test: add the Test009 class

src/test/java/testjoltjni/junit/Test009.java

@@ -0,0 +1,129 @@
+/*
+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.junit;
+
+import com.github.stephengold.joltjni.BodyCreationSettings;
+import com.github.stephengold.joltjni.Quat;
+import com.github.stephengold.joltjni.RVec3;
+import com.github.stephengold.joltjni.StaticCompoundShapeSettings;
+import com.github.stephengold.joltjni.enumerate.EMotionType;
+import com.github.stephengold.joltjni.vhacd.ConvexHull;
+import com.github.stephengold.joltjni.vhacd.Decomposer;
+import com.github.stephengold.joltjni.vhacd.Parameters;
+import com.github.stephengold.joltjni.vhacd.ProgressListener;
+import java.nio.FloatBuffer;
+import java.util.Collection;
+import org.junit.Assert;
+import org.junit.Test;
+import testjoltjni.TestUtils;
+import testjoltjni.app.samples.Layers;
+
+/**
+ * Automated JUnit4 tests for V-HACD.
+ *
+ * @author Stephen Gold [email protected]
+ */
+public class Test009 {
+    // *************************************************************************
+    // constants
+
+    /**
+     * vertex locations for an L-shaped mesh
+     */
+    final private static float[] locationArray = {
+        0f, 0f, 0f,
+        2f, 0f, 0f,
+        2f, 1f, 0f,
+        1f, 1f, 0f,
+        1f, 3f, 0f,
+        0f, 3f, 0f,
+        0f, 0f, 1f,
+        2f, 0f, 1f,
+        2f, 1f, 1f,
+        1f, 1f, 1f,
+        1f, 3f, 1f,
+        0f, 3f, 1f
+    };
+
+    /**
+     * vertex indices for an L-shaped mesh of triangles
+     */
+    final private static int[] indexArray = {
+        0, 1, 7, 0, 7, 6,
+        0, 6, 11, 0, 11, 5,
+        4, 5, 11, 4, 11, 10,
+        3, 4, 10, 3, 10, 9,
+        2, 3, 9, 2, 9, 8,
+        1, 2, 8, 1, 8, 7,
+        0, 3, 2, 0, 2, 1,
+        0, 5, 4, 0, 4, 3,
+        6, 8, 9, 6, 7, 8,
+        6, 10, 11, 6, 9, 10
+    };
+    // *************************************************************************
+    // fields
+
+    /**
+     * track the overall progress of the V-HACD algorithm (as a percentage)
+     */
+    private double progressPercent;
+    // *************************************************************************
+    // new methods exposed
+
+    /**
+     * Using V-HACD, construct a body with a compound collision shape that
+     * approximates an L-shaped mesh.
+     */
+    @Test
+    public void test009() {
+        TestUtils.loadNativeLibrary();
+        TestUtils.initializeNativeLibrary();
+
+        ProgressListener listener = (double overallPercent, double sp,
+                double op, String sn, String on) -> {
+            Test009.this.progressPercent = overallPercent;
+        };
+        Decomposer decomposer = new Decomposer().addProgressListener(listener);
+
+        // Decompose the triangle mesh into a 3 hulls, each with 8 points:
+        Parameters parameters = new Parameters();
+        Collection<ConvexHull> hulls
+                = decomposer.decompose(locationArray, indexArray, parameters);
+        Assert.assertEquals(3, hulls.size());
+        for (ConvexHull hull : hulls) {
+            FloatBuffer points = hull.getPointsAsBuffer();
+            Assert.assertEquals(3 * 8, points.capacity());
+        }
+        Assert.assertEquals(90., progressPercent, 0.);
+
+        // Construct shape- and body settings:
+        StaticCompoundShapeSettings compoundSettings
+                = new StaticCompoundShapeSettings();
+        compoundSettings.addHulls(hulls);
+        BodyCreationSettings bcs = new BodyCreationSettings(
+                compoundSettings, RVec3.sZero(), Quat.sIdentity(),
+                EMotionType.Dynamic, Layers.MOVING);
+
+        TestUtils.testClose(bcs, parameters, decomposer);
+        System.gc();
+    }
+}