ludic/packages/ludic.physics/tests/motion_test.ludic

# motion_test.ludic - what moves: a crate that floats in the fake lake and drifts with its current,
# a hard landing as a fact and a soft one not, a kinematic body pushing a crate, fixed steps
# whatever the frame, a world closed and opened again, and the same run twice to the bit
import "ludic.physics"
import "ludic.base"
program MotionTest {
  numbers float
  function pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
    let p = new PhysPose
    if not phys_pose(physics_st, id, p) { return null }
    return p
  }

  function lake_h(x: float, z: float) -> float {
    if x > 20.0 { return 0.0 }
    return PHYS_NONE
  }
  function lake_cz(x: float, z: float) -> float { return 0.5 }
  bind PhysWater {
    height: fn lake_h
    current_z: fn lake_cz
  }

  # a lake bed 4 m down east of x = 20, a bank at 0 west of it; 64 x 64, a metre apart
  function world(physics_st: mut PhysicsState) -> void {
    expect(phys_open(physics_st, 1024, 1))
    let h = floats(64 * 64)
    for j in 0 .. 64 {
      for i in 0 .. 64 {
        var y = 0.0
        if i > 20 { y = -4.0 }
        h[j * 64 + i] = y
      }
    }
    phys_ground_add(physics_st, phys_heightfield(physics_st, h, 64, 0.0, -32.0, 1.0))
  }

  function sim(physics_st: mut PhysicsState, seconds: float) -> void {
    for i in 0 .. int(seconds * 60.0) { phys_step(physics_st) }
  }

  function count(fs: []PhysFact, what: int) -> int {
    var n = 0
    for i in 0 .. len(fs) { if fs[i].what == what { n += 1 } }
    return n
  }

  test "a crate floats level at the surface, drifts with the current, and splashes once" (physics_st: mut PhysicsState) {
    world(physics_st)
    let crate = phys_body_add(physics_st, phys_box(physics_st, 0.5, 0.25, 0.5), 30.0, 2.0, 0.0, 0.0, 60.0)
    phys_float(physics_st, crate, 1.2, 2.0, 2.0)
    sim(physics_st, 8.0)
    let p = pose(physics_st, crate)
    expect(p.y > -0.4)
    expect(p.y < 0.4)
    expect(Math.abs(p.vy) < 0.2)
    expect(Math.abs(p.qw) > 0.99)
    expect(p.z > 0.5)
    expect_eq(count(q_drain(phys_facts(physics_st)), PHYS_SPLASH), 1)
    phys_sink(physics_st, crate)
    expect(not phys_floating(physics_st, crate))
    sim(physics_st, 4.0)
    expect(pose(physics_st, crate).y < -2.5)
    phys_close(physics_st)
  }

  test "a hard landing is a fact, a gentle one is not" (physics_st: mut PhysicsState) {
    world(physics_st)
    let b = phys_box(physics_st, 0.3, 0.3, 0.3)
    let hard = phys_body_add(physics_st, b, 5.0, 6.0, 0.0, 0.0, 10.0)
    let soft = phys_body_add(physics_st, b, 10.0, 0.35, 0.0, 0.0, 10.0)
    sim(physics_st, 2.0)
    let fs = q_drain(phys_facts(physics_st))
    var hard_hits = 0
    var soft_hits = 0
    for i in 0 .. len(fs) {
      if fs[i].what == PHYS_HIT and (fs[i].a == hard or fs[i].b == hard) { hard_hits += 1;  expect(fs[i].speed >= 2.0) }
      if fs[i].what == PHYS_HIT and (fs[i].a == soft or fs[i].b == soft) { soft_hits += 1 }
    }
    expect(hard_hits >= 1)
    expect_eq(soft_hits, 0)
    expect_eq(phys_contacts_lost(physics_st), 0)
    phys_close(physics_st)
  }

