axmol/tests/cpp-tests/Source/Physics3DTest/Physics3DTest.cpp

/****************************************************************************
 Copyright (c) 2012 cocos2d-x.org
 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.
 Copyright (c) 2022 Bytedance Inc.

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#include "Physics3DTest.h"

#include "3d/Terrain.h"
#include "3d/Bundle3D.h"
#include "physics3d/Physics3D.h"
#include "extensions/Particle3D/PU/PUParticleSystem3D.h"
USING_NS_AX_EXT;
USING_NS_AX;

static const std::string_view boss[] = {"MeshRendererTest/boss.c3b", "MeshRendererTest/boss.obj"};
static const int boss_count          = sizeof(boss) / sizeof(boss[0]);

enum
{
    IDC_NEXT = 100,
    IDC_BACK,
    IDC_RESTART
};

#define START_POS_X -0.5
#define START_POS_Y -2.5
#define START_POS_Z -0.5

#define ARRAY_SIZE_X 4
#define ARRAY_SIZE_Y 3
#define ARRAY_SIZE_Z 4

static ax::Scene* physicsScene = nullptr;

Physics3DTests::Physics3DTests()
{
#if AX_USE_3D_PHYSICS == 0
    ADD_TEST_CASE(Physics3DDemoDisabled);
#else
    ADD_TEST_CASE(BasicPhysics3DDemo);
    ADD_TEST_CASE(Physics3DConstraintDemo);
    ADD_TEST_CASE(Physics3DKinematicDemo);
    ADD_TEST_CASE(Physics3DCollisionCallbackDemo);
    ADD_TEST_CASE(Physics3DColliderDemo);
    ADD_TEST_CASE(Physics3DTerrainDemo);
#endif
};

#if AX_USE_3D_PHYSICS == 0
void Physics3DDemoDisabled::onEnter()
{
    TTFConfig ttfConfig("fonts/arial.ttf", 16);
    auto label = Label::createWithTTF(ttfConfig, "Should define AX_USE_3D_PHYSICS\n to run this test case");

    auto size = Director::getInstance()->getWinSize();
    label->setPosition(Vec2(size.width / 2, size.height / 2));

    addChild(label);

    TestCase::onEnter();
}
#else
std::string Physics3DTestDemo::title() const
{
    return "Physics3D Test";
}

std::string Physics3DTestDemo::subtitle() const
{
    return "";
}

bool Physics3DTestDemo::init()
{
    if (!TestCase::init())
        return false;

    if (initWithPhysics())
    {
        getPhysics3DWorld()->setDebugDrawEnable(false);

        physicsScene = this;
        Size size = Director::getInstance()->getWinSize();
        _camera = Camera::createPerspective(30.0f, size.width / size.height, 1.0f, 1000.0f);
        _camera->setPosition3D(Vec3(0.0f, 50.0f, 100.0f));
        _camera->lookAt(Vec3(0.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f));
        _camera->setCameraFlag(CameraFlag::USER1);
        this->addChild(_camera);

        auto listener = EventListenerTouchAllAtOnce::create();
        listener->onTouchesBegan = AX_CALLBACK_2(Physics3DTestDemo::onTouchesBegan, this);
        listener->onTouchesMoved = AX_CALLBACK_2(Physics3DTestDemo::onTouchesMoved, this);
        listener->onTouchesEnded = AX_CALLBACK_2(Physics3DTestDemo::onTouchesEnded, this);
        _eventDispatcher->addEventListenerWithSceneGraphPriority(listener, this);

        TTFConfig ttfConfig("fonts/arial.ttf", 10);
        auto label = Label::createWithTTF(ttfConfig, "DebugDraw OFF");
        auto menuItem = MenuItemLabel::create(label, [=](Ref* /*ref*/) {
            if (getPhysics3DWorld()->isDebugDrawEnabled())
            {
                getPhysics3DWorld()->setDebugDrawEnable(false);
                label->setString("DebugDraw OFF");
            }
            else
            {
                getPhysics3DWorld()->setDebugDrawEnable(true);
                label->setString("DebugDraw ON");
            }
        });

        auto menu = Menu::create(menuItem, nullptr);
        menu->setPosition(Vec2::ZERO);
        menuItem->setAnchorPoint(Vec2::ANCHOR_TOP_LEFT);
        menuItem->setPosition(Vec2(VisibleRect::left().x, VisibleRect::top().y - 50));
        this->addChild(menu);

