState: newState => assertNum(newState), + forceActivationState: newState => assertNum(newState), + activate: function (forceActivation) { + if (forceActivation !== undefined) { + expect(forceActivation).to.be.a('boolean'); + } + }, + isActive: () => true, + isKinematicObject: () => true, + setRestitution: rest => assertNum(rest), + setFriction: frict => assertNum(frict), + setRollingFriction: frict => assertNum(frict), + getWorldTransform: () => AmmoTypes.btTransform, + getCollisionFlags: () => 0, + setCollisionFlags: flags => assertNum(flags), + setWorldTransform: worldTrans => assertAmmoType(worldTrans, 'btTransform'), + setCollisionShape: collisionShape => assertAmmoType(collisionShape, 'btCollisionShape'), + setCcdMotionThreshold: ccdMotionThreshold => assertNum(ccdMotionThreshold), + setCcdSweptSphereRadius: radius => assertNum(radius), + getUserIndex: () => 0, + setUserIndex: index => assertNum(index), + getUserPointer: () => AmmoTypes.VoidPtr, + setUserPointer: userPointer => assertAmmoType(userPointer, 'VoidPtr') +}); + +createType('btCollisionObjectWrapper', { }); + +createType('RayResultCallback', { + hasHit: () => true, + + m_collisionFilterGroup: 0, + m_collisionFilterMask: 0, + m_collisionObject: AmmoTypes.btCollisionObject +}); + +createType('ClosestRayResultCallback', { + _constructor: (from, to) => { + assertAmmoType(from, 'btVector3'); + assertAmmoType(to, 'btVector3'); + }, + + m_rayFromWorld: AmmoTypes.btVector3, + m_rayToWorld: AmmoTypes.btVector3, + m_hitNormalWorld: AmmoTypes.btVector3, + m_hitPointWorld: AmmoTypes.btVector3 +}, 'RayResultCallback'); + +createType('btManifoldPoint', { + getPositionWorldOnA: () => AmmoTypes.btVector3, + getPositionWorldOnB: () => AmmoTypes.btVector3, + getAppliedImpulse: () => 0, + getDistance: () => 0, + + m_localPointA: AmmoTypes.btVector3, + m_localPointB: AmmoTypes.btVector3, + m_positionWorldOnB: AmmoTypes.btVector3, + m_positionWorldOnA: AmmoTypes.btVector3, + m_normalWorldOnB: AmmoTypes.btVector3 +}); + +createType('ContactResultCallback', { + addSingleResult: (cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1) => { + assertAmmoType(cp, 'btManifoldPoint'); + assertAmmoType(colObj0Wrap, 'btCollisionObjectWrapper'); + assertNum(partId0); + assertNum(index0); + assertAmmoType(colObj1Wrap, 'btCollisionObjectWrapper'); + assertNum(partId1); + assertNum(index1); + + return 1; + } +}); + +createType('ConcreteContactResultCallback', { + _constructor: () => { }, + + addSingleResult: (cp, colObj0Wrap, partId0, index0, colObj1Wrap, partId1, index1) => { + assertAmmoType(cp, 'btManifoldPoint'); + assertAmmoType(colObj0Wrap, 'btCollisionObjectWrapper'); + assertNum(partId0); + assertNum(index0); + assertAmmoType(colObj1Wrap, 'btCollisionObjectWrapper'); + assertNum(partId1); + assertNum(index1); + + return 1; + } +}); + +createType('LocalShapeInfo', { + m_shapePart: 0, + m_triangleIndex: 0 +}); + +createType('LocalConvexResult', { + _constructor: (hitCollisionObject, localShapeInfo, hitNormalLocal, hitPointLocal, hitFraction) => { + assertAmmoType(hitCollisionObject, 'btCollisionObject'); + assertAmmoType(localShapeInfo, 'LocalShapeInfo'); + assertAmmoType(hitNormalLocal, 'btVector3'); + assertAmmoType(hitPointLocal, 'btVector3'); + assertNum(hitFraction); + }, + + m_hitCollisionObject: AmmoTypes.btCollisionObject, + m_localShapeInfo: AmmoTypes.LocalShapeInfo, + m_hitNormalLocal: AmmoTypes.btVector3, + m_hitPointLocal: AmmoTypes.btVector3, + m_hitFraction: 0 +}); + +createType('ConvexResultCallback', { + hasHit: () => true, + m_collisionFilterGroup: 0, + m_collisionFilterMask: 0, + m_closestHitFraction: 0 +}); + +createType('ClosestConvexResultCallback', { + _constructor: (convexFromWorld, convexToWorld) => { + assertAmmoType(convexFromWorld, 'btVector3'); + assertAmmoType(convexToWorld, 'btVector3'); + }, + + m_convexFromWorld: AmmoTypes.btVector3, + m_convexToWorld: AmmoTypes.btVector3, + m_hitNormalWorld: AmmoTypes.btVector3, + m_hitPointWorld: AmmoTypes.btVector3 +}, 'ConvexResultCallback'); + +createType('btConvexShape', { }, 'btCollisionShape'); + +createType('btConvexTriangleMeshShape', { + _constructor: (meshInterface, calcAabb) => { + assertAmmoType(meshInterface, 'btStridingMeshInterface'); + + if (calcAabb !== undefined) { + expect(calcAabb).to.be.a('boolean'); + } + } +}, 'btConvexShape'); + +createType('btBoxShape', { + _constructor: (boxHalfExtents) => { + assertAmmoType(boxHalfExtents, 'btVector3'); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btCapsuleShape', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btCapsuleShapeX', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCapsuleShape'); + +createType('btCapsuleShapeZ', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCapsuleShape'); + +createType('btCylinderShape', { + _constructor: (halfExtents) => { + assertAmmoType(halfExtents, 'btVector3'); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btCylinderShapeX', { + _constructor: (halfExtents) => { + assertAmmoType(halfExtents, 'btVector3'); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCylinderShape'); + +createType('btCylinderShapeZ', { + _constructor: (halfExtents) => { + assertAmmoType(halfExtents, 'btVector3'); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCylinderShape'); + +createType('btSphereShape', { + _constructor: (radius) => { + assertNum(radius); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btConeShape', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btConeShapeX', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btConeShape'); + +createType('btConeShapeZ', { + _constructor: (radius, height) => { + assertNum(radius); + assertNum(height); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btConeShape'); + +createType('btConvexHullShape', { + _constructor: () => { }, + + addPoint: (point, recalculateLocalAABB) => { + assertAmmoType(point, 'btVector3'); + + if (recalculateLocalAABB !