bool PhysicsManager::doUpdate(double dt)
{
// Add all components that came in before the last update
processComponents();
processBehaviors(dt);
auto state = std::make_shared<PhysicsManagerState>();
std::list<std::shared_ptr<PhysicsManagerState>> stateList(1, state);
state->setRepresentations(m_representations);
state->setCollisionRepresentations(m_collisionRepresentations);
state->setConstraintComponents(m_constraintComponents);
{
boost::mutex::scoped_lock lock(m_excludedCollisionPairMutex);
state->setExcludedCollisionPairs(m_excludedCollisionPairs);
}
for (const auto& computation : m_computations)
{
stateList.push_back(computation->update(dt, stateList.back()));
}
m_finalState.set(*(stateList.back()));
return true;
}
TEST(DcdCollisionTest, RigidRigidCollisionTest)
{
auto sphere1 = std::make_shared<Blocks::SphereElement>("Sphere1");
auto sphere2 = std::make_shared<Blocks::SphereElement>("Sphere2");
sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5)));
auto runtime = std::make_shared<Framework::Runtime>();
auto scene = runtime->getScene();
scene->addSceneElement(sphere1);
scene->addSceneElement(sphere2);
std::vector<std::shared_ptr<Physics::Representation>> physicsRepresentations;
physicsRepresentations.push_back(sphere1->getComponents<Physics::Representation>()[0]);
physicsRepresentations.push_back(sphere2->getComponents<Physics::Representation>()[0]);
auto sphere1Collision = sphere1->getComponents<Collision::Representation>()[0];
auto sphere2Collision = sphere2->getComponents<Collision::Representation>()[0];
sphere1Collision->update(0.0);
sphere2Collision->update(0.0);
std::vector<std::shared_ptr<Collision::Representation>> collisionRepresentations;
collisionRepresentations.push_back(sphere1Collision);
collisionRepresentations.push_back(sphere2Collision);
auto prepareState = std::make_shared<PrepareCollisionPairs>(false);
auto stateTmp = std::make_shared<PhysicsManagerState>();
stateTmp->setRepresentations(physicsRepresentations);
stateTmp->setCollisionRepresentations(collisionRepresentations);
auto state = prepareState->update(0.0, stateTmp); // This step prepares the collision pairs
ASSERT_EQ(1u, state->getCollisionPairs().size());
auto dcdCollision = std::make_shared<DcdCollision>(false);
std::shared_ptr<PhysicsManagerState> newState = dcdCollision->update(1.0, state);
EXPECT_TRUE(newState->getCollisionPairs().at(0)->hasContacts());
}