        _angle = 0.0f;
        return true;
    }
    physicsScene = nullptr;
    return false;
}

void Physics3DTestDemo::onTouchesBegan(const std::vector<Touch*>& touches, ax::Event* event)
{
    _needShootBox = true;
    event->stopPropagation();
}

void Physics3DTestDemo::onTouchesMoved(const std::vector<Touch*>& touches, ax::Event* event)
{
    if (touches.size() && _camera)
    {
        auto touch = touches[0];
        auto delta = touch->getDelta();

        _angle -= AX_DEGREES_TO_RADIANS(delta.x);
        _camera->setPosition3D(Vec3(100.0f * sinf(_angle), 50.0f, 100.0f * cosf(_angle)));
        _camera->lookAt(Vec3(0.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f));

        if (delta.lengthSquared() > 16)
        {
            _needShootBox = false;
        }
        event->stopPropagation();
    }
}

void Physics3DTestDemo::onTouchesEnded(const std::vector<Touch*>& touches, ax::Event* event)
{
    if (!_needShootBox)
        return;
    if (!touches.empty())
    {
        auto location = touches[0]->getLocationInView();

        Vec3 nearP(location.x, location.y, -1.0f), farP(location.x, location.y, 1.0f);
        nearP = _camera->unproject(nearP);
        farP = _camera->unproject(farP);
        Vec3 dir(farP - nearP);
        shootBox(_camera->getPosition3D() + dir * 10.0f);
        event->stopPropagation();
    }
}

Physics3DTestDemo::Physics3DTestDemo() {}

void Physics3DTestDemo::update(float /*delta*/) {}

Physics3DTestDemo::~Physics3DTestDemo() {}

void Physics3DTestDemo::shootBox(const ax::Vec3& des)
{
    Physics3DRigidBodyDes rbDes;
    Vec3 linearVel = des - _camera->getPosition3D();
    linearVel.normalize();
    linearVel *= 100.0f;
    rbDes.originalTransform.translate(_camera->getPosition3D());
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(0.5f, 0.5f, 0.5f));
    auto mesh = PhysicsMeshRenderer::create("MeshRendererTest/box.c3t", &rbDes);
    mesh->setTexture("Images/Icon.png");

    auto rigidBody = static_cast<Physics3DRigidBody*>(mesh->getPhysicsObj());
    rigidBody->setLinearFactor(Vec3::ONE);
    rigidBody->setLinearVelocity(linearVel);
    rigidBody->setAngularVelocity(Vec3::ZERO);
    rigidBody->setCcdMotionThreshold(0.5f);
    rigidBody->setCcdSweptSphereRadius(0.4f);

    this->addChild(mesh);
    mesh->setPosition3D(_camera->getPosition3D());
    mesh->setScale(0.5f);
    mesh->syncNodeToPhysics();

    // optimize, only sync node to physics
    mesh->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);  // sync node to physics

    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
}

std::string BasicPhysics3DDemo::subtitle() const
{
    return "Basic Physics3D";
}

bool BasicPhysics3DDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    // create floor
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(60.0f, 1.0f, 60.0f));

    auto floor = PhysicsMeshRenderer::create("MeshRendererTest/box.c3t", &rbDes);
    floor->setTexture("MeshRendererTest/plane.png");
    floor->setScaleX(60);
    floor->setScaleZ(60);
    this->addChild(floor);
    floor->setCameraMask((unsigned short)CameraFlag::USER1);
    floor->syncNodeToPhysics();
    // static object sync is not needed
    floor->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);