== undefined) { + expect(recalculateLocalAABB).to.be.a('boolean'); + } + }, + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btCompoundShape', { + _constructor: (enableDynamicAabbTree) => { + if (enableDynamicAabbTree !== undefined) { + expect(enableDynamicAabbTree).to.be.a('boolean'); + } + }, + + addChildShape: (localTransform, shape) => { + assertAmmoType(localTransform, 'btTransform'); + assertAmmoType(shape, 'btCollisionShape'); + }, + removeChildShapeByIndex: childShapeindex => assertNum(childShapeindex), + getNumChildShapes: () => 1, + getChildShape: (index) => { + assertNum(index); + + return AmmoTypes.btCollisionShape; + }, + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btCollisionShape'); + +createType('btStridingMeshInterface', { }); + +createType('btTriangleMesh', { + _constructor: (use32bitIndices, use4componentVertices) => { + if (use32bitIndices !== undefined) { + expect(use32bitIndices).to.be.a('boolean'); + } + + if (use4componentVertices !== undefined) { + expect(use4componentVertices).to.be.a('boolean'); + } + }, + + addTriangle: (vertex0, vertex1, vertex2, removeDuplicateVertices) => { + assertAmmoType(vertex0, 'btVector3'); + assertAmmoType(vertex1, 'btVector3'); + assertAmmoType(vertex2, 'btVector3'); + + if (removeDuplicateVertices !== undefined) { + expect(removeDuplicateVertices).to.be.a('boolean'); + } + } +}, 'btStridingMeshInterface'); + +const PHY_ScalarType = { + PHY_FLOAT: 'PHY_FLOAT', + PHY_DOUBLE: 'PHY_DOUBLE', + PHY_INTEGER: 'PHY_INTEGER', + PHY_SHORT: 'PHY_SHORT', + PHY_FIXEDPOINT88: 'PHY_FIXEDPOINT88', + PHY_UCHAR: 'PHY_UCHAR' +}; + +createType('btConcaveShape', { }, 'btCollisionShape'); + +createType('btStaticPlaneShape', { + _constructor: (planeNormal, planeConstant) => { + assertAmmoType(planeNormal, 'btVector3'); + assertNum(planeConstant); + } +}, 'btConcaveShape'); + +createType('btTriangleMeshShape', { }, 'btConcaveShape'); + +createType('btBvhTriangleMeshShape', { + _constructor: (meshInterface, useQuantizedAabbCompression, buildBvh) => { + assertAmmoType(meshInterface, 'btStridingMeshInterface'); + expect(useQuantizedAabbCompression).to.be.a('boolean'); + + if (buildBvh !== undefined) { + expect(buildBvh).to.be.a('boolean'); + } + } +}, 'btTriangleMeshShape'); + +createType('btHeightfieldTerrainShape', { + _constructor: (heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, hdt, flipQuadEdges) => { + assertNum(heightStickWidth); + assertNum(heightStickLength); + assertAmmoType(heightfieldData, 'VoidPtr'); + assertNum(heightScale); + assertNum(minHeight); + assertNum(maxHeight); + assertNum(upAxis); + expect(hdt).to.be.oneOf(Object.values(PHY_ScalarType)); + expect(flipQuadEdges).to.be.a('boolean'); + }, + + setMargin: margin => assertNum(margin), + getMargin: () => 0 +}, 'btConcaveShape'); + +createType('btDefaultCollisionConstructionInfo', { + _constructor: () => { } +}); + +createType('btCollisionConfiguration', { }); + +createType('btDefaultCollisionConfiguration', { + _constructor: (info) => { + if (info !== undefined) { + assertAmmoType(info, 'btDefaultCollisionConstructionInfo'); + } + } +}, 'btCollisionConfiguration'); + +createType('btPersistentManifold', { + _constructor: () => { }, + getBody0: () => AmmoTypes.btCollisionObject, + getBody1: () => AmmoTypes.btCollisionObject, + getNumContacts: () => 1, + getContactPoint: (index) => { + assertNum(index); + + return AmmoTypes.btManifoldPoint; + } +}); + +createType('btDispatcher', { + getNumManifolds: () => 1, + getManifoldByIndexInternal: (index) => { + assertNum(index); + + return AmmoTypes.btPersistentManifold; + } +}); + +createType('btCollisionDispatcher', { + _constructor: (conf) => { + assertAmmoType(conf, 'btDefaultCollisionConfiguration'); + } +}, 'btDispatcher'); + +createType('btOverlappingPairCallback', { }); + +createType('btOverlappingPairCache', { + setInternalGhostPairCallback: ghostPairCallback => assertAmmoType(ghostPairCallback, 'btOverlappingPairCallback') +}); + +createType('btAxisSweep3', { + _constructor: (worldAabbMin, worldAabbMax, maxHandles, pairCache, disableRaycastAccelerator) => { + assertAmmoType(worldAabbMin, 'btVector3'); + assertAmmoType(worldAabbMax, 'btVector3'); + + if (maxHandles !== undefined) { + assertNum(maxHandles); + } + + if (pairCache !== undefined) { + assertAmmoType(pairCache, 'btOverlappingPairCache'); + } + + if (disableRaycastAccelerator !== undefined) { + expect(disableRaycastAccelerator).to.be.a('boolean'); + } + } +}); + +createType('btBroadphaseInterface', { }); + +createType('btDbvtBroadphase', { + _constructor: () => { } +}, 'btBroadphaseInterface'); + +// Dynamics + +createType('btRigidBodyConstructionInfo', { + _constructor: (mass, motionState, collisionShape, localInertia) => { + assertNum(mass); + assertAmmoType(motionState, 'btMotionState'); + assertAmmoType(collisionShape, 'btCollisionShape'); + + if (localInertia !