app.samples: add the WaterShapeTest class

src/test/java/testjoltjni/app/samples/SmokeTestAll.java

@@ -32,7 +32,7 @@ of this software and associated documentation files (the "Software"), to deal
 import testjoltjni.app.samples.shapes.*;
 import testjoltjni.app.samples.softbody.*;
 import testjoltjni.app.samples.vehicle.*;
-import testjoltjni.app.samples.water.BoatTest;
+import testjoltjni.app.samples.water.*;
 
 /**
  * Console app to perform a "smoke test" on each of the Samples tests.
@@ -204,6 +204,7 @@ private static void smokeTestAll() {
 
         // water package:
         smokeTest(new BoatTest());
+        smokeTest(new WaterShapeTest());
     }
 
     /**

src/test/java/testjoltjni/app/samples/water/WaterShapeTest.java

@@ -0,0 +1,142 @@
+/*
+Copyright (c) 2025 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples.water;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import com.github.stephengold.joltjni.readonly.*;
+import com.github.stephengold.joltjni.std.*;
+import testjoltjni.app.samples.*;
+import java.util.*;
+import static com.github.stephengold.joltjni.operator.Op.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics water-shape test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Water/WaterShapeTest.cpp
+ */
+public class WaterShapeTest extends Test{
+    class MyCollector extends CustomCollideShapeBodyCollector{
+        PhysicsSystem mSystem;RVec3 mSurfacePosition;Vec3 mSurfaceNormal;float mDeltaTime;
+        public MyCollector(PhysicsSystem inSystem,RVec3Arg inSurfacePosition,Vec3Arg inSurfaceNormal,float inDeltaTime) {
+            mSystem=inSystem;mSurfacePosition=new RVec3(inSurfacePosition);mSurfaceNormal=new Vec3(inSurfaceNormal);mDeltaTime=inDeltaTime;
+        }
+        public void addHit(long inBodyIdVa){
+            BodyLockWrite lock=new BodyLockWrite(mSystem.getBodyLockInterface(), new BodyId(inBodyIdVa));
+            Body body=lock.getBody();
+            if(body.isActive())body.applyBuoyancyImpulse(mSurfacePosition,mSurfaceNormal,1.1f,0.3f,0.05f,Vec3.sZero(),mSystem.getGravity(),mDeltaTime);
+            lock.releaseLock();
+        }
+    }
+
+public void Initialize()
+{
+	CreateFloor();
+
+	// Create scaled box
+	BodyId body_id = mBodyInterface.createBody(new BodyCreationSettings(new ScaledShape(new BoxShape(new Vec3(1.0f, 2.0f, 2.5f)),new Vec3(0.5f, 0.6f, -0.7f)),new RVec3(-10, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create box
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new BoxShape(new Vec3(1.0f, 2.0f, 2.5f)),new  RVec3(-7, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create sphere
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new SphereShape(2.0f),new RVec3(-3, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create static compound
+	StaticCompoundShapeSettings static_compound = new StaticCompoundShapeSettings();
+	static_compound.addShape(new Vec3(2.0f, 0, 0), Quat.sIdentity(), new SphereShape(2.0f));
+	static_compound.addShape(new Vec3(-1.0f, 0, 0), Quat.sIdentity(), new SphereShape(1.0f));
+
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(static_compound,new RVec3(3, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create tetrahedron
+	List<Vec3Arg> tetrahedron=new ArrayList<>(4);
+	tetrahedron.add(new Vec3(-2, 0, -2));
+	tetrahedron.add(new Vec3(0, 0, 2));
+	tetrahedron.add(new Vec3(2, 0, -2));
+	tetrahedron.add(new Vec3(0, -2, 0));
+	ConvexHullShapeSettings tetrahedron_shape = new ConvexHullShapeSettings(tetrahedron);
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(tetrahedron_shape,new RVec3(10, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Non-uniform scaled tetrahedron
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new ScaledShapeSettings(tetrahedron_shape,new Vec3(1, -1.5f, 2.0f)),new RVec3(15, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create convex hull box
+	List<Vec3Arg> box=new ArrayList<>(8);
+	box.add(new Vec3(1.5f, 1.0f, 0.5f));
+	box.add(new Vec3(-1.5f, 1.0f, 0.5f));
+	box.add(new Vec3(1.5f, -1.0f, 0.5f));
+	box.add(new Vec3(-1.5f, -1.0f, 0.5f));
+	box.add(new Vec3(1.5f, 1.0f, -0.5f));
+	box.add(new Vec3(-1.5f, 1.0f, -0.5f));
+	box.add(new Vec3(1.5f, -1.0f, -0.5f));
+	box.add(new Vec3(-1.5f, -1.0f, -0.5f));
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new ConvexHullShapeSettings(box),new RVec3(18, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create random convex shape
+	DefaultRandomEngine random=new DefaultRandomEngine();
+	UniformFloatDistribution hull_size=new UniformFloatDistribution(0.1f, 1.9f);
+	List<Vec3Arg> points=new ArrayList<>(20);
+	for (int j = 0; j < 20; ++j)
+		points.add(star(hull_size.nextFloat(random) , Vec3.sRandom(random)));
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new ConvexHullShapeSettings(points),new RVec3(21, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create mutable compound
+	MutableCompoundShapeSettings mutable_compound = new MutableCompoundShapeSettings();
+	mutable_compound.addShape(new Vec3(1.0f, 0, 0), Quat.sIdentity(), new BoxShape(new Vec3(0.5f, 0.75f, 1.0f)));
+	mutable_compound.addShape(new Vec3(-1.0f, 0, 0), Quat.sIdentity(), new SphereShape(1.0f));
+
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(mutable_compound,new RVec3(25, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+
+	// Create box with center of mass offset
+	body_id = mBodyInterface.createBody(new BodyCreationSettings(new OffsetCenterOfMassShapeSettings(new Vec3(-1.0f, 0.0f, 0.0f), new BoxShape(new Vec3(2.0f, 0.25f, 0.25f)).toRefC()),new RVec3(30, 20, 0), Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING)).getId();
+	mBodyInterface.addBody(body_id, EActivation.Activate);
+}
+
+public void PrePhysicsUpdate( PreUpdateParams inParams)
+{
+	// Draw the water surface 5mm below actual surface to avoid z fighting with intersection shapes
+	RVec3 surface_point =new RVec3(0, 10, 0);
+	for (int i = -20; i <= 20; ++i)
+	{
+		mDebugRenderer.drawLine(plus(surface_point ,new Vec3(5.0f * i, 0, -100)), plus(surface_point ,new Vec3(5.0f * i, 0, 100)), Color.sBlue);
+		mDebugRenderer.drawLine(plus(surface_point ,new Vec3(-100, 0, 5.0f * i)), plus(surface_point ,new Vec3(100, 0, 5.0f * i)), Color.sBlue);
+	}
+
+	MyCollector collector=new MyCollector(mPhysicsSystem, surface_point, Vec3.sAxisY(), inParams.mDeltaTime);
+
+
+
+	// Apply buoyancy to all bodies that intersect with the water
+	AaBox water_box=new AaBox(minus(new Vec3(100, 100, 100)),new Vec3(100, 0, 100));
+	water_box.translate(new Vec3(surface_point));
+	mPhysicsSystem.getBroadPhaseQuery().collideAaBox(water_box, collector,new SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers.MOVING),new SpecifiedObjectLayerFilter(Layers.MOVING));
+}
+}