    // create several boxes using PhysicsMeshRenderer
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(0.8f, 0.8f, 0.8f));
    float start_x = START_POS_X - ARRAY_SIZE_X / 2;
    float start_y = START_POS_Y;
    float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;

    for (int k = 0; k < ARRAY_SIZE_Y; k++)
    {
        for (int i = 0; i < ARRAY_SIZE_X; i++)
        {
            for (int j = 0; j < ARRAY_SIZE_Z; j++)
            {
                float x = 1.0 * i + start_x;
                float y = 5.0 + 1.0 * k + start_y;
                float z = 1.0 * j + start_z;

                auto mesh = PhysicsMeshRenderer::create("MeshRendererTest/box.c3t", &rbDes);
                mesh->setTexture("Images/CyanSquare.png");
                mesh->setPosition3D(Vec3(x, y, z));
                mesh->syncNodeToPhysics();
                mesh->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
                mesh->setCameraMask((unsigned short)CameraFlag::USER1);
                mesh->setScale(0.8f);
                this->addChild(mesh);
            }
        }
    }

    physicsScene->setPhysics3DDebugCamera(_camera);

    return true;
}

std::string Physics3DConstraintDemo::subtitle() const
{
    return "Physics3D Constraint";
}

std::string Physics3DKinematicDemo::subtitle() const
{
    return "Physics3D Kinematic + #879";
}

bool Physics3DKinematicDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    // create floor
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(60.0f, 1.0f, 60.0f));
    auto floor = PhysicsMeshRenderer::create("MeshRendererTest/box.c3t", &rbDes);
    floor->setTexture("MeshRendererTest/plane.png");
    floor->setScaleX(60);
    floor->setScaleZ(60);
    floor->setPosition3D(Vec3(0.f, -1.f, 0.f));
    this->addChild(floor);
    floor->setCameraMask((unsigned short)CameraFlag::USER1);
    floor->syncNodeToPhysics();
    // static object sync is not needed
    floor->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);

    // Issue #879 STARTS BELOW
    {
        Physics3DRigidBodyDes rbDes;
        std::string tree1 = "MeshRendererTest/tree-model/tree1.obj";

        float scale = 12.0f;
        std::vector<Vec3> trianglesList = Bundle3D::getTrianglesList(tree1);
        for (auto& it : trianglesList)
        {
            it *= scale;
        }

        rbDes.mass = 0.0f;
        rbDes.shape = Physics3DShape::createMesh(&trianglesList[0], (int)trianglesList.size() / 3);
        auto rigidBody = Physics3DRigidBody::create(&rbDes);
        auto component = Physics3DComponent::create(rigidBody);
        auto sprite = MeshRenderer::create(tree1);
        sprite->addComponent(component);
        static_cast<MeshRenderer*>(sprite->getChildren().at(1))->getMaterial(0)->setTransparent(true);
        static_cast<MeshRenderer*>(sprite->getChildren().at(1))->getMaterial(0)->getStateBlock().setCullFaceSide(CullFaceSide::NONE);
        sprite->setCameraMask((unsigned short)CameraFlag::USER1 | (unsigned short)CameraFlag::USER2 | (unsigned short)CameraFlag::USER3);
        sprite->setPosition3D(Vec3(20.0f, 0.0f, 0.0f));
        sprite->setScale(scale);
        this->addChild(sprite);
    }
    // Issue #879 ENDS HERE


    // create Kinematics
    for (unsigned int i = 0; i < 3; ++i)
    {
        rbDes.mass = 0.f;  // kinematic objects. zero mass so that it can not be affected by other dynamic objects
        rbDes.shape = Physics3DShape::createBox(Vec3(2.0f, 2.0f, 2.0f));

        auto mesh = PhysicsMeshRenderer::create("MeshRendererTest/box.c3t", &rbDes);
        mesh->setTexture("Images/CyanSquare.png");
        mesh->setCameraMask((unsigned short)CameraFlag::USER1);
        auto rigidBody = static_cast<Physics3DRigidBody*>(mesh->getPhysicsObj());
        rigidBody->setKinematic(true);

        this->addChild(mesh);

        mesh->setScale(2.0f);
        mesh->setPosition3D(Vec3(-15.0f, 0.0f, 15.0f - 15.0f * i));
        auto moveby = MoveBy::create(2.0f + i, Vec3(30.0f, 0.0f, 0.0f));
        mesh->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
    }