== undefined) { + assertAmmoType(localInertia, 'btVector3'); + } + }, + + m_linearDamping: 0, + m_angularDamping: 0, + m_friction: 0, + m_rollingFriction: 0, + m_restitution: 0, + m_linearSleepingThreshold: 0, + m_angularSleepingThreshold: 0, + m_additionalDamping: false, + m_additionalDampingFactor: 0, + m_additionalLinearDampingThresholdSqr: 0, + m_additionalAngularDampingThresholdSqr: 0, + m_additionalAngularDampingFactor: 0 +}); + +createType('btRigidBody', { + _constructor: (constructionInfo) => { + assertAmmoType(constructionInfo, 'btRigidBodyConstructionInfo'); + }, + + getCenterOfMassTransform: () => AmmoTypes.btTransform, + setCenterOfMassTransform: xform => assertAmmoType(xform, 'btTransform'), + setSleepingThresholds: (linear, angular) => { + assertNum(linear); + assertNum(angular); + }, + setDamping: (lin_damping, ang_damping) => { + assertNum(lin_damping); + assertNum(ang_damping); + }, + setMassProps: (mass, inertia) => { + assertNum(mass); + assertAmmoType(inertia, 'btVector3'); + }, + setLinearFactor: linearFactor => assertAmmoType(linearFactor, 'btVector3'), + applyTorque: torque => assertAmmoType(torque, 'btVector3'), + applyLocalTorque: torque => assertAmmoType(torque, 'btVector3'), + applyForce: (force, rel_pos) => { + assertAmmoType(force, 'btVector3'); + assertAmmoType(rel_pos, 'btVector3'); + }, + applyCentralForce: force => assertAmmoType(force, 'btVector3'), + applyCentralLocalForce: force => assertAmmoType(force, 'btVector3'), + applyTorqueImpulse: torque => assertAmmoType(torque, 'btVector3'), + applyImpulse: (impulse, rel_pos) => { + assertAmmoType(impulse, 'btVector3'); + assertAmmoType(rel_pos, 'btVector3'); + }, + applyCentralImpulse: impulse => assertAmmoType(impulse, 'btVector3'), + updateInertiaTensor: function () { }, + getLinearVelocity: () => AmmoTypes.btVector3, + getAngularVelocity: () => AmmoTypes.btVector3, + setLinearVelocity: lin_vel => assertAmmoType(lin_vel, 'btVector3'), + setAngularVelocity: ang_vel => assertAmmoType(ang_vel, 'btVector3'), + getMotionState: () => AmmoTypes.btMotionState, + setMotionState: motionState => assertAmmoType(motionState, 'btMotionState'), + setAngularFactor: angularFactor => assertAmmoType(angularFactor, 'btVector3'), + upcast: (colObj) => { + assertAmmoType(colObj, 'btCollisionObject'); + + return AmmoTypes.btRigidBody; + } +}, 'btCollisionObject'); + +createType('btConstraintSetting', { + _constructor: () => { }, + + m_tau: 0, + m_damping: 0, + m_impulseClamp: 0 +}); + +createType('btTypedConstraint', { + getBreakingImpulseThreshold: () => 0, + setBreakingImpulseThreshold: threshold => assertNum(threshold) +}); + +createType('btPoint2PointConstraint', { + _constructor: (...args) => { + if (args.length === 2) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btVector3'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btVector3'); + assertAmmoType(args[3], 'btVector3'); + } + }, + + setPivotA: pivotA => assertAmmoType(pivotA, 'btVector3'), + setPivotB: pivotB => assertAmmoType(pivotB, 'btVector3'), + getPivotInA: () => AmmoTypes.btVector3, + getPivotInB: () => AmmoTypes.btVector3, + + m_setting: AmmoTypes.btConstraintSetting +}, 'btTypedConstraint'); + +createType('btGeneric6DofConstraint', { + _constructor: (...args) => { + if (args.length === 3) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btTransform'); + expect(args[2]).to.be.a('boolean'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btTransform'); + assertAmmoType(args[3], 'btTransform'); + expect(args[4]).to.be.a('boolean'); + } + }, + + setLinearLowerLimit: linearLower => assertAmmoType(linearLower, 'btVector3'), + setLinearUpperLimit: linearUpper => assertAmmoType(linearUpper, 'btVector3'), + setAngularLowerLimit: angularLower => assertAmmoType(angularLower, 'btVector3'), + setAngularUpperLimit: angularUpper => assertAmmoType(angularUpper, 'btVector3') +}, 'btTypedConstraint'); + +createType('btGeneric6DofSpringConstraint', { + _constructor: (...args) => { + if (args.length === 3) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btTransform'); + expect(args[2]).to.be.a('boolean'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btTransform'); + assertAmmoType(args[3], 'btTransform'); + expect(args[4]).to.be.a('boolean'); + } + }, + + enableSpring: (index, onOff) => { + assertNum(index); + expect(onOff).to.be.a('boolean'); + }, + setStiffness: (index, stiffness) => { + assertNum(index); + assertNum(stiffness); + }, + setDamping: (index, damping) => { + assertNum(index); + assertNum(damping); + } +}, 'btGeneric6DofConstraint'); + +createType('btConstraintSolver', { }); + +createType('btSequentialImpulseConstraintSolver', { + _constructor: () => { } +}, 'btConstraintSolver'); + +createType('btConeTwistConstraint', { + _constructor: (...args) => { + if (args.length === 2) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btTransform'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btTransform'); + assertAmmoType(args[3], 'btTransform'); + } + }, + + setLimit: (limitIndex, limitValue) => { + assertNum(limitIndex); + assertNum(limitValue); + }, + setAngularOnly: angularOnly => expect(angularOnly).to.be.a('boolean'), + setDamping: damping => assertNum(damping), + enableMotor: b => expect(b).to.be.a('boolean'), + setMaxMotorImpulse: maxMotorImpulse => assertNum(maxMotorImpulse), + setMaxMotorImpulseNormalized: maxMotorImpulse => assertNum(maxMotorImpulse), + setMotorTarget: q => assertAmmoType(q, 'btQuaternion'), + setMotorTargetInConstraintSpace: q => assertAmmoType(q, 'btQuaternion') +}, 'btTypedConstraint'); + +createType('btHingeConstraint', { + _constructor: (...args) => { + if (args.length === 3) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btTransform'); + expect(args[2]).to.be.a('boolean'); + } else if (args.length === 5) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btTransform'); + assertAmmoType(args[3], 'btTransform'); + expect(args[4]).to.be.a('boolean'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btVector3'); + assertAmmoType(args[3], 'btVector3'); + assertAmmoType(args[4], 'btVector3'); + assertAmmoType(args[5], 'btVector3'); + expect(args[6]).to.be.a('boolean'); + } + }, + + setLimit: (low, high, softness, biasFactor, relaxationFactor) => { + assertNum(low); + assertNum(high); + assertNum(softness); + assertNum(biasFactor); + + if (relaxationFactor !