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Allowed sensors to collide with one another #432

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Feb 12, 2023
Merged

Allowed sensors to collide with one another #432

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069b53d
Allowed sensors to collide with one another
mihe Feb 9, 2023
ba5e527
Added unit test for sensor vs sensor
jrouwe Feb 11, 2023
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10 changes: 2 additions & 8 deletions Jolt/Physics/Body/Body.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,9 @@ inline bool Body::sFindCollidingPairsCanCollide(const Body &inBody1, const Body
// One of these conditions must be true
// - One of the bodies must be dynamic to collide
// - A kinematic object can collide with a sensor
bool body1_sensor = inBody1.IsSensor();
bool body2_sensor = inBody2.IsSensor();
if ((!inBody1.IsDynamic() && !inBody2.IsDynamic())
&& !(inBody1.IsKinematic() && body2_sensor)
&& !(inBody2.IsKinematic() && body1_sensor))
return false;

// If both bodies are sensors, there's no collision
if (body1_sensor && body2_sensor)
&& !(inBody1.IsKinematic() && inBody2.IsSensor())
&& !(inBody2.IsKinematic() && inBody1.IsSensor()))
return false;

// Check that body 1 is active
Expand Down
18 changes: 13 additions & 5 deletions UnitTests/Layers.h
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Expand Up @@ -18,7 +18,8 @@ namespace Layers
static constexpr uint8 MOVING = 6;
static constexpr uint8 HQ_DEBRIS = 7; // High quality debris collides with MOVING and NON_MOVING but not with any debris
static constexpr uint8 LQ_DEBRIS = 8; // Low quality debris only collides with NON_MOVING
static constexpr uint8 NUM_LAYERS = 9;
static constexpr uint8 SENSOR = 9; // Sensors only collide with MOVING objects
static constexpr uint8 NUM_LAYERS = 10;
};

/// Class that determines if two object layers can collide
Expand All @@ -38,11 +39,13 @@ class ObjectLayerPairFilterImpl : public ObjectLayerPairFilter
case Layers::NON_MOVING:
return inObject2 == Layers::MOVING || inObject2 == Layers::HQ_DEBRIS || inObject2 == Layers::LQ_DEBRIS;
case Layers::MOVING:
return inObject2 == Layers::NON_MOVING || inObject2 == Layers::MOVING || inObject2 == Layers::HQ_DEBRIS;
return inObject2 == Layers::NON_MOVING || inObject2 == Layers::MOVING || inObject2 == Layers::HQ_DEBRIS || inObject2 == Layers::SENSOR;
case Layers::HQ_DEBRIS:
return inObject2 == Layers::NON_MOVING || inObject2 == Layers::MOVING;
case Layers::LQ_DEBRIS:
return inObject2 == Layers::NON_MOVING;
case Layers::SENSOR:
return inObject2 == Layers::MOVING;
default:
JPH_ASSERT(false);
return false;
Expand All @@ -57,7 +60,8 @@ namespace BroadPhaseLayers
static constexpr BroadPhaseLayer MOVING(1);
static constexpr BroadPhaseLayer LQ_DEBRIS(2);
static constexpr BroadPhaseLayer UNUSED(3);
static constexpr uint NUM_LAYERS(4);
static constexpr BroadPhaseLayer SENSOR(4);
static constexpr uint NUM_LAYERS(5);
};

/// BroadPhaseLayerInterface implementation
Expand All @@ -76,6 +80,7 @@ class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface
mObjectToBroadPhase[Layers::MOVING] = BroadPhaseLayers::MOVING;
mObjectToBroadPhase[Layers::HQ_DEBRIS] = BroadPhaseLayers::MOVING; // HQ_DEBRIS is also in the MOVING layer as an example on how to map multiple layers onto the same broadphase layer
mObjectToBroadPhase[Layers::LQ_DEBRIS] = BroadPhaseLayers::LQ_DEBRIS;
mObjectToBroadPhase[Layers::SENSOR] = BroadPhaseLayers::SENSOR;
}

virtual uint GetNumBroadPhaseLayers() const override
Expand All @@ -98,6 +103,7 @@ class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface
case (BroadPhaseLayer::Type)BroadPhaseLayers::MOVING: return "MOVING";
case (BroadPhaseLayer::Type)BroadPhaseLayers::LQ_DEBRIS: return "LQ_DEBRIS";
case (BroadPhaseLayer::Type)BroadPhaseLayers::UNUSED: return "UNUSED";
case (BroadPhaseLayer::Type)BroadPhaseLayers::SENSOR: return "SENSOR";
default: JPH_ASSERT(false); return "INVALID";
}
}
Expand All @@ -119,15 +125,17 @@ class ObjectVsBroadPhaseLayerFilterImpl : public ObjectVsBroadPhaseLayerFilter
return inLayer2 == BroadPhaseLayers::MOVING;
case Layers::MOVING:
case Layers::HQ_DEBRIS:
return inLayer2 == BroadPhaseLayers::NON_MOVING || inLayer2 == BroadPhaseLayers::MOVING;
return inLayer2 == BroadPhaseLayers::NON_MOVING || inLayer2 == BroadPhaseLayers::MOVING || inLayer2 == BroadPhaseLayers::SENSOR;
case Layers::LQ_DEBRIS:
return inLayer2 == BroadPhaseLayers::NON_MOVING;
case Layers::SENSOR:
return inLayer2 == BroadPhaseLayers::MOVING;
case Layers::UNUSED1:
case Layers::UNUSED2:
case Layers::UNUSED3:
case Layers::UNUSED4:
case Layers::UNUSED5:
return false;
return false;
default:
JPH_ASSERT(false);
return false;
Expand Down
75 changes: 68 additions & 7 deletions UnitTests/Physics/SensorTests.cpp
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Expand Up @@ -23,7 +23,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
sensor_settings.mIsSensor = true;
BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);