    // create Dynamic
    {
        // create several spheres
        rbDes.mass = 1.f;
        rbDes.shape = Physics3DShape::createSphere(0.5f);
        float start_x = START_POS_X - ARRAY_SIZE_X / 2;
        float start_y = START_POS_Y + 5.0f;
        float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;

        for (int k = 0; k < ARRAY_SIZE_Y; k++)
        {
            for (int i = 0; i < ARRAY_SIZE_X; i++)
            {
                for (int j = 0; j < ARRAY_SIZE_Z; j++)
                {
                    float x = 1.0 * i + start_x;
                    float y = 5.0 + 1.0 * k + start_y;
                    float z = 1.0 * j + start_z;
                    rbDes.originalTransform.setIdentity();
                    rbDes.originalTransform.translate(x, y, z);

                    auto mesh = PhysicsMeshRenderer::create("MeshRendererTest/sphere.c3b", &rbDes);
                    mesh->setTexture("MeshRendererTest/plane.png");
                    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
                    mesh->setScale(1.0f / mesh->getContentSize().width);
                    this->addChild(mesh);
                    mesh->setPosition3D(Vec3(x, y, z));
                    mesh->syncNodeToPhysics();

                    mesh->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
                }
            }
        }
    }

    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}

bool Physics3DConstraintDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    // PhysicsMeshRenderer = MeshRenderer + Physics3DComponent
    Physics3DRigidBodyDes rbDes;
    rbDes.disableSleep = true;
    // create box
    auto mesh = MeshRenderer::create("MeshRendererTest/orc.c3b");
    rbDes.mass = 10.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(5.0f, 5.0f, 5.0f));
    auto rigidBody = Physics3DRigidBody::create(&rbDes);
    Quaternion quat;
    Quaternion::createFromAxisAngle(Vec3(0.f, 1.f, 0.f), AX_DEGREES_TO_RADIANS(180), &quat);
    auto component = Physics3DComponent::create(rigidBody, Vec3(0.f, -3.f, 0.f), quat);

    mesh->addComponent(component);
    addChild(mesh);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    mesh->setScale(0.4f);
    mesh->setPosition3D(Vec3(-20.f, 5.f, 0.f));
    // sync node position to physics
    component->syncNodeToPhysics();
    // physics controlled, we will not set position for it, so we can skip sync node position to physics
    component->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);

    physicsScene->setPhysics3DDebugCamera(_camera);

    // create point to point constraint
    Physics3DConstraint* constraint = Physics3DPointToPointConstraint::create(rigidBody, Vec3(2.5f, 2.5f, 2.5f));
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);

    // create hinge constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(8.0f, 8.0f, 1.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScaleX(8.f);
    mesh->setScaleY(8.f);
    mesh->setPosition3D(Vec3(5.f, 0.f, 0.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(mesh);
    component->syncNodeToPhysics();
    rigidBody->setAngularVelocity(Vec3(0, 3, 0));
    constraint = Physics3DHingeConstraint::create(rigidBody, Vec3(4.f, 4.f, 0.5f), Vec3(0.f, 1.f, 0.f));
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);

    // create slider constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 2.0f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScaleX(3.f);
    mesh->setScaleZ(3.f);
    mesh->setPosition3D(Vec3(30.f, 15.f, 0.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(mesh);
    component->syncNodeToPhysics();
    rigidBody->setLinearVelocity(Vec3(0, 3, 0));

    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    auto rigidBodyB = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBodyB);
    mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScale(3.f);
    mesh->setPosition3D(Vec3(30.f, 5.f, 0.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(mesh);
    component->syncNodeToPhysics();

    Mat4 frameInA, frameInB;
    Mat4::createRotationZ(AX_DEGREES_TO_RADIANS(90), &frameInA);
    frameInB = frameInA;
    frameInA.m[13] = -5.f;
    frameInB.m[13] = 5.f;
    constraint = Physics3DSliderConstraint::create(rigidBody, rigidBodyB, frameInA, frameInB, false);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    ((Physics3DSliderConstraint*)constraint)->setLowerLinLimit(-5.f);
    ((Physics3DSliderConstraint*)constraint)->setUpperLinLimit(5.f);