== undefined) { + assertNum(relaxationFactor); + } + }, + enableAngularMotor: (enableMotor, targetVelocity, maxMotorImpulse) => { + expect(enableMotor).to.be.a('boolean'); + assertNum(targetVelocity); + assertNum(maxMotorImpulse); + }, + setAngularOnly: angularOnly => expect(angularOnly).to.be.a('boolean'), + + enableMotor: enableMotor => expect(enableMotor).to.be.a('boolean'), + setMaxMotorImpulse: maxMotorImpulse => assertNum(maxMotorImpulse), + setMotorTarget: (targetAngle, dt) => { + assertNum(targetAngle); + assertNum(dt); + } +}, 'btTypedConstraint'); + +createType('btSliderConstraint', { + _constructor: (...args) => { + if (args.length === 3) { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btTransform'); + expect(args[2]).to.be.a('boolean'); + } else { + assertAmmoType(args[0], 'btRigidBody'); + assertAmmoType(args[1], 'btRigidBody'); + assertAmmoType(args[2], 'btTransform'); + assertAmmoType(args[3], 'btTransform'); + expect(args[4]).to.be.a('boolean'); + } + }, + + setLowerLinLimit: lowerLimit => assertNum(lowerLimit), + setUpperLinLimit: upperLimit => assertNum(upperLimit), + setLowerAngLimit: lowerAngLimit => assertNum(lowerAngLimit), + setUpperAngLimit: upperAngLimit => assertNum(upperAngLimit) +}, 'btTypedConstraint'); + +createType('btDispatcherInfo', { + m_timeStep: 0, + m_stepCount: 0, + m_dispatchFunc: 0, + m_timeOfImpact: 0, + m_useContinuous: true, + m_enableSatConvex: true, + m_enableSPU: true, + m_useEpa: true, + m_allowedCcdPenetration: 0, + m_useConvexConservativeDistanceUtil: true, + m_convexConservativeDistanceThreshold: 0 +}); + +createType('btCollisionWorld', { + getDispatcher: () => AmmoTypes.btDispatcher, + rayTest: (rayFromWorld, rayToWorld, resultCallback) => { + assertAmmoType(rayFromWorld, 'btVector3'); + assertAmmoType(rayToWorld, 'btVector3'); + assertAmmoType(resultCallback, 'RayResultCallback'); + }, + getPairCache: () => AmmoTypes.btOverlappingPairCache, + getDispatchInfo: () => AmmoTypes.btDispatcherInfo, + addCollisionObject: (collisionObject, collisionFilterGroup, collisionFilterMask) => { + assertAmmoType(collisionObject, 'btCollisionObject'); + + if (collisionFilterGroup !== undefined) { + assertNum(collisionFilterGroup); + } + + if (collisionFilterMask !== undefined) { + assertNum(collisionFilterMask); + } + }, + getBroadphase: () => AmmoTypes.btBroadphaseInterface, + convexSweepTest: (castShape, from, to, resultCallback, allowedCcdPenetration) => { + assertAmmoType(castShape, 'btConvexShape'); + assertAmmoType(from, 'btTransform'); + assertAmmoType(to, 'btTransform'); + assertAmmoType(resultCallback, 'ConvexResultCallback'); + assertNum(allowedCcdPenetration); + }, + contactPairTest: (colObjA, colObjB, resultCallback) => { + assertAmmoType(colObjA, 'btCollisionObject'); + assertAmmoType(colObjB, 'btCollisionObject'); + assertAmmoType(resultCallback, 'ContactResultCallback'); + }, + contactTest: (colObj, resultCallback) => { + assertAmmoType(colObj, 'btCollisionObject'); + assertAmmoType(resultCallback, 'ContactResultCallback'); + } +}); + +createType('btContactSolverInfo', { + m_splitImpulse: false, + m_splitImpulsePenetrationThreshold: 0 +}); + +createType('btDynamicsWorld', { + addAction: action => assertAmmoType(action, 'btActionInterface'), + removeAction: action => assertAmmoType(action, 'btActionInterface'), + getSolverInfo: () => AmmoTypes.btContactSolverInfo +}, 'btCollisionWorld'); + +createType('btDiscreteDynamicsWorld', { + _constructor: (dispatcher, pairCache, constraintSolver, collisionConfiguration) => { + assertAmmoType(dispatcher, 'btDispatcher'); + assertAmmoType(pairCache, 'btBroadphaseInterface'); + assertAmmoType(constraintSolver, 'btConstraintSolver'); + assertAmmoType(collisionConfiguration, 'btCollisionConfiguration'); + }, + + setGravity: gravity => assertAmmoType(gravity, 'btVector3'), + getGravity: () => AmmoTypes.btVector3, + + addRigidBody: (body, group, mask) => { + assertAmmoType(body, 'btRigidBody'); + + if (group !== undefined) { + assertNum(group); + assertNum(mask); + } + }, + removeRigidBody: body => assertAmmoType(body, 'btRigidBody'), + + addConstraint: (constraint, disableCollisionsBetweenLinkedBodies) => { + assertAmmoType(constraint, 'btTypedConstraint'); + + if (disableCollisionsBetweenLinkedBodies !== undefined) { + expect(disableCollisionsBetweenLinkedBodies).to.be.a('boolean'); + } + }, + removeConstraint: constraint => assertAmmoType(constraint, 'btTypedConstraint'), + + stepSimulation: (timeStep, maxSubSteps, fixedTimeStep) => { + assertNum(timeStep); + + if (maxSubSteps !== undefined) { + assertNum(maxSubSteps); + } + + if (fixedTimeStep !