feat: add more collider types + camera snapping fix

tests/physics_tests.cpp

@@ -10,6 +10,9 @@
 #include <destrum/Components/Physics/BoxCollider.h>
 #include <destrum/Components/Physics/CapsuleCollider.h>
 #include <destrum/Components/Physics/Collider.h>
+#include <destrum/Components/Physics/ConvexHullCollider.h>
+#include <destrum/Components/Physics/CylinderCollider.h>
+#include <destrum/Components/Physics/MeshCollider.h>
 #include <destrum/Components/LightComponent.h>
 #include <destrum/Components/Physics/Rigidbody.h>
 
@@ -357,6 +360,124 @@ namespace {
 
         SceneManager::GetInstance().Destroy();
     }
+
+    std::shared_ptr<const PhysicsMeshData> makeCubeMesh(float halfExtent)
+    {
+        auto mesh = std::make_shared<PhysicsMeshData>();
+        for (int corner = 0; corner < 8; ++corner) {
+            mesh->points.push_back({
+                corner & 1 ? halfExtent : -halfExtent,
+                corner & 2 ? halfExtent : -halfExtent,
+                corner & 4 ? halfExtent : -halfExtent});
+        }
+        mesh->points.push_back(glm::vec3{0.0f});
+        mesh->indices = {
+            0, 2, 1, 1, 2, 3, 4, 5, 6, 5, 7, 6,
+            0, 1, 4, 1, 5, 4, 2, 6, 3, 3, 6, 7,
+            0, 4, 2, 2, 4, 6, 1, 3, 5, 3, 7, 5};
+        return mesh;
+    }
+
+    std::shared_ptr<const PhysicsMeshData> makeQuadMesh(float halfExtent)
+    {
+        auto mesh = std::make_shared<PhysicsMeshData>();
+        mesh->points = {
+            {-halfExtent, 0.0f, -halfExtent},
+            {halfExtent, 0.0f, -halfExtent},
+            {-halfExtent, 0.0f, halfExtent},
+            {halfExtent, 0.0f, halfExtent}};
+        mesh->indices = {0, 2, 1, 1, 2, 3};
+        return mesh;
+    }
+
+    void testCylinderCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = glm::vec3{0.0f}}};
+        GameObject object{"cylinder"};
+        object.AddComponent<CylinderCollider>(1.0f, 4.0f);
+        Rigidbody* rigidbody = object.AddComponent<Rigidbody>();
+        rigidbody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*rigidbody);
+
+        PhysicsRaycastHit hit;
+        check(world.Raycast({-3.0f, 1.5f, 0.0f}, {1.0f, 0.0f, 0.0f}, 5.0f, hit) && close(hit.distance, 2.0f),
+              "cylinder sides must be at its radius along the whole height");
+        check(world.Raycast({0.0f, 5.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, 5.0f, hit) && close(hit.distance, 3.0f),
+              "cylinder caps must be flat at half its height");
+    }
+
+    void testConvexHullCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = glm::vec3{0.0f}}};
+        GameObject object{"hull"};
+        object.GetTransform().SetLocalScale(glm::vec3{2.0f});
+        auto* collider = object.AddComponent<ConvexHullCollider>();
+        collider->SetCustomMesh(makeCubeMesh(1.0f));
+        check(collider->BuildPhysicsShape().type == PhysicsShapeType::ConvexHull,
+              "a cube mesh must build a convex hull");
+        check(collider->BuildPhysicsShape().mesh->points.size() == 8,
+              "interior points must not end up in the hull");
+
+        Rigidbody* rigidbody = object.AddComponent<Rigidbody>();
+        rigidbody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*rigidbody);
+
+        PhysicsRaycastHit hit;
+        check(world.Raycast({-5.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, 10.0f, hit) && close(hit.distance, 3.0f),
+              "mesh based colliders must apply the transform scale");
+
+        GameObject flat{"flat-hull"};
+        auto* flatCollider = flat.AddComponent<ConvexHullCollider>();
+        flatCollider->SetCustomMesh(makeQuadMesh(1.0f));
+        check(flatCollider->BuildPhysicsShape().type == PhysicsShapeType::Box,
+              "a mesh without volume must fall back to a box");
+
+        GameObject empty{"empty-hull"};
+        empty.AddComponent<ConvexHullCollider>();
+        Rigidbody* emptyBody = empty.AddComponent<Rigidbody>();
+        world.RegisterRigidbody(*emptyBody);
+        check(!emptyBody->HasPhysicsBody(), "a mesh collider without a mesh must not create a body");
+    }
+
+    void testMeshCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = {0.0f, -9.81f, 0.0f}}};
+
+        GameObject ground{"mesh-ground"};
+        ground.AddComponent<MeshCollider>()->SetCustomMesh(makeQuadMesh(10.0f));
+        Rigidbody* groundBody = ground.AddComponent<Rigidbody>();
+        groundBody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*groundBody);
+        check(groundBody->HasPhysicsBody(), "a static mesh collider must create a body");
+
+        GameObject ball{"ball"};
+        ball.GetTransform().SetLocalPosition({0.0f, 2.0f, 0.0f});
+        ball.AddComponent<SphereCollider>(0.5f);
+        Rigidbody* ballBody = ball.AddComponent<Rigidbody>();
+        world.RegisterRigidbody(*ballBody);
+
+        for (int step = 0; step < 180; ++step) {
+            world.Step(1.0f / 60.0f);
+            world.SyncDynamicBodiesToTransforms();
+        }
+        const float restHeight = ball.GetTransform().GetWorldPosition().y;
+        check(restHeight > 0.4f && restHeight < 0.6f, "a sphere must come to rest on a mesh collider");
+
+        GameObject kinematic{"kinematic-mesh"};
+        kinematic.GetTransform().SetLocalPosition({50.0f, 0.0f, 0.0f});
+        kinematic.AddComponent<MeshCollider>()->SetCustomMesh(makeCubeMesh(1.0f));
+        Rigidbody* kinematicBody = kinematic.AddComponent<Rigidbody>();
+        kinematicBody->SetType(RigidbodyType::Kinematic);
+        world.RegisterRigidbody(*kinematicBody);
+        check(kinematicBody->HasPhysicsBody(), "a kinematic mesh collider must create a body");
+
+        GameObject dynamic{"dynamic-mesh"};
+        auto* dynamicCollider = dynamic.AddComponent<MeshCollider>();
+        dynamicCollider->SetCustomMesh(makeCubeMesh(1.0f));
+        dynamic.AddComponent<Rigidbody>();
+        check(dynamicCollider->BuildPhysicsShape().type == PhysicsShapeType::ConvexHull,
+              "dynamic mesh colliders must fall back to a convex hull");
+    }
 }
 
 void RunPhysicsTests()
@@ -368,5 +489,8 @@ void RunPhysicsTests()
     testKinematicBodiesMoveWithVelocity();
     testColliderCenterOffset();
     testFrozenRotationCapsule();
+    testCylinderCollider();
+    testConvexHullCollider();
+    testMeshCollider();
     testTriggerZone();
 }