    // create ConeTwist constraint
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.f, 3.f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScale(3.f);
    mesh->setPosition3D(Vec3(-10.f, 5.f, 0.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(mesh);
    component->syncNodeToPhysics();

    Mat4::createRotationZ(AX_DEGREES_TO_RADIANS(90), &frameInA);
    frameInA.m[12] = 0.f;
    frameInA.m[13] = -10.f;
    frameInA.m[14] = 0.f;
    constraint = Physics3DConeTwistConstraint::create(rigidBody, frameInA);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint, true);
    ((Physics3DConeTwistConstraint*)constraint)
        ->setLimit(AX_DEGREES_TO_RADIANS(10), AX_DEGREES_TO_RADIANS(10), AX_DEGREES_TO_RADIANS(40));

    // create 6 dof constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScale(3.f);
    mesh->setPosition3D(Vec3(30.f, -5.f, 0.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(mesh);
    component->syncNodeToPhysics();
    frameInA.setIdentity();
    constraint = Physics3D6DofConstraint::create(rigidBody, frameInA, false);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    ((Physics3D6DofConstraint*)constraint)->setAngularLowerLimit(Vec3(0, 0, 0));
    ((Physics3D6DofConstraint*)constraint)->setAngularUpperLimit(Vec3(0, 0, 0));
    ((Physics3D6DofConstraint*)constraint)->setLinearLowerLimit(Vec3(-10, 0, 0));
    ((Physics3D6DofConstraint*)constraint)->setLinearUpperLimit(Vec3(10, 0, 0));

    return true;
}

void Physics3DConstraintDemo::onTouchesBegan(const std::vector<ax::Touch*>& touches, ax::Event* event)
{
    // ray trace
    if (_camera)
    {
        auto touch = touches[0];
        auto location = touch->getLocationInView();
        Vec3 nearP(location.x, location.y, 0.0f), farP(location.x, location.y, 1.0f);

        auto size = Director::getInstance()->getWinSize();
        _camera->unproject(size, &nearP, &nearP);
        _camera->unproject(size, &farP, &farP);

        Physics3DWorld::HitResult result;
        bool ret = physicsScene->getPhysics3DWorld()->rayCast(nearP, farP, &result);
        if (ret && result.hitObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
        {
            auto mat = result.hitObj->getWorldTransform().getInversed();
            Vec3 position;
            mat.transformPoint(result.hitPosition, &position);

            _constraint =
                Physics3DPointToPointConstraint::create(static_cast<Physics3DRigidBody*>(result.hitObj), position);
            physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(_constraint, true);
            _pickingDistance = (result.hitPosition - nearP).length();
            event->stopPropagation();
            return;
        }
    }
    Physics3DTestDemo::onTouchesBegan(touches, event);
    _needShootBox = false;
}
void Physics3DConstraintDemo::onTouchesMoved(const std::vector<ax::Touch*>& touches, ax::Event* event)
{
    if (_constraint)
    {
        auto p2pConstraint = ((Physics3DPointToPointConstraint*)_constraint);

        auto touch = touches[0];
        auto location = touch->getLocationInView();
        Vec3 nearP(location.x, location.y, 0.0f), farP(location.x, location.y, 1.0f);

        auto size = Director::getInstance()->getWinSize();
        _camera->unproject(size, &nearP, &nearP);
        _camera->unproject(size, &farP, &farP);
        auto dir = (farP - nearP).getNormalized();
        p2pConstraint->setPivotPointInB(nearP + dir * _pickingDistance);
        event->stopPropagation();
        return;
    }
    Physics3DTestDemo::onTouchesMoved(touches, event);
}
void Physics3DConstraintDemo::onTouchesEnded(const std::vector<ax::Touch*>& touches, ax::Event* event)
{
    if (_constraint)
    {
        physicsScene->getPhysics3DWorld()->removePhysics3DConstraint(_constraint);
        _constraint = nullptr;
        event->stopPropagation();
        return;
    }
    Physics3DTestDemo::onTouchesEnded(touches, event);
}

bool Physics3DTerrainDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    Terrain::DetailMap r("TerrainTest/dirt.jpg"), g("TerrainTest/Grass2.jpg", 10), b("TerrainTest/road.jpg"),
        a("TerrainTest/GreenSkin.jpg", 20);