== undefined) { + assertNum(fixedTimeStep); + } + } +}, 'btDynamicsWorld'); + +createType('btVehicleTuning', { + _constructor: () => { }, + + m_suspensionStiffness: 0, + m_suspensionCompression: 0, + m_suspensionDamping: 0, + m_maxSuspensionTravelCm: 0, + m_frictionSlip: 0, + m_maxSuspensionForce: 0 +}); + +createType('btVehicleRaycasterResult', { + m_hitPointInWorld: AmmoTypes.btVector3, + m_hitNormalInWorld: AmmoTypes.btVector3, + m_distFraction: 0 +}); + +createType('btVehicleRaycaster', { + castRay: (from, to, result) => { + assertAmmoType(from, 'btVector3'); + assertAmmoType(to, 'btVector3'); + assertAmmoType(result, 'btVehicleRaycasterResult'); + } +}); + +createType('btDefaultVehicleRaycaster', { + _constructor: (world) => { + assertAmmoType(world, 'btDynamicsWorld'); + } +}, 'btVehicleRaycaster'); + +createType('RaycastInfo', { + m_contactNormalWS: AmmoTypes.btVector3, + m_contactPointWS: AmmoTypes.btVector3, + m_suspensionLength: 0, + m_hardPointWS: AmmoTypes.btVector3, + m_wheelDirectionWS: AmmoTypes.btVector3, + m_wheelAxleWS: AmmoTypes.btVector3, + m_isInContact: true, + m_groundObject: null +}); + +createType('btWheelInfoConstructionInfo', { + m_chassisConnectionCS: AmmoTypes.btVector3, + m_wheelDirectionCS: AmmoTypes.btVector3, + m_wheelAxleCS: AmmoTypes.btVector3, + m_suspensionRestLength: 0, + m_maxSuspensionTravelCm: 0, + m_wheelRadius: 0, + m_suspensionStiffness: 0, + m_wheelsDampingCompression: 0, + m_wheelsDampingRelaxation: 0, + m_frictionSlip: 0, + m_maxSuspensionForce: 0, + m_bIsFrontWheel: false +}); + +createType('btWheelInfo', { + _constructor: (ci) => { + assertAmmoType(ci, 'btWheelInfoConstructionInfo'); + }, + + m_suspensionStiffness: 0, + m_frictionSlip: 0, + m_engineForce: 0, + m_rollInfluence: 0, + m_suspensionRestLength1: 0, + m_wheelsRadius: 0, + m_wheelsDampingCompression: 0, + m_wheelsDampingRelaxation: 0, + m_steering: 0, + m_maxSuspensionForce: 0, + m_maxSuspensionTravelCm: 0, + m_wheelsSuspensionForce: 0, + m_bIsFrontWheel: false, + m_raycastInfo: AmmoTypes.RaycastInfo, + m_chassisConnectionPointCS: AmmoTypes.btVector3, + getSuspensionRestLength: () => 0, + updateWheel: (chassis, raycastInfo) => { + assertAmmoType(chassis, 'btRigidBody'); + assertAmmoType(raycastInfo, 'RaycastInfo'); + }, + m_worldTransform: AmmoTypes.btTransform, + m_wheelDirectionCS: AmmoTypes.btVector3, + m_wheelAxleCS: AmmoTypes.btVector3, + m_rotation: 0, + m_deltaRotation: 0, + m_brake: 0, + m_clippedInvContactDotSuspension: 0, + m_suspensionRelativeVelocity: 0, + m_skidInfo: 0 +}); + +createType('btActionInterface', { + updateAction: (collisionWorld, deltaTimeStep) => { + assertAmmoType(collisionWorld, 'btCollisionWorld'); + assertNum(deltaTimeStep); + } +}); + +createType('btGhostObject', { + _constructor: () => { }, + + getNumOverlappingObjects: () => 1, + getOverlappingObject: (index) => { + assertNum(index); + + return AmmoTypes.btCollisionObject; + } +}, 'btCollisionObject'); + +createType('btPairCachingGhostObject', { + _constructor: () => { } +}, 'btGhostObject'); + +createType('btKinematicCharacterController', { + _constructor: (ghostObject, convexShape, stepHeight, upAxis) => { + assertAmmoType(ghostObject, 'btPairCachingGhostObject'); + assertAmmoType(convexShape, 'btConvexShape'); + assertNum(stepHeight); + + if (upAxis !== undefined) { + assertNum(upAxis); + } + }, + + setUpAxis: axis => assertNum(axis), + setWalkDirection: walkDirection => assertAmmoType(walkDirection, 'btVector3'), + setVelocityForTimeInterval: (velocity, timeInterval) => { + assertAmmoType(velocity, 'btVector3'); + assertNum(timeInterval); + }, + warp: origin => assertAmmoType(origin, 'btVector3'), + preStep: collisionWorld => assertAmmoType(collisionWorld, 'btCollisionWorld'), + playerStep: (collisionWorld, dt) => { + assertAmmoType(collisionWorld, 'btCollisionWorld'); + assertNum(dt); + }, + setFallSpeed: fallSpeed => assertNum(fallSpeed), + setJumpSpeed: jumpSpeed => assertNum(jumpSpeed), + setMaxJumpHeight: maxJumpHeight => assertNum(maxJumpHeight), + canJump: () => true, + jump: function () { }, + setGravity: gravity => assertNum(gravity), + getGravity: () => 0, + setMaxSlope: slopeRadians => assertNum(slopeRadians), + getMaxSlope: () => 0, + getGhostObject: () => AmmoTypes.btPairCachingGhostObject, + setUseGhostSweepTest: useGhostObjectSweepTest => expect(useGhostObjectSweepTest).to.be.a('boolean'), + onGround: () => true +}, 'btActionInterface'); + +createType('btRaycastVehicle', { + _constructor: (tuning, chassis, raycaster) => { + assertAmmoType(tuning, 'btVehicleTuning'); + assertAmmoType(chassis, 'btRigidBody'); + assertAmmoType(raycaster, 'btVehicleRaycaster'); + }, + + applyEngineForce: (force, wheel) => { + assertNum(force); + assertNum(wheel); + }, + setSteeringValue: (steering, wheel) => { + assertNum(steering); + assertNum(wheel); + }, + getWheelTransformWS: (wheelIndex) => { + assertNum(wheelIndex); + + return AmmoTypes.btTransform; + }, + updateWheelTransform: (wheelIndex, interpolatedTransform) => { + assertNum(wheelIndex); + expect(interpolatedTransform).to.be.a('boolean'); + }, + addWheel: (connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel) => { + assertAmmoType(connectionPointCS0, 'btVector3'); + assertAmmoType(wheelDirectionCS0, 'btVector3'); + assertAmmoType(wheelAxleCS, 'btVector3'); + assertNum(suspensionRestLength); + assertNum(wheelRadius); + assertAmmoType(tuning, 'btVehicleTuning'); + expect(isFrontWheel).to.be.a('boolean'); + + return AmmoTypes.btWheelInfo; + }, + getNumWheels: () => 1, + getRigidBody: () => AmmoTypes.btRigidBody, + getWheelInfo: (index) => { + assertNum(index); + + return AmmoTypes.btWheelInfo; + }, + setBrake: (brake, wheelIndex) => { + assertNum(brake); + assertNum(wheelIndex); + }, + setCoordinateSystem: (rightIndex, upIndex, forwardIndex) => { + assertNum(rightIndex); + assertNum(upIndex); + assertNum(forwardIndex); + }, + getCurrentSpeedKmHour: () => 0, + getChassisWorldTransform: () => AmmoTypes.btTransform, + rayCast: (wheel) => { + assertAmmoType(wheel, 'btWheelInfo'); + + return 0; + }, + updateVehicle: step => assertNum(step), + resetSuspension: function () { }, + getSteeringValue: (wheel) => { + assertNum(wheel); + + return 0; + }, + updateWheelTransformsWS: (wheel, interpolatedTransform) => { + assertAmmoType(wheel, 'btWheelInfo'); + + if (interpolatedTransform !