Expand Down Expand Up @@ -61,7 +61,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
sensor_settings.mIsSensor = true;
BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);

Expand Down Expand Up @@ -101,7 +101,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Kinematic sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
sensor_settings.mIsSensor = true;
BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);

Expand Down Expand Up @@ -145,7 +145,7 @@ TEST_SUITE("SensorTests")
kinematic.SetLinearVelocity(Vec3(0, -1, 0));

// Kinematic sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
sensor_settings.mIsSensor = true;
BodyID sensor_id = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);

Expand Down Expand Up @@ -179,7 +179,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
sensor_settings.mIsSensor = true;
Body &sensor = *c.GetBodyInterface().CreateBody(sensor_settings);
c.GetBodyInterface().AddBody(sensor.GetID(), EActivation::DontActivate);
Expand Down Expand Up @@ -234,7 +234,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Kinematic sensor that is active (so will keep detecting contacts with sleeping bodies)
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, Layers::SENSOR);
sensor_settings.mIsSensor = true;
Body &sensor = *c.GetBodyInterface().CreateBody(sensor_settings);
c.GetBodyInterface().AddBody(sensor.GetID(), EActivation::Activate);
Expand Down Expand Up @@ -303,6 +303,67 @@ TEST_SUITE("SensorTests")
CHECK(!listener.Contains(EType::Remove, sensor.GetID(), dynamic.GetID()));
}

TEST_CASE("TestSensorVsSensor")
{
for (int test = 0; test < 2; ++test)
{
bool sensor_detects_sensor = test == 1;

PhysicsTestContext c;

// Register listener
LoggingContactListener listener;
c.GetSystem()->SetContactListener(&listener);

// Depending on the iteration we either place the sensor in the moving layer which means it will collide with other sensors
// or we put it in the sensor layer which means it won't collide with other sensors
ObjectLayer layer = sensor_detects_sensor? Layers::MOVING : Layers::SENSOR;

// Sensor 1
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(1)), RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, layer);
sensor_settings.mIsSensor = true;
BodyID sensor_id1 = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::DontActivate);

// Sensor 2 moving downwards
sensor_settings.mMotionType = EMotionType::Kinematic;
sensor_settings.mPosition = RVec3(0, 3, 0);
sensor_settings.mIsSensor = true;
sensor_settings.mLinearVelocity = Vec3(0, -2, 0);
BodyID sensor_id2 = c.GetBodyInterface().CreateAndAddBody(sensor_settings, EActivation::Activate);

// After a single step the sensors should not touch yet
c.SimulateSingleStep();
CHECK(listener.GetEntryCount() == 0);

// After half a second the sensors should be touching
c.Simulate(0.5f);
if (sensor_detects_sensor)
CHECK(listener.Contains(EType::Add, sensor_id1, sensor_id2));
else
CHECK(listener.GetEntryCount() == 0);
listener.Clear();

// The next step we require that the contact persists
c.SimulateSingleStep();
if (sensor_detects_sensor)
{
CHECK(listener.Contains(EType::Persist, sensor_id1, sensor_id2));
CHECK(!listener.Contains(EType::Remove, sensor_id1, sensor_id2));
}
else
CHECK(listener.GetEntryCount() == 0);
listener.Clear();

// After 2 more seconds we should have left the sensor at the bottom side
c.Simulate(2.0f + c.GetDeltaTime());
if (sensor_detects_sensor)
CHECK(listener.Contains(EType::Remove, sensor_id1, sensor_id2));
else
CHECK(listener.GetEntryCount() == 0);
CHECK_APPROX_EQUAL(c.GetBodyInterface().GetPosition(sensor_id2), sensor_settings.mPosition + sensor_settings.mLinearVelocity * (2.5f + 3.0f * c.GetDeltaTime()), 1.0e-4f);
}
}

TEST_CASE("TestContactListenerMakesSensor")
{
PhysicsTestContext c;
Expand Down Expand Up @@ -387,7 +448,7 @@ TEST_SUITE("SensorTests")
c.GetSystem()->SetContactListener(&listener);

// Create sensor
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(5.0f)), RVec3(0, 10, 0), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
BodyCreationSettings sensor_settings(new BoxShape(Vec3::sReplicate(5.0f)), RVec3(0, 10, 0), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
sensor_settings.mIsSensor = true;
BodyID sensor_id = bi.CreateAndAddBody(sensor_settings, EActivation::DontActivate);

Expand Down