    Terrain::TerrainData data("TerrainTest/heightmap129.jpg", "TerrainTest/alphamap.png", r, g, b, a, Size(32, 32),
                              20.0f, 1.0f);
    auto terrain = Terrain::create(data, Terrain::CrackFixedType::SKIRT);
    terrain->setMaxDetailMapAmount(4);
    terrain->setCameraMask(2);
    terrain->setDrawWire(false);

    terrain->setSkirtHeightRatio(3);
    terrain->setLODDistance(64, 128, 192);
    terrain->setCameraMask((unsigned short)CameraFlag::USER1);

    // create terrain
    std::vector<float> heidata = terrain->getHeightData();
    auto size = terrain->getTerrainSize();
    Physics3DColliderDes colliderDes;
    colliderDes.shape =
        Physics3DShape::createHeightfield(size.width, size.height, &heidata[0], 1.0f, terrain->getMinHeight(),
                                          terrain->getMaxHeight(), true, false, true);
    auto collider = Physics3DCollider::create(&colliderDes);
    auto component = Physics3DComponent::create(collider);
    terrain->addComponent(component);
    this->addChild(terrain);
    component->syncNodeToPhysics();
    component->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);

    // create several spheres
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createSphere(0.5f);
    float start_x = START_POS_X - ARRAY_SIZE_X / 2 + 5.0f;
    float start_y = START_POS_Y + 20.0f;
    float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;

    for (int k = 0; k < ARRAY_SIZE_Y; k++)
    {
        for (int i = 0; i < ARRAY_SIZE_X; i++)
        {
            for (int j = 0; j < ARRAY_SIZE_Z; j++)
            {
                float x = 1.0 * i + start_x;
                float y = 5.0 + 1.0 * k + start_y;
                float z = 1.0 * j + start_z;

                auto mesh = PhysicsMeshRenderer::create("MeshRendererTest/sphere.c3b", &rbDes);
                mesh->setTexture("MeshRendererTest/plane.png");
                mesh->setCameraMask((unsigned short)CameraFlag::USER1);
                mesh->setScale(1.0f / mesh->getContentSize().width);
                mesh->setPosition3D(Vec3(x, y, z));
                this->addChild(mesh);
                mesh->syncNodeToPhysics();
                mesh->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
            }
        }
    }

    // create mesh

    for (int i = 0; i < boss_count; i++)
    {
        std::vector<Vec3> trianglesList = Bundle3D::getTrianglesList(boss[i]);

        colliderDes.shape = Physics3DShape::createMesh(&trianglesList[0], (int)trianglesList.size() / 3);

        auto mesh = PhysicsMeshRenderer::createWithCollider(boss[i], &colliderDes);
        mesh->setRotation3D(Vec3(-90.0f, 0.0f, 0.0f));
        mesh->setPosition3D(Vec3(-5+ 15.0f *i, 15.0f, 0.0f));
        mesh->setCameraMask(2);
        this->addChild(mesh);
        mesh->syncNodeToPhysics();
        mesh->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);