== undefined) { + expect(interpolatedTransform).to.be.a('boolean'); + } + }, + setPitchControl: pitch => assertNum(pitch), + updateSuspension: deltaTime => assertNum(deltaTime), + updateFriction: timeStep => assertNum(timeStep), + getRightAxis: () => 0, + getUpAxis: () => 0, + getForwardAxis: () => 0, + getForwardVector: () => AmmoTypes.btVector3, + getUserConstraintType: () => 0, + setUserConstraintType: userConstraintType => assertNum(userConstraintType), + setUserConstraintId: uid => assertNum(uid), + getUserConstraintId: () => 0 +}, 'btActionInterface'); + +createType('btGhostPairCallback', { + _constructor: () => { } +}); + +// soft bodies + +createType('btSoftBodyWorldInfo', { + _constructor: () => { }, + + air_density: 0, + water_density: 0, + water_offset: 0, + m_maxDisplacement: 0, + water_normal: AmmoTypes.btVector3, + m_broadphase: AmmoTypes.btBroadphaseInterface, + m_dispatcher: AmmoTypes.btDispatcher, + m_gravity: AmmoTypes.btVector3 +}); + +createType('Node', { + m_x: AmmoTypes.btVector3, + m_n: AmmoTypes.btVector3 +}); + +createType('tNodeArray', { + size: () => 1, + at: (n) => { + assertNum(n); + + return Node; + } +}); + +createType('Material', { + m_kLST: 0, + m_kAST: 0, + m_kVST: 0, + m_flags: 0 +}); + +createType('tMaterialArray', { + size: () => 1, + at: (n) => { + assertNum(n); + + return AmmoTypes.Material; + } +}); + +createType('Config', { + kVCF: 0, + kDP: 0, + kDG: 0, + kLF: 0, + kPR: 0, + kVC: 0, + kDF: 0, + kMT: 0, + kCHR: 0, + kKHR: 0, + kSHR: 0, + kAHR: 0, + kSRHR_CL: 0, + kSKHR_CL: 0, + kSSHR_CL: 0, + kSR_SPLT_CL: 0, + kSK_SPLT_CL: 0, + kSS_SPLT_CL: 0, + maxvolume: 0, + timescale: 0, + viterations: 0, + piterations: 0, + diterations: 0, + citerations: 0, + collisions: 0 +}); + +createType('btSoftBody', { + _constructor: (worldInfo, node_count, x, m) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertNum(node_count); + assertAmmoType(x, 'btVector3'); + assertArray(m, v => assertNum(v)); + }, + + m_cfg: AmmoTypes.Config, + m_nodes: AmmoTypes.tNodeArray, + m_materials: AmmoTypes.tMaterialArray, + + checkLink: (node0, node1) => { + assertNum(node0); + assertNum(node1); + + return true; + }, + checkFace: (node0, node1, node2) => { + assertNum(node0); + assertNum(node1); + assertNum(node2); + + return true; + }, + appendMaterial: () => AmmoTypes.Material, + appendNode: (x, m) => { + assertAmmoType(x, 'btVector3'); + assertNum(m); + }, + appendLink: (node0, node1, mat, bcheckexist) => { + assertNum(node0); + assertNum(node1); + assertAmmoType(mat, 'Material'); + expect(bcheckexist).to.be.a('boolean'); + }, + appendFace: (node0, node1, node2, mat) => { + assertNum(node0); + assertNum(node1); + assertNum(node2); + assertAmmoType(mat, 'Material'); + }, + appendTetra: (node0, node1, node2, node3, mat) => { + assertNum(node0); + assertNum(node1); + assertNum(node2); + assertNum(node3); + assertAmmoType(mat, 'Material'); + }, + appendAnchor: (node, body, disableCollisionBetweenLinkedBodies, influence) => { + assertNum(node); + assertAmmoType(body, 'btRigidBody'); + expect(disableCollisionBetweenLinkedBodies).to.be.a('boolean'); + assertNum(influence); + }, + getTotalMass: () => 1, + setTotalMass: (mass, fromfaces) => { + assertNum(mass); + assertNum(fromfaces); + }, + setMass: (node, mass) => { + assertNum(node); + assertNum(mass); + }, + transform: trs => assertAmmoType(trs, 'btTransform'), + translate: trs => assertAmmoType(trs, 'btVector3'), + rotate: rot => assertAmmoType(rot, 'btQuaternion'), + scale: scl => assertAmmoType(scl, 'btVector3'), + generateClusters: (k, maxiterations) => { + assertNum(k); + + if (maxiterations !== undefined) { + assertNum(maxiterations); + } + + return 1; + }, + upcast: (colObj) => { + assertAmmoType(colObj, 'btCollisionObject'); + + return AmmoTypes.btSoftBody; + } +}, 'btCollisionObject'); + +createType('btSoftBodyRigidBodyCollisionConfiguration', { + _constructor: (info) => { + if (info !== undefined) { + assertAmmoType(info, 'btDefaultCollisionConstructionInfo'); + } + } +}, 'btDefaultCollisionConfiguration'); + +createType('btSoftBodySolver', { }); + +createType('btDefaultSoftBodySolver', { + _constructor: () => { } +}, 'btSoftBodySolver'); + +createType('btSoftBodyArray', { + size: () => 1, + at: (n) => { + assertNum(n); + + return AmmoTypes.btSoftBody; + } +}); + +createType('btSoftRigidDynamicsWorld', { + _constructor: (dispatcher, pairCache, constraintSolver, collisionConfiguration, softBodySolver) => { + assertAmmoType(dispatcher, 'btDispatcher'); + assertAmmoType(pairCache, 'btBroadphaseInterface'); + assertAmmoType(constraintSolver, 'btConstraintSolver'); + assertAmmoType(collisionConfiguration, 'btCollisionConfiguration'); + assertAmmoType(softBodySolver, 'btSoftBodySolver'); + }, + + addSoftBody: (body, collisionFilterGroup, collisionFilterMask) => { + assertAmmoType(body, 'btSoftBody'); + assertNum(collisionFilterGroup); + assertNum(collisionFilterMask); + }, + removeSoftBody: body => assertAmmoType(body, 'btSoftBody'), + removeCollisionObject: collisionObject => assertAmmoType(collisionObject, 'collisionObject'), + + getWorldInfo: () => AmmoTypes.btSoftBodyWorldInfo, + getSoftBodyArray: () => AmmoTypes.btSoftBodyArray +}, 'btDiscreteDynamicsWorld'); + +createType('btSoftBodyHelpers', { + _constructor: () => { }, + + CreateRope: (worldInfo, from, to, res, fixeds) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertAmmoType(from, 'btVector3'); + assertAmmoType(to, 'btVector3'); + assertNum(res); + assertNum(fixeds); + + return AmmoTypes.btSoftBody; + }, + CreatePatch: (worldInfo, corner00, corner10, corner01, corner11, resx, resy, fixeds, gendiags) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertAmmoType(corner00, 'btVector3'); + assertAmmoType(corner10, 'btVector3'); + assertAmmoType(corner01, 'btVector3'); + assertAmmoType(corner11, 'btVector3'); + assertNum(resx); + assertNum(resy); + assertNum(fixeds); + expect(gendiags).to.be.a('boolean'); + + return AmmoTypes.btSoftBody; + }, + CreatePatchUV: (worldInfo, corner00, corner10, corner01, corner11, resx, resy, fixeds, gendiags, tex_coords) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertAmmoType(corner00, 'btVector3'); + assertAmmoType(corner10, 'btVector3'); + assertAmmoType(corner01, 'btVector3'); + assertAmmoType(corner11, 'btVector3'); + assertNum(resx); + assertNum(resy); + assertNum(fixeds); + expect(gendiags).to.be.a('boolean'); + assertArray(tex_coords, v => assertNum(v)); + + return AmmoTypes.btSoftBody; + }, + CreateEllipsoid: (worldInfo, center, radius, res) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertAmmoType(center, 'btVector3'); + assertAmmoType(radius, 'btVector3'); + assertNum(res); + + return AmmoTypes.btSoftBody; + }, + CreateFromTriMesh: (worldInfo, vertices, triangles, ntriangles, randomizeConstraints) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertArray(vertices, v => assertNum(v)); + assertArray(triangles, v => assertNum(v)); + assertNum(ntriangles); + expect(randomizeConstraints).to.be.a('boolean'); + + return AmmoTypes.btSoftBody; + }, + CreateFromConvexHull: (worldInfo, vertices, nvertices, randomizeConstraints) => { + assertAmmoType(worldInfo, 'btSoftBodyWorldInfo'); + assertAmmoType(vertices, 'btVector3'); + assertNum(nvertices); + expect(randomizeConstraints).to.be.a('boolean'); + + return AmmoTypes.btSoftBody; + } +}); + +export { Ammo, assertNum, assertArray, assertVec3, assertAmmoType, isOfAmmoType, allOfAmmoType }; From 2852b5759bf5e92e6fa2c871a8a035477be456c6 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Wed, 1 Mar 2023 15:38:49 +0000 Subject: [PATCH 07/12] Added test for shape colliders destruction on collision component destroy --- .../components/collision/component.test.mjs | 169 ++++++++++++++++++ 1 file changed, 169 insertions(+) create mode 100644 test/framework/components/collision/component.test.mjs diff --git a/test/framework/components/collision/component.test.mjs b/test/framework/components/collision/component.test.mjs new file mode 100644 index 00000000000..290b638154c --- /dev/null +++ b/test/framework/components/collision/component.test.mjs @@ -0,0 +1,169 @@ +import { HTMLCanvasElement } from '@playcanvas/canvas-mock'; +import { Application } from '../../../../src/framework/application.js'; +import { Entity } from '../../../../src/framework/entity.js'; + +import { expect } from 'chai'; + +import { Ammo, isOfAmmoType, allOfAmmoType } from '../../../ammo.mjs'; + +// Helpers + +const modifiedAmmoFunctions = {}; +function modifyAmmoFunction(name, fn, excludeOriginal = false) { + // Don't overwride original if function was already saved. + if (!modifiedAmmoFunctions[name]) { + modifiedAmmoFunctions[name] = Ammo[name]; + } + + Ammo[name] = function (...args) { + if (!excludeOriginal) { + modifiedAmmoFunctions[name](...args); + } + + return fn(...args); + }; +} + +function restoreAmmoFunction(name) { + if (modifiedAmmoFunctions[name]) { + Ammo[name] = modifiedAmmoFunctions[name]; + delete modifiedAmmoFunctions[name]; + } +} + +function restoreAmmoFunctions() { + Object.keys(modifiedAmmoFunctions).forEach(f => restoreAmmoFunction(f)); +} + +describe('CollisionSystem', function () { + /** @type {Application} */ + let app; + + /** @type {Entity} */ + let entity; + + // Hooks + + before(function () { + global.Ammo = Ammo; + app = new Application(new HTMLCanvasElement(500, 500)); + + // Loading libraries. Required for Physics World to exist. + // Using load function to avoid calling `app.start();` or + // directly the `Application#onLibrariesLoaded` function. + app._loadLibraries([], () => { }); + }); + + after(function () { + app.destroy(); + global.Ammo = undefined; + }); + + beforeEach(function () { + entity = new Entity(); + }); + + afterEach(function () { + entity.destroy(); + restoreAmmoFunctions(); + }); + + function checkClearCollisionShape(collision) { + let createdShapes = 0; + let destroyedShapes = 0; + + allOfAmmoType('btCollisionShape', true).forEach((type) => { + modifyAmmoFunction(type, (...args) => { + createdShapes++; + return modifiedAmmoFunctions[type](...args); + }, false); + }); + + modifyAmmoFunction('destroy', (obj) => { + if (isOfAmmoType(obj, 'btCollisionShape')) { + destroyedShapes++; + } + }); + + if (collision.length) { + for (let i = 0, l = collision.length; i < l; i++) { + entity.addComponent('collision', collision[i]); + entity.removeComponent('collision'); + } + } else { + entity.addComponent('collision', collision); + entity.removeComponent('collision'); + } + + expect(createdShapes).to.equal(destroyedShapes); + } + + it('clears box collision shape on destroy', function () { + checkClearCollisionShape({ + type: 'box' + }); + }); + + it('clears capsule collision shape on destroy', function () { + checkClearCollisionShape([ + { + type: 'capsule', + axis: 0 + }, { + type: 