  test "a kinematic body walking into a crate shoves it along" (physics_st: mut PhysicsState) {
    world(physics_st)
    let me = phys_kinematic_add(physics_st, phys_capsule(physics_st, 0.6, 0.3), 2.0, 0.95, 0.0, 0.0)
    let crate = phys_body_add(physics_st, phys_box(physics_st, 0.3, 0.3, 0.3), 4.0, 0.3, 0.0, 0.0, 5.0)
    sim(physics_st, 0.5)
    for i in 0 .. 120 {
      phys_set_kinematic_target(physics_st, me, 2.0 + float(i + 1) * 0.03, 0.95, 0.0, 0.0)
      phys_step(physics_st)
    }
    expect(pose(physics_st, crate).x > 5.0)
    phys_close(physics_st)
  }

  test "steps are fixed whatever the frame, and a stall is not replayed" (physics_st: mut PhysicsState) {
    world(physics_st)
    expect_eq(phys_advance(physics_st, 0.05), 3)
    expect_eq(phys_advance(physics_st, 0.01), 0)
    expect_eq(phys_advance(physics_st, 0.01), 1)
    expect_eq(phys_advance(physics_st, 2.0), 4)
    expect_eq(phys_advance(physics_st, 0.0), 0)
    expect_eq(phys_steps(physics_st), 8)
    phys_close(physics_st)
    expect(not phys_is_open(physics_st))
    expect_eq(phys_advance(physics_st, 1.0), 0)
    world(physics_st)
    expect_eq(phys_steps(physics_st), 0)
    phys_close(physics_st)
  }

  function tumble(physics_st: mut PhysicsState) -> PhysPose {
    world(physics_st)
    let b = phys_box(physics_st, 0.4, 0.2, 0.3)
    var last = -1
    for i in 0 .. 12 { last = phys_body_add(physics_st, b, 3.0 + float(i % 3) * 0.3, 2.0 + float(i) * 0.7, float(i % 2) * 0.2, float(i) * 0.4, 8.0) }
    phys_impulse(physics_st, last, 20.0, 0.0, 5.0)
    sim(physics_st, 4.0)
    let p = pose(physics_st, last)
    phys_close(physics_st)
    return p
  }

  test "the same pile, run twice, lands the same to the bit" (physics_st: mut PhysicsState) {
    let a = tumble(physics_st)
    let b = tumble(physics_st)
    expect_eq(float_bits(a.x), float_bits(b.x))
    expect_eq(float_bits(a.y), float_bits(b.y))
    expect_eq(float_bits(a.z), float_bits(b.z))
    expect_eq(float_bits(a.qw), float_bits(b.qw))
  }

  test "a hull floats a quarter under, is rowed along its bow, turned, and stopped by the lake bed" (physics_st: mut PhysicsState) {
    world(physics_st)
    let b = phys_hull_add(physics_st, 40.0, 0.5, 0.0, 1.5707963, 0.6, 0.25, 1.9, 180.0, 4.0, 1.0)
    sim(physics_st, 4.0)
    let p0 = pose(physics_st, b)
    expect(p0.y > -0.2)
    expect(p0.y < 0.2)
    for i in 0 .. 240 {
      phys_row(physics_st, b, 420.0, 0.0)
      phys_step(physics_st)
    }
    let p1 = pose(physics_st, b)
    expect(p1.x < 34.0)
    expect(phys_bow_speed(p1) > 1.0)
    for i in 0 .. 120 {
      phys_row(physics_st, b, 0.0, 520.0)
      phys_step(physics_st)
    }
    expect(Math.abs(phys_yaw_of(pose(physics_st, b)) - phys_yaw_of(p1)) > 0.5)
    phys_close(physics_st)
    world(physics_st)
    let c = phys_hull_add(physics_st, 24.0, 0.5, 0.0, 1.5707963, 0.6, 0.25, 1.9, 180.0, 4.0, 1.0)
    for i in 0 .. 600 {
      phys_row(physics_st, c, 420.0, 0.0)
      phys_step(physics_st)
    }
    expect(pose(physics_st, c).x > 19.5)
    phys_close(physics_st)
  }
}