        std::vector<std::pair<Physics3DShape*, Mat4>> shapeList;
        {
            Mat4 localTrans;
            auto bodyshape = Physics3DShape::createBox(Vec3(2.0f, 4.0f, 2.0f));
            Mat4::createTranslation(0.0f, 2.0f, 0.0f, &localTrans);
            shapeList.emplace_back(std::make_pair(bodyshape, localTrans));
            auto headshape = Physics3DShape::createSphere(1.5f);
            Mat4::createTranslation(0.6f, 5.0f, -1.5f, &localTrans);
            shapeList.emplace_back(std::make_pair(headshape, localTrans));
            auto lhandshape = Physics3DShape::createBox(Vec3(1.0f, 3.0f, 1.0f));
            Mat4::createRotation(Vec3(1.0f, 0.0f, 0.0f), AX_DEGREES_TO_RADIANS(15.0f), &localTrans);
            localTrans.m[12] = -1.5f;
            localTrans.m[13] = 2.5f;
            localTrans.m[14] = -2.5f;
            shapeList.emplace_back(std::make_pair(lhandshape, localTrans));
            auto rhandshape = Physics3DShape::createBox(Vec3(1.0f, 3.0f, 1.0f));
            Mat4::createRotation(Vec3(1.0f, 0.0f, 0.0f), AX_DEGREES_TO_RADIANS(-15.0f), &localTrans);
            localTrans.m[12] = 2.0f;
            localTrans.m[13] = 2.5f;
            localTrans.m[14] = 1.f;
            shapeList.emplace_back(std::make_pair(rhandshape, localTrans));

            rbDes.mass = 10.0f;
            rbDes.shape = Physics3DShape::createCompoundShape(shapeList);
            auto rigidBody = Physics3DRigidBody::create(&rbDes);
            component = Physics3DComponent::create(rigidBody);
            auto mesh = MeshRenderer::create("MeshRendererTest/orc.c3b");
            mesh->addComponent(component);
            mesh->setRotation3D(Vec3(0.0f, 180.0f, 0.0f));
            mesh->setPosition3D(Vec3(-5.0f, 20.0f, 0.0f));
            mesh->setScale(0.4f);
            mesh->setCameraMask(2);
            this->addChild(mesh);
        }

    }

    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}

std::string Physics3DTerrainDemo::subtitle() const
{
    return "Physics3D Terrain Issue #861" ;
}

std::string Physics3DCollisionCallbackDemo::subtitle() const
{
    return "Physics3D CollisionCallback c3b/obj Issue #861";
}

bool Physics3DCollisionCallbackDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    {
        for (size_t i = 0; i < boss_count; i++)
        {
            Physics3DRigidBodyDes rbDes;

            float scale = 2.0f;
            std::vector<Vec3> trianglesList = Bundle3D::getTrianglesList(boss[i]);
            for (auto&& it : trianglesList)
            {
                it *= scale;
            }

            rbDes.mass = 0.0f;
            rbDes.shape = Physics3DShape::createMesh(&trianglesList[0], (int)trianglesList.size() / 3);
            auto rigidBody = Physics3DRigidBody::create(&rbDes);
            auto component = Physics3DComponent::create(rigidBody);
            auto mesh = MeshRenderer::create(boss[i]);
            mesh->addComponent(component);
            mesh->setRotation3D(Vec3(-90.0f, 0.0f, 0.0f));
            mesh->setPosition3D(Vec3(-5 + 15.0f * i, -5.0f, 0.0f));
            mesh->setScale(scale);
            mesh->setCameraMask((unsigned short)CameraFlag::USER1);
            this->addChild(mesh);
            // preload
            //
            rigidBody->setCollisionCallback([=](const Physics3DCollisionInfo& ci) {
                if (!ci.collisionPointList.empty())
                {
                    if (ci.objA->getMask() != 0)
                    {
                        auto ps = PUParticleSystem3D::create("Particle3D/scripts/mp_hit_04.pu");
                        ps->setPosition3D(ci.collisionPointList[0].worldPositionOnB);
                        ps->setScale(0.05f);
                        ps->startParticleSystem();
                        ps->setCameraMask(2);
                        this->addChild(ps);
                        ps->runAction(Sequence::create(DelayTime::create(1.0f),
                                                       CallFunc::create([=]() { ps->removeFromParent(); }), nullptr));
                        ci.objA->setMask(0);
                    }
                }
                // AXLOG("------------BoxB Collision Info------------");
                // AXLOG("Collision Point Num: %d", ci.collisionPointList.size());
                // for (auto&& iter : ci.collisionPointList){
                //	AXLOG("Collision Position On A: (%.2f, %.2f, %.2f)", iter.worldPositionOnA.x, iter.worldPositionOnA.y,
                // iter.worldPositionOnA.z); 	AXLOG("Collision Position On B: (%.2f, %.2f, %.2f)",
                // iter.worldPositionOnB.x, iter.worldPositionOnB.y, iter.worldPositionOnB.z); 	AXLOG("Collision Normal
                // On B: (%.2f, %.2f, %.2f)", iter.worldNormalOnB.x, iter.worldNormalOnB.y, iter.worldNormalOnB.z);
                // }
                // AXLOG("------------BoxB Collision Info------------");
            });
        }
    }

