physics stuff

2026-07-17 19:07:32 -05:00
parent 0bc80d5df3
commit 5f08337726
38 changed files with 945 additions and 634 deletions
@@ -61,7 +61,7 @@ static void test_physicsWorldStepStraightLineNoObstacles(void **state) {

  const uint32_t steps = 10;
  for(uint32_t i = 0; i < steps; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
  }

  assert_float_equal(body.position[0], 1.0f * steps * DUSK_TIME_STEP, 0.001f);
@@ -89,7 +89,7 @@ static void test_physicsWorldStepBlockedHorizontally(void **state) {
  body.velocity[0] = 5.0f;

  for(uint32_t i = 0; i < 60; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
  }

  assert_float_equal(body.position[0], 2.0f, 0.0001f);
@@ -97,7 +97,7 @@ static void test_physicsWorldStepBlockedHorizontally(void **state) {

  // Further steps must not push it past the wall.
  for(uint32_t i = 0; i < 5; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
    assert_float_equal(body.position[0], 2.0f, 0.0001f);
  }

@@ -117,7 +117,7 @@ static void test_physicsWorldStepGravitySettlesOnFloor(void **state) {
  physicsBodyInit(&body, position, extents);

  for(uint32_t i = 0; i < 200; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
    assert_true(body.position[2] >= -0.0001f);
  }

@@ -142,7 +142,7 @@ static void test_physicsWorldStepFallsThroughHole(void **state) {

  for(uint32_t i = 0; i < 50; i++) {
    const float_t previousZ = body.position[2];
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
    assert_true(body.position[2] < previousZ);
    assert_false(body.grounded);
  }
@@ -163,7 +163,7 @@ static void test_physicsWorldStepTerminalVelocityClamp(void **state) {
  physicsBodyInit(&body, position, extents);

  for(uint32_t i = 0; i < 300; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
    assert_true(fabsf(body.velocity[2]) <= world.terminalVelocity + 0.0001f);
  }

@@ -186,7 +186,7 @@ static void test_physicsWorldStepBlockedByCeiling(void **state) {
  body.velocity[2] = 1.0f;

  for(uint32_t i = 0; i < 200; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
  }

  assert_float_equal(body.position[2], 1.0f, 0.0001f);
@@ -215,7 +215,7 @@ static void test_physicsWorldStepMultiColumnFootprint(void **state) {
  body.velocity[0] = 5.0f;

  for(uint32_t i = 0; i < 60; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
  }

  assert_float_equal(body.position[0], 1.0f, 0.0001f);
@@ -242,7 +242,7 @@ static void test_physicsWorldStepRampTreatedAsFlatGround(void **state) {
  body.velocity[0] = 5.0f;

  for(uint32_t i = 0; i < 60; i++) {
-    physicsWorldStep(&world, &body, DUSK_TIME_STEP);
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, NULL, 0);
    assert_float_equal(body.position[2], 0.0f, 0.0001f);
  }

@@ -252,6 +252,91 @@ static void test_physicsWorldStepRampTreatedAsFlatGround(void **state) {
  assert_int_equal(memoryGetAllocatedCount(), 0);
 }

+static void test_physicsWorldStepBlockedByOtherBody(void **state) {
+  testMapReset();
+  for(worldunit_t x = 0; x < 10; x++) {
+    testMapSetTile(x, 0, 0, TILE_SHAPE_GROUND);
+  }
+
+  physicsworld_t world;
+  physicsWorldInit(&world, 0.0f, 40.0f);
+
+  const vec3 extents = { 1.0f, 1.0f, 1.0f };
+
+  physicsbody_t other;
+  physicsBodyInit(&other, (vec3){ 5.0f, 0.0f, 0.0f }, extents);
+
+  physicsbody_t body;
+  physicsBodyInit(&body, (vec3){ 0.0f, 0.0f, 0.0f }, extents);
+  body.velocity[0] = 5.0f;
+
+  physicsbody_t *others[] = { &other };
+
+  for(uint32_t i = 0; i < 60; i++) {
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, others, 1);
+  }
+
+  // Other occupies [5,6) - body (1 unit wide) should stop exactly
+  // touching it, at x=4.
+  assert_float_equal(body.position[0], 4.0f, 0.0001f);
+  assert_float_equal(body.velocity[0], 0.0f, 0.0001f);
+  assert_float_equal(other.position[0], 5.0f, 0.0001f);
+
+  assert_int_equal(memoryGetAllocatedCount(), 0);
+}
+
+static void test_physicsWorldStepBlockedByNearestOfMultipleBodies(
+  void **state
+) {
+  testMapReset();
+  for(worldunit_t x = 0; x < 20; x++) {
+    testMapSetTile(x, 0, 0, TILE_SHAPE_GROUND);
+  }
+
+  physicsworld_t world;
+  physicsWorldInit(&world, 0.0f, 40.0f);
+
+  const vec3 extents = { 1.0f, 1.0f, 1.0f };
+
+  physicsbody_t nearOther;
+  physicsBodyInit(&nearOther, (vec3){ 5.0f, 0.0f, 0.0f }, extents);
+
+  physicsbody_t farOther;
+  physicsBodyInit(&farOther, (vec3){ 15.0f, 0.0f, 0.0f }, extents);
+
+  physicsbody_t body;
+  physicsBodyInit(&body, (vec3){ 0.0f, 0.0f, 0.0f }, extents);
+  body.velocity[0] = 5.0f;
+
+  physicsbody_t *others[] = { &farOther, &nearOther };
+
+  for(uint32_t i = 0; i < 60; i++) {
+    physicsWorldStep(&world, &body, DUSK_TIME_STEP, others, 2);
+  }
+
+  assert_float_equal(body.position[0], 4.0f, 0.0001f);
+  assert_float_equal(body.velocity[0], 0.0f, 0.0001f);
+
+  assert_int_equal(memoryGetAllocatedCount(), 0);
+}
+
+static void test_physicsWorldResolveBodyOverlapIgnoresSelfAndNull(
+  void **state
+) {
+  const vec3 extents = { 1.0f, 1.0f, 1.0f };
+  physicsbody_t body;
+  physicsBodyInit(&body, (vec3){ 0.0f, 0.0f, 0.0f }, extents);
+  body.velocity[0] = 1.0f;
+
+  physicsbody_t *others[] = { &body, NULL };
+  physicsWorldResolveBodyOverlap(&body, 0, others, 2);
+
+  assert_float_equal(body.position[0], 0.0f, 0.0001f);
+  assert_float_equal(body.velocity[0], 1.0f, 0.0001f);
+
+  assert_int_equal(memoryGetAllocatedCount(), 0);
+}
+
 int main(void) {
  const struct CMUnitTest tests[] = {
    cmocka_unit_test(test_physicsWorldStepStraightLineNoObstacles),
@@ -262,6 +347,9 @@ int main(void) {
    cmocka_unit_test(test_physicsWorldStepBlockedByCeiling),
    cmocka_unit_test(test_physicsWorldStepMultiColumnFootprint),
    cmocka_unit_test(test_physicsWorldStepRampTreatedAsFlatGround),
+    cmocka_unit_test(test_physicsWorldStepBlockedByOtherBody),
+    cmocka_unit_test(test_physicsWorldStepBlockedByNearestOfMultipleBodies),
+    cmocka_unit_test(test_physicsWorldResolveBodyOverlapIgnoresSelfAndNull),
  };

  return cmocka_run_group_tests(tests, NULL, NULL);