'capsule', + axis: 1 + }, { + type: 'capsule', + axis: 2 + } + ]); + }); + + it('clears compound collision shape on destroy', function () { + checkClearCollisionShape({ + type: 'compound' + }); + }); + + it('clears cone collision shape on destroy', function () { + checkClearCollisionShape([ + { + type: 'cone', + axis: 0 + }, { + type: 'cone', + axis: 1 + }, { + type: 'cone', + axis: 2 + } + ]); + }); + + it('clears cylinder collision shape on destroy', function () { + checkClearCollisionShape([ + { + type: 'cylinder', + axis: 0 + }, { + type: 'cylinder', + axis: 1 + }, { + type: 'cylinder', + axis: 2 + } + ]); + }); + + it('clears mesh collision shape on destroy', function () { + checkClearCollisionShape({ + type: 'mesh' + }); + }); + + it('clears shape collision shape on destroy', function () { + checkClearCollisionShape({ + type: 'sphere' + }); + }); +}); From 72141160765da88c42f5dbd28e3105bd5ffe8ce3 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Sat, 11 Mar 2023 14:30:34 +0100 Subject: [PATCH 08/12] Remove not relevant anymore comment --- test/ammo.mjs | 2 -- 1 file changed, 2 deletions(-) diff --git a/test/ammo.mjs b/test/ammo.mjs index 00c3dcd8b8d..db62f4dbd9d 100644 --- a/test/ammo.mjs +++ b/test/ammo.mjs @@ -70,8 +70,6 @@ function assertVec3(vec, x, y, z) { // Stub Ammo -// Note: do not use arrow functions in the Ammo root object, since the engine will -// not be able to use "new" keyword with them for instantiation const AmmoTypes = { }; const Ammo = { From fb1eeaf1878511fca7bb7ae25a2f4aafb3a25ba7 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Fri, 12 May 2023 10:34:59 +0100 Subject: [PATCH 09/12] Shortened shape destroying Co-authored-by: Martin Valigursky <59932779+mvaligursky@users.noreply.github.com> --- src/framework/components/collision/system.js | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index 3ebbaf6f7cc..b813493546e 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -155,12 +155,10 @@ class CollisionSystemImpl { } destroyShape(data) { - if (!data.shape) { - return; + if (data.shape) { + Ammo.destroy(data.shape); + data.shape = null; } - - Ammo.destroy(data.shape); - data.shape = null; } beforeRemove(entity, component) { From a75335c8c95df50a9171f7becc673376cb48d721 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Fri, 12 May 2023 10:43:23 +0100 Subject: [PATCH 10/12] Removed changes to collision system as implemented in #5106 --- src/framework/components/collision/system.js | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/framework/components/collision/system.js b/src/framework/components/collision/system.js index fe456590f40..b7b29280118 100644 --- a/src/framework/components/collision/system.js +++ b/src/framework/components/collision/system.js @@ -83,7 +83,8 @@ class CollisionSystemImpl { component._compoundParent.entity.rigidbody.activate(); } - this.destroyShape(data); + Ammo.destroy(data.shape); + data.shape = null; } data.shape = this.createPhysicalShape(component.entity, data); @@ -155,13 +156,6 @@ class CollisionSystemImpl { } } - destroyShape(data) { - if (data.shape) { - Ammo.destroy(data.shape); - data.shape = null; - } - } - beforeRemove(entity, component) { if (component.data.shape) { if (component._compoundParent && !component._compoundParent.entity._destroying) { @@ -173,7 +167,8 @@ class CollisionSystemImpl { component._compoundParent = null; - this.destroyShape(component.data); + Ammo.destroy(component.data.shape); + component.data.shape = null; } } @@ -519,6 +514,11 @@ class CollisionMeshSystemImpl extends CollisionSystemImpl { Ammo.destroy(data.shape); data.shape = null; } + + remove(entity, data) { + this.destroyShape(data); + super.remove(entity, data); + } } // Compound Collision System From 0c82f2bb3dd8e350206d710fa8522c6432766a67 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Thu, 17 Aug 2023 15:48:32 +0200 Subject: [PATCH 11/12] Fixed comment typo Co-authored-by: Will Eastcott --- test/framework/components/collision/component.test.mjs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/framework/components/collision/component.test.mjs b/test/framework/components/collision/component.test.mjs index 290b638154c..9c3049db78e 100644 --- a/test/framework/components/collision/component.test.mjs +++ b/test/framework/components/collision/component.test.mjs @@ -10,7 +10,7 @@ import { Ammo, isOfAmmoType, allOfAmmoType } from '../../../ammo.mjs'; const modifiedAmmoFunctions = {}; function modifyAmmoFunction(name, fn, excludeOriginal = false) { - // Don't overwride original if function was already saved. + // Don't override original if function was already saved. if (!modifiedAmmoFunctions[name]) { modifiedAmmoFunctions[name] = Ammo[name]; } From 43e34d1d9f2c657fdf764d782526c5335c978814 Mon Sep 17 00:00:00 2001 From: Lucas Petitjean <28061629+MushAsterion@users.noreply.github.com> Date: Thu, 17 Aug 2023 15:52:22 +0200 Subject: [PATCH 12/12] Fixed wrong test name --- test/framework/components/collision/component.test.mjs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/framework/components/collision/component.test.mjs b/test/framework/components/collision/component.test.mjs index 9c3049db78e..de12b59408a 100644 --- a/test/framework/components/collision/component.test.mjs +++ b/test/framework/components/collision/component.test.mjs @@ -35,7 +35,7 @@ function restoreAmmoFunctions() { Object.keys(modifiedAmmoFunctions).forEach(f => restoreAmmoFunction(f)); } -describe('CollisionSystem', function () { +describe('CollisionComponent', function () { /** @type {Application} */ let app;