    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}

std::string Physics3DColliderDemo::subtitle() const
{
    return "Physics3D Trigger";
}

bool Physics3DColliderDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;

    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    auto playerBody = Physics3DRigidBody::create(&rbDes);
    auto component = Physics3DComponent::create(playerBody);
    playerBody->setKinematic(true);
    auto mesh = MeshRenderer::create("MeshRendererTest/box.c3t");
    mesh->setTexture("MeshRendererTest/plane.png");
    mesh->setScale(3.f);
    mesh->setPosition3D(Vec3(0.0f, 0.f, 30.f));
    mesh->addComponent(component);
    mesh->setCameraMask((unsigned short)CameraFlag::USER1);
    auto moveby = MoveBy::create(5.0f, Vec3(0.0f, 0.0f, -60.0f));
    mesh->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
    this->addChild(mesh);

    {
        Physics3DColliderDes colliderDes;
        colliderDes.shape = Physics3DShape::createSphere(10.0f);
        colliderDes.isTrigger = true;
        auto collider = Physics3DCollider::create(&colliderDes);
        auto component = Physics3DComponent::create(collider);
        auto node = Node::create();
        node->addComponent(component);
        node->setCameraMask((unsigned short)CameraFlag::USER1);
        this->addChild(node);

        Physics3DRigidBodyDes rbDes;
        rbDes.mass = 1.0f;
        rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
        auto rigidBody = Physics3DRigidBody::create(&rbDes);
        component = Physics3DComponent::create(rigidBody);
        rigidBody->setKinematic(true);
        auto doorLeft = MeshRenderer::create("MeshRendererTest/box.c3t");
        doorLeft->setTexture("MeshRendererTest/plane.png");
        doorLeft->setScaleX(10.0f);
        doorLeft->setScaleY(10.0f);
        doorLeft->setScaleZ(1.0f);
        doorLeft->setPosition3D(Vec3(-5.0f, 0.0f, 0.0f));
        doorLeft->addComponent(component);
        doorLeft->setCameraMask((unsigned short)CameraFlag::USER1);
        node->addChild(doorLeft);

        rbDes.mass = 1.0f;
        rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
        rigidBody = Physics3DRigidBody::create(&rbDes);
        component = Physics3DComponent::create(rigidBody);
        rigidBody->setKinematic(true);
        auto doorRight = MeshRenderer::create("MeshRendererTest/box.c3t");
        doorRight->setTexture("MeshRendererTest/plane.png");
        doorRight->setScaleX(10.0f);
        doorRight->setScaleY(10.0f);
        doorRight->setScaleZ(1.0f);
        doorRight->setPosition3D(Vec3(5.0f, 0.0f, 0.0f));
        doorRight->addComponent(component);
        doorRight->setCameraMask((unsigned short)CameraFlag::USER1);
        node->addChild(doorRight);

        collider->onTriggerEnter = [=](Physics3DObject* otherObject) {
            if (otherObject == playerBody)
            {
                auto moveby = MoveBy::create(1.0f, Vec3(-5.0f, 0.0f, 0.0f));
                doorLeft->runAction(moveby);
                doorRight->runAction(moveby->reverse());
            }
        };

        collider->onTriggerExit = [=](Physics3DObject* otherObject) {
            if (otherObject == playerBody)
            {
                auto moveby = MoveBy::create(1.0f, Vec3(5.0f, 0.0f, 0.0f));
                doorLeft->runAction(moveby);
                doorRight->runAction(moveby->reverse());
            }
        };
    }

    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}

#endif